Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
: Initializing worksiteServer
Supervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg
createTask() - externalCommsServer
Supe: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
rvisor::createTask() - navigationServer
Supervisor::createTas: WorkSite::WorkSite -- Finished loading parameters
k(): WorkSite::WorkSite -- Starting Depth is 0.000000 meters
 - : 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
lay: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
ered: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
Co: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
ntro: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
lS: WorkSite server: 0x23078
erver
: New Navigation component constructor
Supervisor::c: Navigation - Using only the Dvl to compute altitude.
reateTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciServer
Superviso: Preparing to fork

r::cr: I'm the child...forking

eateT: SerialDevice: done...

a: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
sk: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
() : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
- b: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
luef: SerialDevice: done...

inB: SerialDevice: done...

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

 dvlServer
: SerialDevice: done...

Supervisor::c: BluefinBatt driver - running with 2 batteries
reateTas: SerialDevice: done...

k() - : BluefineBatt::init() - 2 batteries on 10 second interval
fanServer: Gps: initializing


: SerialDevice: done...

S: SerialDevice: done...

up: SerialDevice: done...

erv: BluefinBatt.cc - Looking for Parosci server
isor: SerialDevice: done...

:: SerialDevice: done...

:cr: SerialDevice: done...

eateTask: Crossbow.cc: In getSerialNumber()
: BluefinBatt::init() - querying for batt ids
() - dropWeightServer
Supervisor::createTask() - cameraServer
: SerialDevice: done...

: SerialDevice: done...

: SerialDevice: done...

: ahrs if is Ahrs

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: CameraDriver:: Before navigation IF.
: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6380

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

: 3 Modules found
: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 648.14242,N,12147.27103,W,1,06,2.1,0.88,M,-32.59,M,,*53

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,202634.00,3648.14299,N,12147.27059,W,1,06,2.1,0.36,M,-32.59,M,,*59

: AshtechGps::processRecord() - $GPGGA,202635.00,3648.14191,N,12147.27141,W,1,06,2.1,1.35,M,-32.59,M,,*59

: AshtechGps::processRecord() - $GPGGA,202636.00,3648.14082,N,12147.27223,W,1,06,2.1,2.36,M,-32.59,M,,*5E

: BluefinBatt::init() - battery ids are b3 b4  
: BluefinBatt::init() - found battery b3
: BluefinBatt::init() - found battery b4
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,202637.00,3648.14060,N,12147.27238,W,1,06,2.1,2.56,M,-32.59,M,,*5F

: AshtechGps::processRecord() - $GPGGA,202638.00,3648.14133,N,12147.27182,W,1,06,2.1,1.88,M,-32.59,M,,*55

: AshtechGps::processRecord() - $GPGGA,202639.00,3648.14217,N,12147.27118,W,1,06,2.1,1.10,M,-32.59,M,,*53

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138250
: Parosci.cc -- Parosci initial temp period = 5.840276
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,202640.00,3648.14119,N,12147.27191,W,1,06,2.1,1.99,M,-32.59,M,,*50

: AshtechGps::processRecord() - $GPGGA,202641.00,3648.14293,N,12147.27057,W,1,06,2.1,0.38,M,-32.59,M,,*51

: BluefinBatt::init() - battery watchdog state is $b3wf 1
 
: AshtechGps::processRecord() - $GPGGA,202642.00,3648.14054,N,12147.27238,W,1,06,2.1,2.57,M,-32.59,M,,*5B

: AshtechGps::processRecord() - $GPGGA,202643.00,3648.14248,N,12147.27090,W,1,06,2.1,0.76,M,-32.59,M,,*54

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,202644.00,3648.14123,N,12147.27184,W,1,06,2.1,1.91,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,202645.00,3648.14089,N,12147.27210,W,1,06,2.1,2.23,M,-32.59,M,,*55

: AshtechGps::processRecord() - $GPGGA,202646.00,3648.14181,N,12147.27138,W,1,06,2.1,1.38,M,-32.59,M,,*5F

: BluefinBatt::init() - battery watchdog state is $b4wf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - $GPGGA,202647.00,3648.14122,N,12147.27182,W,1,06,2.1,1.90,M,-32.59,M,,*54

: AshtechGps::processRecord() - $GPGGA,202648.00,3648.14002,N,12147.27273,W,1,06,2.1,3.01,M,-32.59,M,,*5F

: AshtechGps::processRecord() - $GPGGA,202649.00,3648.13906,N,12147.27346,W,1,06,2.1,3.90,M,-32.59,M,,*5B

: AshtechGps::processRecord() - $GPGGA,202650.00,3648.14138,N,12147.27170,W,1,06,2.1,1.77,M,-32.59,M,,*5D

