Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Superv: Initializing worksiteServer
isor::cr: WorkSite::WorkSite -- Adding attributes
eat: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/workSite.cfg
eTask() - vehicleConfigurationServer
Superv: Using default vehicle config file "/home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/vehicle.cfg"
isor::createTask() - externalCommsServer
Supervi: WorkSite::WorkSite -- Finished loading parameters
sor: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
::c: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
reat: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
eTa: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
sk(: 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
 na: WorkSite server: 0x230e0
vigationServer
Super: New Navigation component constructor
v: Navigation - Using only the Dvl to compute altitude.
isor::createTask() - layeredControlServer
Superv: layeredControlServer - creatinging Dyno
isor::createTask() - dynamicControlSer: DynoLayeredControlServer ctor
ver
: DynoLayeredControlServer spawnAuxTasks
: layeredControl - instantiating DynoLayeredControl
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Su: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
per: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
vis: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
or:: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
:cr: SerialDevice: done...

eate: SerialDevice: done...

Task() - gpsServer
Su: Preparing to fork

perv: I'm the child...forking

isor::createTas: SerialDevice: done...

k() - parosciSer: SerialDevice: done...

ver
Supervisor::createTask() - s: Gps: initializing

eab: SerialDevice: done...

ir: SerialDevice: done...

dServ: SerialDevice: done...

er
: SerialDevice: done...

Supe: Crossbow.cc: In getSerialNumber()
rvisor::createTask() - seabir: seabirdDriver RUNNING...

dSe: SerialDevice: done...

rver
Supervisor::createTask() - isus: seabirdDriver RUNNING...

Server
Supervisor::createTask() - bluefinBattDriver
Su: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver.cfg

perv: BluefinBatt driver - running with 3 batteries
isor::c: SerialDevice: done...

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

Ta: BluefineBatt::init() - 3 batteries on 10 second interval
sk() - hydroscatSe: BluefinBatt.cc - Looking for Parosci server
rver: SerialDevice: done...


Sup: BluefinBatt::init() - querying for batt ids
e: SerialDevice: done...

rvis: ahrs if is Ahrs

or::c: BluefinBatt::init() - battery echo is !?


reateTask: IsusLog.cc -- beginning constructor...

() : isusLog.cc -- constructor succeeded

- lis: SerialDeviceDriver::initialize()
st
S: Isus:initializing Isus with lamp on...
upervisor::create: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681213e-003
	T_b  = 6.026887e-004
	T_c  = 1.595292e-005
	T_d  = 2.081414e-006
	T_f0 = 2793.184000
	C_a  = 3.313488e-017
	C_b  = 1.567898e+000
	C_c  = -10.654399
	C_d  = 7.476148e-006
	C_m  = 17.800
	EPS  = -9.570000e-008
	SOc  = 3.815000e-001
	BOc  = 0.000000e+000
	Voff = -5.409000e-001
	TCor = 2.000000e-004
	PCor = 1.350000e-004

Ta: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
sk(): Seabird/ctdDriver -- constructing Log...

 - biolumeDri: CTD/ctdDriver2 -- Calibration constants:
	T_a  = 3.681215e-003
	T_b  = 6.062011e-004
	T_c  = 1.689511e-005
	T_d  = 1.806466e-006
	T_f0 = 3021.935000
	C_a  = 1.577693e-004
	C_b  = 1.594725e+000
	C_c  = -10.944307
	C_d  = -8.549211e-005
	C_m  = 3.800
	EPS  = -9.570000e-008
	SOc  = 0.000000e+000
	BOc  = 0.000000e+000
	Voff = 0.000000e+000
	TCor = 0.000000e+000
	PCor = 0.000000e+000

ve: CTDLog.cc -- beginning constructor...

: Seabird/ctdDriver2::Seabird() - create interface to depth sensor...
r
: CTDLog.cc -- constructor succeeded

Supe: Seabird/ctdDriver2 -- constructing Log...

rv: Seabird/ctdDriver -- constructor succeeded

isor::: seabirdDriver -- constructor succeeded

crea: Seabird/ctdDriver:initializing Seabird...

teTask: CTDLog.cc -- beginning constructor...

