Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTask() - externalCommsServer
S: Initializing worksiteServer
uperviso: WorkSite::WorkSite -- Adding attributes
r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
createTask() - navigationServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
upervisor::createTask() - layeredControlServer
Supervisor::creat: WorkSite::WorkSite -- Finished loading parameters
eT: WorkSite::WorkSite -- Starting Depth is 10.000000 meters
ask(): 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
dyn: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
amic: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
Con: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
trol: WorkSite server: 0x22ff0
Server
: New Navigation component constructor
Task::spawnServer() - execlp() of "layeredControl" failed: No such file or directory
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciServer
Supervisor::createTask() - bluefinB: Preparing to fork

attDriver
: I'm the child...forking

Supervisor::createTask() - dvlServer
: Navigation - Using only the Dvl to compute altitude.
: SerialDevice: done...

Sup: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
ervis: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
or:: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
:cr: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
eate: SerialDevice: done...

Task: SerialDevice: done...

() - fanServer
Supervisor::createTask() - dropWeightServer
: BluefinBatt driver - running with 1 batteries
: SerialDevice: done...

: BluefineBatt::init() - 1 batteries on 10 second interval
: BluefinBatt.cc - Looking for Parosci server
Supe: SerialDevice: done...

rv: SerialDevice: done...

isor: BluefinBatt::init() - querying for batt ids
::createTask() - sonardyneServer
Superv: SerialDevice: done...

i: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
sor::cr: SerialDevice: done...

eateTask() - dockServer: SerialDevice: done...


: Crossbow.cc: Setting polled mode
: DynamicControlServer - Got event 1 from TailCone

: Crossbow.cc: Setting polled mode
: Gps: initializing

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

: Gps: done initializing...

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

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

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

: SerialDevice: done...

: SerialDevice: done...

: ahrs if is Ahrs

: SerialDevice: done...

: SerialDevice: done...

: 3 Modules found
: SerialDevice: done...

: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: PeriodicTask::run() (dockDriver) - sampleInterval=400, maxInterval=400
: Crossbow.cc: device->read succeeded
: PeriodicTask::run() (vehicleDriver) - sampleInterval=200, maxInterval=200
: Crossbow.cc: I think the serial number is 17266 (4372)
: SerialDeviceDriver::initialize()
: Crossbow.cc: Setting polled mode
: 
 Starting DVL Initialization.

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: SerialDevice: done...

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne -- configuration:
	PollPeriod = 1000 ms
	PresetGain = 0
	PowerLevel = 0
	LblWait    = 2 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7
	MRPL       = 0.000000ms

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=1000, maxInterval=1000
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.137895
: Parosci.cc -- Parosci initial pressure period = 30.130630
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Parosci.cc -- Parosci initial temp period = 5.842486
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: 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() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt::init() - battery ids are c0  
: BluefinBatt::init() - found battery c0
: BluefinBatt::init() - battery echo is $c0wf 1


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 0
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - S:119.900000, N:24.000000, D:0.000000, U:0.005774, Q:***************************************

: Sonardyne - S:119.900000, N:24.000000, D:0.000000, U:0.005774, Q:0.000000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt::init() - battery watchdog state is  
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 15
: 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: ,
: BluefinBatt Reply: $c0q0 d- 30.56  3.26 15.42 3.81 3.82 0 -1034.00 05:11:33 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 0
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,  36.606685, -121.874230

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4051831.98, 600682.04

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: DepthSensor (Navigation): Received bad depth reading: 10.127077
 Substitute previous depth value of 0.000000

: **** EventTriggers::add() - attaching proxy
: DepthSensor (Navigation): Received bad depth reading: 10.080867
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthSensor (Navigation): Received bad depth reading: 10.080867
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 10.046210
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 10.046210
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 10.100272
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 10.042510
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthSensor (Navigation): Received bad depth reading: 10.042510
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 10.042510
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 10.019405
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 10.019405
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 0
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 30.59  2.55 15.42 3.81 3.82 0 -1034.17 05:11:43 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 0
: 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: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 30.59  2.69 15.42 3.81 3.82 0 -1034.44 05:11:53 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 15
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: 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: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 15
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 30.59  3.19 15.42 3.81 3.82 0 -1034.62 05:12:03 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: 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: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 0
: 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: ,
: BluefinBatt Reply: $c0q0 d- 30.56  2.55 15.42 3.81 3.82 0 -1034.88 05:12:13 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 15
: 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: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 30.56  2.66 15.42 3.81 3.82 0 -1035.11 05:12:23 m

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 15
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: 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: ,
: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

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

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: Supervisor::shutdown() - done()

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - 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 ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

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

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

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

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

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

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

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

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

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

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

: SerialDeviceExt::closeSD() - closed

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

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

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

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

: TaskServer::signalHandler() for task DockIFServer - exit()
: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

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

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

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


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00021FD8.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: **** SharedData destructor for object DockOutput_ShmemName ****

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

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

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

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002436F.