: AshtechGps::processRecord() - $GPGGA,202651.00,3648.14015,N,12147.27263,W,1,06,2.1,2.88,M,-32.59,M,,*50

: AshtechGps::processRecord() - $GPGGA,202652.00,3648.14066,N,12147.27224,W,1,06,2.1,2.41,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,202653.00,3648.14071,N,12147.27220,W,1,06,2.1,2.38,M,-32.59,M,,*5C

: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
: AshtechGps::processRecord() - $GPGGA,202654.00,3648.14031,N,12147.27251,W,1,06,2.1,2.75,M,-32.59,M,,*50

: AshtechGps::processRecord() - $GPGGA,202655.00,3648.14108,N,12147.27192,W,1,06,2.1,2.03,M,-32.59,M,,*57

: AshtechGps::processRecord() - $GPGGA,202656.00,3648.13958,N,12147.27306,W,1,06,2.1,3.40,M,-32.59,M,,*57

: AshtechGps::processRecord() - $GPGGA,202657.00,3648.14284,N,12147.27058,W,1,06,2.1,0.44,M,-32.59,M,,*54

: BluefinBatt Reply: $b3q0 d- 32.76  0.53 24.80 4.02 4.09 0  5123.54 00:36:37 m

: AshtechGps::processRecord() - $GPGGA,202658.00,3648.14114,N,12147.27186,W,1,06,2.1,1.99,M,-32.59,M,,*52

: AshtechGps::processRecord() - $GPGGA,202659.00,3648.14250,N,12147.27082,W,1,06,2.1,0.72,M,-32.59,M,,*51

: BluefinBatt Reply: $b4q0 d- 32.60  1.67 22.94 4.04 4.09 0  8754.75 00:36:40 m

: AshtechGps::processRecord() - $GPGGA,202700.00,3648.14020,N,12147.27256,W,1,06,2.1,2.80,M,-32.59,M,,*5D

: batts online 2, min cell voltage 4.020000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,202701.00,3648.14186,N,12147.27129,W,1,06,2.1,1.30,M,-32.59,M,,*52

: AshtechGps::processRecord() - $GPGGA,202702.00,3648.14270,N,12147.27065,W,1,06,2.1,0.54,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,202703.00,3648.14341,N,12147.27011,W,1,06,2.1,-0.11,M,-32.59,M,,*7C

: Navigation: Server for aux sensor "Usbl" 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
: AshtechGps::processRecord() - $GPGGA,202704.00,3648.14047,N,12147.27234,W,1,06,2.1,2.55,M,-32.59,M,,*54

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:-1 has changed to state Active

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

: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: AshtechGps::processRecord() - $GPGGA,202705.00,3648.14125,N,12147.27175,W,1,06,2.1,1.85,M,-32.59,M,,*58

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202706.00,3648.14029,N,12147.27249,W,1,06,2.1,2.72,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202707.00,3648.14029,N,12147.27248,W,1,06,2.1,2.71,M,-32.59,M,,*52

: BluefinBatt Reply: $b3q0 d- 32.73  1.29 24.80 4.01 4.09 0  5123.48 00:36:47 m

: AshtechGps::processRecord() - $GPGGA,202708.00,3648.14187,N,12147.27129,W,1,06,2.1,1.30,M,-32.59,M,,*5A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202709.00,3648.13951,N,12147.27312,W,1,06,2.1,3.38,M,-32.59,M,,*5F

: BluefinBatt Reply: $b4q0 d- 32.60  1.78 22.94 4.04 4.09 0  8754.57 00:36:50 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202710.00,3648.13955,N,12147.27311,W,1,06,2.1,3.36,M,-32.59,M,,*5E

: batts online 2, min cell voltage 4.010000, mean min cell voltage 4.025000

: AshtechGps::processRecord() - $GPGGA,202711.00,3648.14006,N,12147.27273,W,1,06,2.1,2.90,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202712.00,3648.14094,N,12147.27206,W,1,06,2.1,2.14,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202713.00,3648.14205,N,12147.27123,W,1,06,2.1,1.17,M,-32.59,M,,*56

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202714.00,3648.14422,N,12147.26960,W,1,06,2.1,-0.73,M,-32.59,M,,*72

: AshtechGps::processRecord() - $GPGGA,202715.00,3648.14280,N,12147.27067,W,1,06,2.1,0.57,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202716.00,3648.13961,N,12147.27309,W,1,06,2.1,3.45,M,-32.59,M,,*52

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202717.00,3648.13802,N,12147.27430,W,1,06,2.1,4.89,M,-32.59,M,,*5D