() -: CTDLog.cc -- constructor succeeded

 d: Seabird/ctdDriver2 -- constructor succeeded

vlS: seabirdDriver -- constructor succeeded

erv: Seabird/ctdDriver2:initializing Seabird...

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

:cr: DynoLayeredControl initialize

eateTask(: SerialDeviceDriver::initialize()
) - fanServer
: **** EventTriggers::add() - attaching proxy
Sup: SerialDevice: done...

erv: BiolumeDriver::processRecord() - parse error
iso: **** EventTriggers::add() - attaching proxy
r::createTask() - dropWeTask::spawnServer() - execlp() of "fan" failed: Operation not permitted
ightServer
Supe: BiolumeDriver::processRecord() - parse error
rvi: SerialDeviceDriver::initialize()
sor::createTask() - iridiumDriv: SerialDevice: done...

er
Supervisor::createTask() - :  DropWeight::initialize - Resetting counters.
gul: **** EventTriggers::add() - attaching proxy
perServer
Supervis: SerialDeviceDriver::initialize()
or:: 
 Starting DVL Initialization.

:cre: SerialDevice: done...

ateTask() - : Crossbow.cc: device->read succeeded
clu: m3dmgx1: Serial Number is 3343

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

ver
Supe: SerialDevice: done...

rvisor::c: gulperLog:: Before navigation IF.
reat: gulperLog:: Constructor completed.
eTask() - statePu: PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000
blisher
: StatePublisher -- configuration:
	PublishPeriod = 500 ms
	AMC_IP        = 134.89.32.39
	AMC_PORT      = 8002
	ClusterName   = plume

: StatePublisher: Socket created on fd 10
: StatePublisher: Acquiring interfaces ctd, nav, and tailcone servers
: SerialDevice: done...

: Cluster - main class created.
: cluster - loading configuration.
: Cluster - loading cluster.cfg
: Cluster: connecting to "Isus"
: Cluster: connecting to "ctdDriver" (ctdDriver)
: Cluster: connecting to "DepthSensor"
: Cluster: classifier plume registered for logging.
: cluster - starting the task.
: PeriodicTask::run() (cluster) - sampleInterval=500, maxInterval=500
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: CR1
[Parameters set to FACTORY defaults]
>
: PD0
>
: BK1
>
: TP00:00.33
>
: TE00:00:0.00
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

: EX10011
>
: EA+04500
>
: WP0001
>
: WN50
>
:  Dvl::initialize - The number of cells is 50.

: WV210
>
:  Dvl::initialize - 14 valid commands read in from dvl.cfg.

: EC1490
>
: 
>
:  PD0Header = 7F7FCF04
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: Gps: done initializing...

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

: 3 Modules found
: AshtechGps::processRecord() - N,12149.22119,W,1,09,1.0,2.45,M,-32.59,M,,*5A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,153151.00,3649.66031,N,12149.22106,W,1,09,1.0,1.64,M,-32.59,M,,*55

: Hydroscat:non-fatal response to OPEN, continuing...
: AshtechGps::processRecord() - $GPGGA,153152.00,3649.66014,N,12149.22068,W,1,09,1.0,2.63,M,-32.59,M,,*5C

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver2::initialize() - confirm() timed out; sleep a bit
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: Hydroscat:starting Hydroscat...
: Hydroscat:started
: **** EventTriggers::add() - attaching proxy
: Hydroscat::readRecord() ensemble checksum incorrect
: **** EventTriggers::add() - attaching proxy
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat:stopping Hydroscat...
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Lisst::flushReadRecord() - record so far: 
: AshtechGps::processRecord() - $GPGGA,153153.00,3649.66050,N,12149.22024,W,1,09,1.0,2.66,M,-32.59,M,,*50

