Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
uperviso: WorkSite::WorkSite -- Adding attributes
r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/workSite.cfg
createTask() - externalCommsServer
S: Using default vehicle config file "/home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/vehicle.cfg"
upervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: layeredControlServer - creatinging Dyno
: DynoLayeredControlServer ctor
: DynoLayeredControlServer spawnAuxTasks
: layeredControl - instantiating DynoLayeredControl
: WorkSite::WorkSite -- Finished loading parameters
: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
: 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
: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
: WorkSite server: 0x230c0
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciS: Preparing to fork

erver
: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
: I'm the child...forking

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

rvisor::c: SerialDevice: done...

reateTask() - seabirdServer
Superv: SerialDevice: done...

isor::createTask() - seabirdServer
: SerialDevice: done...

: SerialDevice: done...

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynoLayeredControl ctor

: DynoLayeredControl initialize

: SerialDevice: done...

Supervisor::createT: Gps: initializing

ask(: SerialDevice: done...

) - isus
S: seabirdDriver RUNNING...

upe: ahrs if is Ahrs

r: seabirdDriver RUNNING...

vi: SerialDevice: done...

sor::create: Crossbow.cc: In getSerialNumber()
Task() - blu: SerialDevice: done...

efinBattDriver
: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver.cfg

: Seabird/ctdDriver2 -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver2.cfg

: SerialDevice: done...

Supervisor::createTask() - hydroscatServer
: IsusLog.cc -- beginning constructor...

: isusLog.cc -- constructor succeeded

: SerialDeviceDriver::initialize()
: Isus:initializing Isus with lamp on...
S: BluefinBatt driver - running with 3 batteries
upervis: SerialDevice: done...

or::cr: BluefineBatt::init() - 3 batteries on 10 second interval
eateTask() - liss: BluefinBatt.cc - Looking for Parosci server
t
S: SerialDevice: done...

upervi: BluefinBatt::init() - querying for batt ids
sor::create: BluefinBatt::init() - battery echo is !?


Task() - biolumeDriver
Super: Crossbow.cc: device->read succeeded
vis: m3dmgx1: Serial Number is 3343

or::: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
createTask() - dvlServer
Supe: SerialDeviceDriver::initialize()
rvisor::createTask() - fanServer
Super: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681213e-003
	T_b  = 6.006753e-004
	T_c  = 1.552663e-005
	T_d  = 2.169943e-006
	T_f0 = 6368.276000
	C_a  = 2.352464e-004
	C_b  = 1.522335e+000
	C_c  = -10.489018
	C_d  = -8.418588e-005
	C_m  = 3.600
	EPS  = -9.570000e-008
	SOc  = 4.478000e-001
	BOc  = 0.000000e+000
	Voff = -4.996000e-001
	TCor = 5.000000e-004
	PCor = 1.350000e-004

vi: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
sor::c: Seabird/ctdDriver -- constructing Log...

reateTask() - dropWeightServer
: Gps: done initializing...

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

: 3 Modules found
Superv: **** EventTriggers::add() - attaching proxy
is: CTD/ctdDriver2 -- Calibration constants:
	T_a  = 3.681212e-003
	T_b  = 5.985818e-004
	T_c  = 1.495053e-005
	T_d  = 2.510526e-006
	T_f0 = 5708.503000
	C_a  = 2.261610e-005
	C_b  = 1.467433e+000
	C_c  = -10.521242
	C_d  = -8.293618e-005
	C_m  = 4.500
	EPS  = -9.570000e-008
	SOc  = 0.000000e+000
	BOc  = 0.000000e+000
	Voff = 0.000000e+000
	TCor = 0.000000e+000
	PCor = 0.000000e+000

or::c: Seabird/ctdDriver2::Seabird() - create interface to depth sensor...
r: BiolumeDriver::processRecord() - parse error
eate: Seabird/ctdDriver2 -- constructing Log...

Tas: **** EventTriggers::add() - attaching proxy
k() - iridiumDriver
: CTDLog.cc -- beginning constructor...

: BiolumeDriver::processRecord() - parse error
: CTDLog.cc -- constructor succeeded

: SerialDevice: done...

: Seabird/ctdDriver -- constructor succeeded

S: CTDLog.cc -- beginning constructor...

u: seabirdDriver -- constructor succeeded

perv: CTDLog.cc -- constructor succeeded

iso: Seabird/ctdDriver:initializing Seabird...

r::cr: Seabird/ctdDriver2 -- constructor succeeded

eateTask: seabirdDriver -- constructor succeeded

() -: Seabird/ctdDriver2:initializing Seabird...

 gulperServer
Superv: SerialDevice: done...

isor::createTask() - cluster
Superv: SerialDeviceDriver::initialize()
:  DropWeight::initialize - Resetting counters.
is: **** EventTriggers::add() - attaching proxy
or::createTask() - statePub: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
lisher
: SerialDevice: done...

: PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,173022.00,3652.43795,N,12154.14396,W,1,08,1.1,-2.31,M,-32.59,M,,*7A

: AshtechGps::processRecord() - $GPGGA,173023.00,3652.43790,N,12154.14379,W,1,08,1.1,-2.63,M,-32.59,M,,*78

: SerialDevice: done...

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

: SerialDevice: done...

: SerialDevice: done...

: StatePublisher -- configuration:
	PublishPeriod = 500 ms
	AMC_IP        = 134.89.32.39
	AMC_PORT      = 8002

: StatePublisher: Socket created on fd 10
: StatePublisher: Acquiring interfaces nav and tailcone servers
: PeriodicTask::run() (statePublisher) - sampleInterval=1000, maxInterval=1000
SharedData::initSemaphore() - sem_init() of _notifySem: Resource temporarily unavailable
:  Fan Destructor Executing.
: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

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

: AshtechGps::processRecord() - $GPGGA,173024.00,3652.43783,N,12154.14382,W,1,08,1.1,-3.00,M,-32.59,M,,*7D

: Cluster::Cluster() - connecting to "HydroscatIFServer"
: Cluster : Parsing arguments files
: Cluster :   - Trying to add a ims cluster file.
: Cluster added : "ims8"
: ims8 has 35 vectors.
: Cluster :   - Trying to add a mfox cluster file.
: Cluster added : "mfox"
: Cluster : mfox(mfox) has 9 vectors.
: Cluster : Starting the process
: PeriodicTask::run() (cluster) - sampleInterval=250, maxInterval=250
: BluefinBatt::init() - battery ids are 
b4 b6 c1  
: BluefinBatt::init() - found battery b4
: BluefinBatt::init() - found battery b6
: BluefinBatt::init() - found battery c1
: BluefinBatt::init() - battery echo is #b4wf


: Task "fanServer" died?

Super: AshtechGps::processRecord() - $GPGGA,173025.00,3652.43791,N,12154.14401,W,1,08,1.1,-3.06,M,-32.59,M,,*75

visor::c: StatePublisher: Updating state vector
re: StatePublisher: Acquiring nav
ateTa: StatePublisher: Acquiring tailcone data
sk() : StatePublisher: sent 192 bytes to AMC, errno = 4
- fanServer
: Supervisor::Supervisor() - task(s) died; exiting

: Supervisor::shutdown()

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

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

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:0003FAD0.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/statePublisher terminated (SIGSEGV) at 0007:000148A4.
: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ctdDriver - exit() on signal 2

: TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 2

: Isus:stopping Isus...
: Lisst:stopping Lisst...
: Hydroscat:stopping Hydroscat...
: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2

:  GulperDestructor Executing.
: **** SharedData destructor for object BluefinBattOutput ****

:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

: **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName ****

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

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object m3dmgx1 ****

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

: **** 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 GulperOutput ****

: NavigationOutput::~NavigationOutput()

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

: **** SharedData destructor for object m3dmgx1 ****

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

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

: **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName ****

: **** SharedData destructor for object HydroscatOutput_ShmemName ****

: TaskServer::signalHandler() for task GulperIFServer - exit() on signal 18

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

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

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

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

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

: TaskServer::signalHandler() for task ctdDriver - exit() on signal 18

: TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 18

: **** SharedData destructor for object m3dmgx1Cmd ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

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

: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18

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

: **** SharedData destructor for object GulperOutput ****

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 18

: SerialDevice: done...

: Isus:stopped - response ACK,1185384621,1185384621

: **** SharedData destructor for object IsusOutput_ShmemName ****

: Isus::getIsusConfig() : log file is /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/isus.cfg
: Isus::getIsusConfig() : getting configuration info

: **** SharedData destructor for object HydroscatOutput_ShmemName ****


//9/home/dorado1/auv/altex/onboard/bin/cluster terminated (SIGSEGV) at 0007:00023D44.
: StepGetStat (3) failed to read chars, rcvd=2, want=8
: StepGetStat (3) 18 18 00 00 01 00 00
: Isus::getIsusConfig(): response is ACK,GetConfiguration


: Isus::getIsusConfig(): ACK,GetConfiguration

:  Dvl::~Dvl: Destructor Finished.

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

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

: Isus::getIsusConfig(): // Application      Name , ISUS_AUV.C
// App Build        Date , Aug 14 2006,  
: Isus::getIsusConfig(): 4:25:32
// Persistor FLASH  Info , C82#1041-1.63b
// FLASH Card  Remaining , 4
: Isus::getIsusConfig(): 1.38%
// Fiberlite    Odometer , 1604:25:31
// Calibration      Date , 02/02/2
: Isus::getIsusConfig(): 007
// Sw Calibration   Temp , 20.00
// Wavelength Fit  Range , 217.582 <-> 24
: Isus::getIsusConfig(): 0.996
// Fitted Concentrations , 2
// Baseline        Model , (ax + b)

