Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
createTask() - externalCommsServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
upervisor::createTask() - navigationServer
Supervisor::crea: WorkSite::WorkSite -- Finished loading parameters
te: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
Task: 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: 0x22f8c
olServer
Supervisor::createTask() - dynamicControlS: New Navigation component constructor
erver
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask() - : SerialDevice: done...

p: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
aro: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
sci: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
S: Preparing to fork

er: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
ver
: SerialDevice: done...

: SerialDevice: done...

: I'm the child...forking

Supervisor::createTask() - seabirdServer
Super: SerialDevice: done...

visor::createTask() : SerialDevice: done...

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

l: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
uefinBattDriver
Supervisor::cre: SerialDevice: done...

a: Gps: initializing

teT: SerialDevice: done...

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

k: SerialDevice: done...

() -: SerialDevice: done...

 dvl: Crossbow.cc: Setting polled mode
Server: Gps: done initializing...


: Crossbow.cc: In getSerialNumber()
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

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

: BluefinBatt driver - running with 1 batteries
Superviso: SerialDevice: done...

r::cre: BluefineBatt::init() - 1 batteries on 10 second interval
ateTask(: seabirdDriver RUNNING...

) - fanS: BluefinBatt.cc - Looking for Parosci server
: SerialDevice: done...

erver: SerialDevice: done...


: BluefinBatt::init() - querying for batt ids
: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

: SerialDevice: done...

Supervisor::createTask() - dropWeig: ahrs if is Ahrs

htServer
Supervisor::createTask() - sonardyneServer
Super: 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

v: SerialDevice: done...

i: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
so: SerialDevice: done...

r: 3 Modules found
::cre: Seabird/ctdDriver -- constructing Log...

ateTask() - dockServer
: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: 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
: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400
: PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200
: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 1
	PowerLevel = 1
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7

: SerialDevice: done...

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: Parosci.cc -- Initial pressure = 0.068948
SharedData::initSemaphore() - sem_init() of _notifySem: Resource temporarily unavailable
:  Fan Destructor Executing.
: TaskServer::signalHandler() for task FanIFServer - exit()
: **** SharedData destructor for object fanOutput ****

: Parosci.cc -- Parosci initial pressure period = 30.138790
: Parosci.cc -- Parosci initial temp period = 5.841988
: 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
>
: Task "fanServer" died?

Superviso: WN25
>
r:::  Dvl::initialize - The number of cells is 25.

createTask() - f: WV210
>
anS:  Dvl::initialize - 14 valid commands read in from dvl.cfg.

erver
: Supervisor::Supervisor() - task(s) died; exiting

: Supervisor::shutdown()

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

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

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039AD8.
: NavigationOutput::~NavigationOutput()

: 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 DvlIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task DockIFServer - exit()
: **** SharedData destructor for object DockOutput_ShmemName ****

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

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object BluefinBattOutput ****

: Supervisor::signalHandler(); caught signal 2
: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

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

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

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

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

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

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

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: 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 TailConeInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: 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 DvlOutput_ShmemName ****

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

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

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

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

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

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

: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021DE8.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

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

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

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::cleanup() - delete _theSupervisor

: **** SharedData destructor for object DockOutput_ShmemName ****

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

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

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

: TaskServer::signalHandler() for task DockIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.