: BluefinBatt Reply: $b3q0 d- 32.76  0.68 24.80 4.01 4.09 0  5123.36 00:36:57 m

: AshtechGps::processRecord() - $GPGGA,202718.00,3648.13862,N,12147.27385,W,1,06,2.1,4.38,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202719.00,3648.14018,N,12147.27267,W,1,06,2.1,3.00,M,-32.59,M,,*55

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: BluefinBatt Reply: $b4q0 d- 32.56  1.64 22.94 4.04 4.09 0  8754.42 00:37:00 m

: AshtechGps::processRecord() - $GPGGA,202720.00,3648.14068,N,12147.27229,W,1,06,2.1,2.57,M,-32.59,M,,*51

: batts online 2, min cell voltage 4.010000, mean min cell voltage 4.025000

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202721.00,3648.13956,N,12147.27314,W,1,06,2.1,3.58,M,-32.59,M,,*52

: AshtechGps::processRecord() - $GPGGA,202722.00,3648.14004,N,12147.27277,W,1,06,2.1,3.18,M,-32.59,M,,*58

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202723.00,3648.14117,N,12147.27191,W,1,06,2.1,2.18,M,-32.59,M,,*50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202724.00,3648.14076,N,12147.27222,W,1,06,2.1,2.59,M,-32.59,M,,*5F

: AshtechGps::processRecord() - $GPGGA,202725.00,3648.14079,N,12147.27219,W,1,06,2.1,2.57,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202726.00,3648.14076,N,12147.27221,W,1,06,2.1,2.61,M,-32.59,M,,*55

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202727.00,3648.13903,N,12147.27352,W,1,06,2.1,4.16,M,-32.59,M,,*5B

: BluefinBatt Reply: $b3q0 d- 32.73  0.79 24.80 4.01 4.09 0  5123.31 00:37:07 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202728.00,3648.13837,N,12147.27402,W,1,06,2.1,4.75,M,-32.59,M,,*55

: AshtechGps::processRecord() - $GPGGA,202729.00,3648.13741,N,12147.27475,W,1,06,2.1,5.60,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: BluefinBatt Reply: $b4q0 d- 32.60  1.67 22.94 4.04 4.08 0  8754.26 00:37:10 m

: AshtechGps::processRecord() - $GPGGA,202730.00,3648.13747,N,12147.27470,W,1,06,2.1,5.56,M,-32.59,M,,*51

: batts online 2, min cell voltage 4.010000, mean min cell voltage 4.025000

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202731.00,3648.13806,N,12147.27426,W,1,06,2.1,5.04,M,-32.59,M,,*5E

: AshtechGps::processRecord() - $GPGGA,202732.00,3648.13851,N,12147.27391,W,1,06,2.1,4.66,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202733.00,3648.13863,N,12147.27381,W,1,06,2.1,4.56,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202734.00,3648.13857,N,12147.27386,W,1,06,2.1,4.63,M,-32.59,M,,*52

: LayeredControl::execute() -- (t = 30.197931) Behavior setpoint:-1 has changed to state Finished

: The StartCamera Behavior has executed at t =           30.20.
: LayeredControl::execute() -- (t = 30.197931) Behavior startCamera:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 30.197931) Behavior setpoint:-1 has changed to state Active

: CameraDriver::readData - starting a 5 photo sequence.
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202735.00,3648.13829,N,12147.27406,W,1,06,2.1,4.89,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,202736.00,3648.13811,N,12147.27420,W,1,06,2.1,5.06,M,-32.59,M,,*5B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202737.00,3648.13797,N,12147.27430,W,1,06,2.1,5.20,M,-32.59,M,,*5E

: BluefinBatt Reply: $b3q0 d- 32.69  1.36 24.80 4.01 4.09 0  5123.18 00:37:17 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202738.00,3648.13765,N,12147.27454,W,1,06,2.1,5.50,M,-32.59,M,,*59

: AshtechGps::processRecord() - $GPGGA,202739.00,3648.13773,N,12147.27447,W,1,06,2.1,5.45,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: BluefinBatt Reply: $b4q0 d- 32.64  1.81 22.94 4.04 4.08 0  8754.11 00:37:20 m

: AshtechGps::processRecord() - $GPGGA,202740.00,3648.13725,N,12147.27482,W,1,06,2.1,5.89,M,-32.59,M,,*5D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: batts online 2, min cell voltage 4.010000, mean min cell voltage 4.025000

: AshtechGps::processRecord() - $GPGGA,202741.00,3648.13702,N,12147.27500,W,1,06,2.1,6.12,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202742.00,3648.13713,N,12147.27492,W,1,06,2.1,6.06,M,-32.59,M,,*5F