: Isus:time set with val 1198164710 -> Thu Dec 20 15:31:53 2007

: Isus:comms initialized, warmup countdown begun...
: Isus:starting Isus...
: Isus:started
: Lisst:starting Lisst...
: BluefinBatt::init() - battery ids are 
aa c0 c1  
: BluefinBatt::init() - found battery aa
: BluefinBatt::init() - found battery c0
: BluefinBatt::init() - found battery c1
: BluefinBatt::init() - battery echo is #aawf


: Hydroscat:starting Hydroscat...
: Hydroscat:started
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: AshtechGps::processRecord() - $GPGGA,153154.00,3649.66008,N,12149.22041,W,1,09,1.0,4.28,M,-32.59,M,,*55

: Lisst::flushReadRecord() - record so far: 
: Lisst:started
: AshtechGps::processRecord() - $GPGGA,153155.00,3649.65989,N,12149.22022,W,1,09,1.0,4.41,M,-32.59,M,,*5D

: **** EventTriggers::add() - attaching proxy
: Lisst processRecord(): record too short(242)
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,153156.00,3649.65959,N,12149.22025,W,1,09,1.0,4.91,M,-32.59,M,,*59

: Parosci.cc -- Initial pressure = 1.055588
: Parosci.cc -- Parosci initial pressure period = 30.068210
: Parosci.cc -- Parosci initial temp period = 5.797055
: Parosci.cc -- Paroscientific configured.
: AshtechGps::processRecord() - $GPGGA,153157.00,3649.65991,N,12149.22022,W,1,09,1.0,4.02,M,-32.59,M,,*51

: **** EventTriggers::add() - attaching proxy
: Seabird/ctdDriver2: sending configure commands...(17134)

: Seabird/ctdDriver: sending configure commands...(3306)

: AshtechGps::processRecord() - $GPGGA,153158.00,3649.66048,N,12149.21992,W,1,09,1.0,2.92,M,-32.59,M,,*5E

: Seabird/ctdDriver2: setting scans...

: Seabird/ctdDriver: setting scans...

: BluefinBatt::init() - battery watchdog state is 
$aawf 1
 
: BluefinBatt::init() - battery echo is #c0wf


: StatePublisher: Unable to initialize battery interface
: AshtechGps::processRecord() - $GPGGA,153159.00,3649.66035,N,12149.21966,W,1,09,1.0,2.88,M,-32.59,M,,*55

: AshtechGps::processRecord() - $GPGGA,153200.00,3649.66010,N,12149.21968,W,1,09,1.0,3.31,M,-32.59,M,,*50

: AshtechGps::processRecord() - $GPGGA,153201.00,3649.66043,N,12149.21950,W,1,09,1.0,2.29,M,-32.59,M,,*54

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,153202.00,3649.66025,N,12149.21913,W,1,10,1.0,3.55,M,-32.59,M,,*52

: SerialDevice::confirm() - Timed Out
: SerialDevice::confirm() - Timed Out
: AshtechGps::processRecord() - $GPGGA,153203.00,3649.65993,N,12149.21862,W,1,10,1.0,4.17,M,-32.59,M,,*52

: BluefinBatt::init() - battery watchdog state is 
$c0wf 1
 
: BluefinBatt::init() - battery echo is #c1wf


: AshtechGps::processRecord() - $GPGGA,153204.00,3649.66005,N,12149.21823,W,1,10,1.0,2.40,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,153205.00,3649.65999,N,12149.21830,W,1,09,1.0,3.35,M,-32.59,M,,*56

: AshtechGps::processRecord() - $GPGGA,153206.00,3649.66009,N,12149.21860,W,1,09,1.0,3.70,M,-32.59,M,,*52

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver2: setting pump freq...

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

: Seabird/ctdDriver2: setting upcast...

: Seabird/ctdDriver: setting upcast...

: AshtechGps::processRecord() - $GPGGA,153207.00,3649.66034,N,12149.21863,W,1,09,1.0,3.10,M,-32.59,M,,*58

: Seabird/ctdDriver2: setting battery type...

