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() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigation: WorkSite::WorkSite -- Finished loading parameters
Ser: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
ver: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2

S: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
upe: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
rvis: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
or:: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
:crea: WorkSite server: 0x22f88
teTask() - layeredCo: New Navigation component constructor
ntro: Navigation - Using only the Dvl to compute altitude.
lServer
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTas: SerialDevice: done...

k: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
() : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
- p: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
aro: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
sc: Preparing to fork

iS: SerialDevice: done...

erver: I'm the child...forking


: SerialDevice: done...

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

r
Supervis: SerialDevice: done...

or::createTask() - dvlServe: BluefinBatt driver - running with 1 batteries
r
Supe: SerialDevice: done...

rv: SerialDevice: done...

iso: BluefineBatt::init() - 1 batteries on 10 second interval
r: SerialDevice: done...

::c: Gps: initializing

rea: SerialDevice: done...

teT: SerialDevice: done...

ask(: Crossbow.cc: Setting polled mode
) -: Gps: done initializing...

 : BluefinBatt.cc - Looking for Parosci server
f: Crossbow.cc: Setting polled mode
anS: **** EventTriggers::add() - attaching proxy
er: SerialDevice: done...

ver: SerialDevice: done...


S: Crossbow.cc: In getSerialNumber()
upervi: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?


sor::: BluefinBatt::init() - querying for batt ids
cre: **** EventTriggers::add() - attaching proxy
ateTask() - dropWeightServer
: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

Supervisor::cre: SerialDevice: done...

ateTask() - sonardyneServer
Supervisor::createTask() - dockServer
: SerialDevice: done...

: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: ahrs if is Ahrs

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

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

: SerialDevice: done...

: PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400
: PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: Sonardyne -- configuration:
	PollPeriod = 1000 ms
	PresetGain = 0
	PowerLevel = 0
	LblWait    = 2 s
	ESV        = 1485.000000 m/s
	Beacon     = V8,1
	MRPL       = 0.000000ms

: SerialDevice: done...

: 3 Modules found
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Crossbow.cc: device->read succeeded
: Crossbow.cc: I think the serial number is 17266 (4372)
: Crossbow.cc: Setting polled mode
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: Parosci.cc -- Initial pressure = 0.068948
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: Parosci.cc -- Parosci initial pressure period = 30.138450
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

:  Dvl::initialize - Baud rate set to 38400.

: Parosci.cc -- Parosci initial temp period = 5.841316
: EX10011
>
: Parosci.cc -- Paroscientific configured.
: EA+04500
>
: **** EventTriggers::add() - attaching proxy
: 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
: SonardyneDriver - caught exception on VJSE
: Timed Out
: PeriodicTask::run() (sonardyneDriver) - sampleInterval=1000, maxInterval=1000
: BluefinBatt::init() - battery ids are b4  
: BluefinBatt::init() - found battery b4
: BluefinBatt::init() - battery echo is $b4wf 1


: SonardyneDriver - caught exception during DIAG cycle: Timed Out 15
: BluefinBatt::init() - battery watchdog state is  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - S:116.700000, N:22.500000, D:0.000000, U:0.004356, Q:***************************************

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: Sonardyne - S:116.700000, N:22.500000, D:0.000000, U:0.004356, Q:0.000000

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 15
: BluefinBatt Reply: $b4q0 d- 31.99  2.69 18.84 3.98 4.01 0 -13194.26 04:25:20 m

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: 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
