Does Linux log when a process is started, and the PID that gets assigned to it? Where can I find that log?

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http://unix.stackexchange.com – When my Ubuntu server starts up, I see a message that says: kernel: [11.895392] init: failsafe main process (631) killed by TERM signal. I would like to know what process this is but I'm not sure where to look. When I search through my syslog and kernel.log, I don't see any evidence of processes starting and being given an identifier (PID). I'd like to investigate my boot message (failsafe main process killed...) but first, I need to answer the question: When a process starts, where is that logged and does the PID that is assigned to it get logged as well? I understand that a process will w (HowTos)