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver2: setting external voltages to 6...(17134)

: Seabird/ctdDriver: setting external voltages to 6...(3306)

: AshtechGps::processRecord() - $GPGGA,153208.00,3649.66005,N,12149.21843,W,1,09,1.0,3.77,M,-32.59,M,,*56

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: BluefinBatt::init() - battery watchdog state is 
$c1wf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: StatePublisher: Unable to initialize ctd interface
: PeriodicTask::run() (statePublisher) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,153209.00,3649.66030,N,12149.21812,W,1,09,1.0,3.38,M,-32.59,M,,*5E

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153210.00,3649.66042,N,12149.21785,W,1,09,1.0,4.10,M,-32.59,M,,*5F

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153211.00,3649.66055,N,12149.21758,W,1,09,1.0,4.52,M,-32.59,M,,*5E

: Seabird/ctdDriver2::initialize() - disabling switch...

: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver2: sending DS command...

: Seabird/ctdDriver: sending DS command...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
: AshtechGps::processRecord() - $GPGGA,153212.00,3649.66026,N,12149.21741,W,1,09,1.0,5.50,M,-32.59,M,,*52

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153213.00,3649.66048,N,12149.21713,W,1,09,1.0,4.40,M,-32.59,M,,*5C

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153214.00,3649.66091,N,12149.21685,W,1,09,1.0,2.76,M,-32.59,M,,*52

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153215.00,3649.66077,N,12149.21691,W,1,10,1.0,3.15,M,-32.59,M,,*52

: Seabird/ctdDriver::initialize() - starting logging...

: Seabird/ctdDriver2::initialize() - starting logging...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153216.00,3649.66093,N,12149.21686,W,1,09,1.1,2.85,M,-32.59,M,,*5C

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Ctd/ctdDriver2:initialize() - Logging Started...

: Ctd/ctdDriver2:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153217.00,3649.66095,N,12149.21684,W,1,09,1.1,3.57,M,-32.59,M,,*57

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153218.00,3649.66105,N,12149.21661,W,1,09,1.1,2.71,M,-32.59,M,,*5E

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153219.00,3649.66078,N,12149.21651,W,1,10,1.0,3.10,M,-32.59,M,,*58

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153220.00,3649.66092,N,12149.21595,W,1,10,1.0,2.81,M,-32.59,M,,*54

: BluefinBatt Reply: $aaq0 d- 33.13  0.29 15.52 4.15 4.16 0 23061.37 02:01:10 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153221.00,3649.66112,N,12149.21560,W,1,10,1.0,2.46,M,-32.59,M,,*5D

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153222.00,3649.66083,N,12149.21545,W,1,10,1.0,4.09,M,-32.59,M,,*5D

: Navigation: Server for aux sensor "Usbl" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.820000, -121.821000

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4075553.11, 605151.65

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: BluefinBatt Reply: $c0q0 d- 33.32  0.85 15.82 4.14 4.16 0 14046.35 02:01:12 m

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:0 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:0 msg to VcsServer
: LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl - depthEnvelope BehaviorStarted:-1 msg to VcsServer
: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active

: LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer
: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153223.00,3649.66123,N,12149.21529,W,1,10,1.0,2.65,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153224.00,3649.66093,N,12149.21556,W,1,10,1.0,2.86,M,-32.59,M,,*59

: BluefinBatt Reply: $c1q0 d- 33.15  1.51 16.30 4.15 4.17 0  6035.62 02:01:14 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153225.00,3649.66163,N,12149.21546,W,1,10,1.0,0.75,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.146667

: LayeredControl::execute() -- (t = 3.199781) Behavior setpoint:0 has changed to state Finished

: LayeredControl - sending BehaviorFinished:0 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153226.00,3649.66134,N,12149.21516,W,1,10,1.0,2.66,M,-32.59,M,,*5D

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153227.00,3649.66126,N,12149.21506,W,1,10,1.0,4.45,M,-32.59,M,,*59