: AshtechGps::processRecord() - $GPGGA,202743.00,3648.13714,N,12147.27491,W,1,06,2.1,6.08,M,-32.59,M,,*54

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202744.00,3648.13745,N,12147.27468,W,1,06,2.1,5.84,M,-32.59,M,,*56

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202745.00,3648.13787,N,12147.27436,W,1,06,2.1,5.49,M,-32.59,M,,*53

: AshtechGps::processRecord() - $GPGGA,202746.00,3648.13825,N,12147.27408,W,1,06,2.1,5.19,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202747.00,3648.13850,N,12147.27388,W,1,06,2.1,4.97,M,-32.59,M,,*54

: BluefinBatt Reply: $b3q0 d- 32.65  1.93 24.80 4.01 4.08 0  5123.12 00:37:27 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202748.00,3648.13885,N,12147.27362,W,1,06,2.1,4.68,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202749.00,3648.13891,N,12147.27357,W,1,06,2.1,4.64,M,-32.59,M,,*59

: BluefinBatt Reply: $b4q0 d- 32.60  1.95 22.94 4.03 4.08 0  8753.93 00:37:30 m

: AshtechGps::processRecord() - $GPGGA,202750.00,3648.13898,N,12147.27353,W,1,06,2.1,4.61,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: batts online 2, min cell voltage 4.010000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,202751.00,3648.13892,N,12147.27357,W,1,06,2.1,4.66,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202752.00,3648.13891,N,12147.27357,W,1,06,2.1,4.66,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,202753.00,3648.13897,N,12147.27352,W,1,06,2.1,4.61,M,-32.59,M,,*54

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202754.00,3648.13898,N,12147.27351,W,1,06,2.1,4.63,M,-32.59,M,,*5D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202755.00,3648.13914,N,12147.27338,W,1,06,2.1,4.49,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202756.00,3648.13912,N,12147.27340,W,1,06,2.1,4.51,M,-32.59,M,,*5D

: AshtechGps::processRecord() - $GPGGA,202757.00,3648.13919,N,12147.27334,W,1,06,2.1,4.47,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: BluefinBatt Reply: $b3q0 d- 32.76  0.49 24.80 4.01 4.08 0  5123.04 00:37:37 m

: AshtechGps::processRecord() - $GPGGA,202758.00,3648.13929,N,12147.27326,W,1,06,2.1,4.39,M,-32.59,M,,*55

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202759.00,3648.13938,N,12147.27319,W,1,06,2.1,4.32,M,-32.59,M,,*53

: BluefinBatt Reply: $b4q0 d- 32.64  1.43 22.94 4.03 4.08 0  8753.83 00:37:40 m

: AshtechGps::processRecord() - $GPGGA,202800.00,3648.13944,N,12147.27314,W,1,06,2.1,4.31,M,-32.59,M,,*55

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: batts online 2, min cell voltage 4.010000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,202801.00,3648.13946,N,12147.27311,W,1,06,2.1,4.30,M,-32.59,M,,*52

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202802.00,3648.13959,N,12147.27302,W,1,06,2.1,4.20,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,202803.00,3648.13959,N,12147.27302,W,1,06,2.1,4.17,M,-32.59,M,,*59

: AshtechGps::processRecord() - $GPGGA,202804.00,3648.13951,N,12147.27308,W,1,06,2.1,4.24,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.61
	speedMode=1 speed=0.00

: LayeredControl::execute() -- (t = 60.395863) Behavior setpoint:-1 has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:0003AE64.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

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

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

: Task "layeredControlServer" died?

Supervisor::createTask() - layeredControlServer
: Supervisor::Supervisor() - task(s) died; exiting

: Supervisor::shutdown()

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

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

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

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

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

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

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

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

: NavigationOutput::~NavigationOutput()

: Supervisor::signalHandler(); caught signal 2
:  Fan Destructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

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

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

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

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

:  CameraDestructor Executing.
:  DropWeight Destructor Executing.
: Supervisor::signalHandler(); caught signal 2
: **** SharedData destructor for object GpsOutput_ShmemName ****

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

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

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

: **** 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 ****

: NavigationOutput::~NavigationOutput()

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

: **** SharedData destructor for object CameraOutput ****

: 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 fanOutput ****

: 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 fanOutput ****

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

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

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

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

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

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

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

: Supervisor::cleanup() - delete _theSupervisor

: **** SharedData destructor for object CameraOutput ****

: Supervisor::cleanup() - delete _theSupervisor

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

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

: Supervisor::shutdown()

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: Supervisor::shutdown() - done()

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

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

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.