: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion getgps after pos 2
: DynoLayeredControl::insert - stack now contains 4 behaviors
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 5.099651) Behavior getgps:435 has changed to state Active

: LayeredControl - getgps BehaviorStarted:435 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153228.00,3649.66229,N,12149.21461,W,1,10,1.0,1.76,M,-32.59,M,,*5F

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Isus:20 seconds of warmup remaining...
: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion setpoint after pos 2
: DynoLayeredControl::insert - stack now contains 5 behaviors
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153229.00,3649.66146,N,12149.21504,W,1,10,1.0,3.92,M,-32.59,M,,*5E

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153230.00,3649.66183,N,12149.21460,W,1,10,1.0,2.47,M,-32.59,M,,*55

: BluefinBatt Reply: $aaq0 d- 33.09  0.70 15.52 4.15 4.16 0 23061.34 02:01:20 m

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153231.00,3649.66183,N,12149.21455,W,1,10,1.0,2.35,M,-32.59,M,,*57

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153232.00,3649.66171,N,12149.21442,W,1,10,1.0,2.73,M,-32.59,M,,*5D

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.32  1.11 15.82 4.14 4.16 0 14046.24 02:01:22 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153233.00,3649.66149,N,12149.21446,W,1,10,1.0,4.29,M,-32.59,M,,*5A

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153234.00,3649.66193,N,12149.21425,W,1,10,1.0,2.62,M,-32.59,M,,*56

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: BluefinBatt Reply: $c1q0 d- 33.15  1.62 16.21 4.14 4.16 0  6035.39 02:01:24 m

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153235.00,3649.66240,N,12149.21411,W,1,09,1.1,1.04,M,-32.59,M,,*57

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.143333

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153236.00,3649.66245,N,12149.21396,W,1,09,1.1,0.94,M,-32.59,M,,*51

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 13.599068) Behavior getgps:435 has changed to state Finished

: LayeredControl - sending BehaviorFinished:435 msg to VcsServer
: LayeredControl::execute() -- (t = 13.599068) Behavior setpoint:455 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:455 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153237.00,3649.66249,N,12149.21361,W,1,09,1.1,1.19,M,-32.59,M,,*50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153238.00,3649.66269,N,12149.21315,W,1,09,1.1,1.54,M,-32.59,M,,*57

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153239.00,3649.66301,N,12149.21262,W,1,09,1.1,0.93,M,-32.59,M,,*52

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: LayeredControl::execute() -- (t = 16.798849) Behavior setpoint:455 has changed to state Finished

: LayeredControl - sending BehaviorFinished:455 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $aaq0 d- 33.09  0.74 15.62 4.14 4.16 0 23061.30 02:01:30 m

: AshtechGps::processRecord() - $GPGGA,153240.00,3649.66275,N,12149.21252,W,1,09,1.1,1.04,M,-32.59,M,,*52

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion setpoint after pos 2
: DynoLayeredControl::insert - stack now contains 6 behaviors
: LayeredControl::execute() -- (t = 18.298746) Behavior setpoint:475 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:475 msg to VcsServer
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153241.00,3649.66276,N,12149.21273,W,1,08,1.5,0.88,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153242.00,3649.66293,N,12149.21276,W,1,09,1.1,-0.06,M,-32.59,M,,*70

: BluefinBatt Reply: $c0q0 d- 33.32  1.00 15.82 4.14 4.16 0 14046.10 02:01:32 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153243.00,3649.66289,N,12149.21280,W,1,09,1.1,0.25,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: LayeredControl::execute() -- (t = 21.398534) Behavior setpoint:475 has changed to state Finished

: LayeredControl - sending BehaviorFinished:475 msg to VcsServer
: StatePublisher: Updating state vector
: 
***
		Stack empty after processing. Waiting on VCS...

: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153244.00,3649.66293,N,12149.21245,W,1,09,1.1,-0.77,M,-32.59,M,,*70

: BluefinBatt Reply: $c1q0 d- 33.15  1.51 16.30 4.14 4.16 0  6035.25 02:01:34 m

: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion setpoint after pos 2
: DynoLayeredControl::insert - stack now contains 7 behaviors
: LayeredControl::execute() -- (t = 22.298472) Behavior setpoint:495 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:495 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153245.00,3649.66295,N,12149.21202,W,1,09,1.0,0.19,M,-32.59,M,,*50

: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.140000

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153246.00,3649.66318,N,12149.21140,W,1,09,1.0,-0.61,M,-32.59,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153247.00,3649.66302,N,12149.21111,W,1,09,1.0,-0.02,M,-32.59,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: LayeredControl::execute() -- (t = 25.398260) Behavior setpoint:495 has changed to state Finished

: LayeredControl - sending BehaviorFinished:495 msg to VcsServer
: StatePublisher: Updating state vector
: 
***
		Stack empty after processing. Waiting on VCS...

: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153248.00,3649.66201,N,12149.21165,W,1,08,1.5,4.04,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153249.00,3649.66196,N,12149.21167,W,1,08,1.5,4.33,M,-32.59,M,,*54

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153250.00,3649.66233,N,12149.21145,W,1,08,1.5,3.49,M,-32.59,M,,*5A

: BluefinBatt Reply: $aaq0 d- 33.13  0.33 15.62 4.14 4.16 0 23061.25 02:01:40 m

: **** EventTriggers::add() - attaching proxy
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153251.00,3649.66285,N,12149.21116,W,1,09,1.0,1.59,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153252.00,3649.66273,N,12149.21097,W,1,09,1.0,2.13,M,-32.59,M,,*58

: BluefinBatt Reply: $c0q0 d- 33.32  0.93 15.82 4.14 4.16 0 14046.01 02:01:42 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153253.00,3649.66265,N,12149.21078,W,1,09,1.0,3.85,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153254.00,3649.66258,N,12149.21078,W,1,09,1.0,5.14,M,-32.59,M,,*56

: BluefinBatt Reply: $c1q0 d- 33.19  1.62 16.30 4.15 4.17 0  6035.07 02:01:44 m

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153255.00,3649.66265,N,12149.21058,W,1,09,1.0,5.21,M,-32.59,M,,*5D

: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.143333

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153256.00,3649.66270,N,12149.21039,W,1,09,1.0,3.41,M,-32.59,M,,*5D

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153257.00,3649.66291,N,12149.21020,W,1,10,1.0,2.45,M,-32.59,M,,*56

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153258.00,3649.66310,N,12149.20981,W,1,10,1.0,1.83,M,-32.59,M,,*5B

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153259.00,3649.66313,N,12149.20943,W,1,10,1.0,2.61,M,-32.59,M,,*58

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153300.00,3649.66299,N,12149.20941,W,1,10,1.0,4.62,M,-32.59,M,,*51

: BluefinBatt Reply: $aaq0 d- 33.13  0.89 15.62 4.14 4.16 0 23061.21 02:01:50 m

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153301.00,3649.66339,N,12149.20879,W,1,10,1.0,3.16,M,-32.59,M,,*55

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153302.00,3649.66343,N,12149.20866,W,1,10,1.0,2.47,M,-32.59,M,,*50

: BluefinBatt Reply: $c0q0 d- 33.32  0.96 15.82 4.14 4.16 0 14045.91 02:01:52 m

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153303.00,3649.66347,N,12149.20869,W,1,10,1.0,2.27,M,-32.59,M,,*5C

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153304.00,3649.66361,N,12149.20875,W,1,10,1.0,2.70,M,-32.59,M,,*50

: BluefinBatt Reply: $c1q0 d- 33.15  1.62 16.30 4.15 4.17 0  6034.94 02:01:54 m

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153305.00,3649.66374,N,12149.20834,W,1,10,1.0,2.75,M,-32.59,M,,*55

: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.143333

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153306.00,3649.66380,N,12149.20788,W,1,10,1.0,3.67,M,-32.59,M,,*57

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153307.00,3649.66388,N,12149.20756,W,1,10,1.0,3.05,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153308.00,3649.66401,N,12149.20770,W,1,10,1.0,2.64,M,-32.59,M,,*52

: LayeredControl::callback() - got abort request from server
: Initiating Mission Abort!

: LayeredControl::execute() -- (t = 45.596876) Behavior setpoint:-1 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:-1 msg to VcsServer
: LayeredControl::execute() -- (t = 45.596876) Behavior missionTimer:-1 has changed to state Active

: LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153309.00,3649.66430,N,12149.20758,W,1,10,1.0,2.71,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153310.00,3649.66420,N,12149.20732,W,1,10,1.0,2.99,M,-32.59,M,,*5C

: BluefinBatt Reply: $aaq0 d- 33.13  0.37 15.52 4.14 4.16 0 23061.19 02:02:00 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153311.00,3649.66387,N,12149.20741,W,1,10,1.0,3.57,M,-32.59,M,,*50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153312.00,3649.66343,N,12149.20738,W,1,09,1.4,5.41,M,-32.59,M,,*58

: BluefinBatt Reply: $c0q0 d- 33.32  0.85 15.82 4.14 4.16 0 14045.83 02:02:02 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153313.00,3649.66370,N,12149.20714,W,1,10,1.0,5.35,M,-32.59,M,,*58

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153314.00,3649.66412,N,12149.20668,W,1,10,1.0,3.35,M,-32.59,M,,*50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c1q0 d- 33.15  1.58 16.30 4.15 4.17 0  6034.77 02:02:04 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153315.00,3649.66390,N,12149.20667,W,1,10,1.0,2.92,M,-32.59,M,,*5F

: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.143333

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153316.00,3649.66390,N,12149.20656,W,1,10,1.0,3.08,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153317.00,3649.66407,N,12149.20629,W,1,10,1.0,2.89,M,-32.59,M,,*54

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,153318.00,3649.66382,N,12149.20612,W,1,10,1.0,3.52,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: 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 ****

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

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

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

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

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

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - 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 0007:00041810.

//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/statePublisher terminated (SIGSEGV) at 0007:00015F37.
: Supervisor::shutdown() - done()

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

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

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

: Isus:stopping Isus...
: TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2

: Lisst:stopping Lisst...
: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

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

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

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

:  GulperDestructor Executing.
: TaskServer::signalHandler() for task ClusterIFServer - exit() on signal 2

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

: **** SharedData destructor for object cluster.plume ****

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

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

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

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

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

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

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

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

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

: Cluster - destroying the main class.
: **** SharedData destructor for object ParosciOutput_ShmemName ****

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

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

: **** SharedData destructor for object cluster.plume ****

: Cluster : destroying ConfParser
: SerialDevice: done...

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


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/hydroscat terminated (SIGSEGV) at 0007:00021197.

//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/lisst terminated (SIGSEGV) at 0007:0001BE8D.
: Isus:stopped - response 12/20/2007 15:33:15,16.50,7.58,0.001061
ACK,DeployDataStop


: **** 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

: Isus::getIsusConfig(): response is ACK,DeployDataStop


:  Dvl::~Dvl: Destructor Finished.


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
: Isus::getIsusConfig(): response is ACK,GetConfiguration


: Isus::getIsusConfig(): ACK,GetConfiguration

: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 5d 5d 00 00 01 00 00
: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 18 18 00 00 01 00 00
: **** 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 , 6
: Isus::getIsusConfig(): 6.74%
// Fiberlite    Odometer , 145:47:38
// Calibration      Date , 11/14/20
: Isus::getIsusConfig(): 07
// Sw Calibration   Temp , 20.00
// Wavelength Fit  Range , 217.582 <-> 240
: Isus::getIsusConfig(): .996
// Fitted Concentrations , 2
// Baseline        Model , (ax + b)


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/isus terminated (SIGSEGV) at 0007:0001E5ED.
