Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-debug/auv/altex/onboard/config/mapper1_trn/workSite.cfg reateTask() - externalCommsServer S: Using default vehicle config file "/home/dorado1/auv-qnx-debug/auv/altex/onboard/config/mapper1_trn/vehicle.cfg" upervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan 20180913_PortLedge.cfg.pp.pp -abort abortMplan.cfg Supervisor::createTask() - layeredControlServer -plan 20180913_PortLedge.cfg.pp.pp -abort abortMplan.cfg : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... upervisor::createTask() - dynamicControlServer : 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: 0x229a0 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 1 : Navigation - Using only the Dvl to compute altitude. : Navigation/EchoSounder:: epoch = (1540228680,534397662) : Navigation: Opening Acoustic Modem Interface: : layeredControlServer - creating non dynamic version : Supervisor::createTasks() - spawning dropWeightServer -dev /dev/ser4 Supervisor::createTask() - dropWeightServer -dev /dev/ser4 : Supervisor::createTasks() - spawning newTailConeServer -dev /dev/ser13 Supervisor::createTask() - newTailConeServer -dev /dev/ser13 : Supervisor::createTasks() - spawning kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 Supervisor::createTask() - kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 : SerialDevice: done... : Supervisor::createTasks() - spawning kearfottDvlServer Supervisor::createTask(: DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy ) - kearfottDvlServer : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser1 -7khost 134.89.32.107 Supervisor::createTask() - parosciServer -dev /dev/ser1 -7khost 134.89.32.107 : creating if InsIFServer : Preparing to fork : Supervisor::createTasks() - spawning fanServer : I'm the child...forking Supervisor::createTask() - fanServer : SerialDevice: done... : Supervisor::createTasks() - spawning fastcatServer -dev /dev/ser7 Supervisor::createTask() - fastcatServer -dev /dev/ser7 : Supervisor::createTasks() - spawning reson6046Server Supervisor::createTask() - reson6046Server : 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 : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts : SerialDevice: done... : ParosciServer:: reson host is 134.89.32.107 : Supervisor::createTasks() - spawning gpsServer -r ashtech -dev udp:localhost:5050 Supervisor::createTask() - gpsServer -r ashtech -dev udp:localhost:5050 : SerialDevice: done... : SerialDevice: done... : Parosci: insIF is 0x3f6fc : Parosci::reson host is 134.89.32.107 : Supervisor::createTasks() - spawning benthosServerWithAvtrak -dev /dev/ser12 : parosci:: reson host is 134.89.32.107 Sup: parosci:: reson interface successfully created ervisor::createTask() - benthosServerWithAvtrak : Parosci.cc -- parsed PR (100) and TempInterval (100) -dev /dev/ser12 : Supervisor::createTasks() - spawning atsServer 9009 S: SerialDevice: done... up: SerialDevice: done... ervisor::createTask() - atsServer 900Task::spawnServer() - execlp() of "fan" failed: Operation not permitted 9 : Supervisor::createTasks() - spawning newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 Supervisor::createTask() - newBattDriver -n newBatt1 -dev tcp:134.89.32.131:10003 : Supervisor::createTasks() - spawning newBattDriver -n newBatt2 -dev tcp:134.89.32.136:10003 Supervisor::createTask() - newBattDriver -n newBatt2 -dev tcp:134.89.32.136:10003 : SerialDevice: done... : fastcatDriver RUNNING... : SerialDevice: done... : FastCat: constructing... : Supervisor::createTasks() - spawning terrainAidServer : Launching Reson6046Server... Super: Setting name... viso: Creating server... r:: Command constructor... :cr: Run server... eateTask() - terrainAidServer : Supervisor::createTasks() - spawning mbTrnRecvServer -m 134.89.32.107 -t 10000 -s 11 Su: FastCatLog.cc -- beginning constructor... p: FastCatLog.cc -- constructor succeeded ervi: fastcatDriver -- constructor succeeded sor: FastCat: initializing... ::createTask() - mbTrnRecvServer -m 134.89.32.107 -t 10000 -s 11 : Launching Reson6046Driver... : Setting name to 'reson6046'... : Creating Reson6046Driver instance... : --> Starting Reson 6046 Driver.... : Command constructor... : reson6046: fastcatIF is 0x43ca4 : reson6046: navIF is 0x43dfc : reson6046: insIF is 0x44024 : reson6046: DepthSensorIF is 0x4416c : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Set verbose level : SerialDevice: done... : Battery newBatt1 initializing. : AtsDriver: Socket created on fd 6 : Battery newBatt2 initializing. : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : Gps: initializing : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (newBatt2) - sampleInterval=10000, maxInterval=10000 : mbTrnRecvServer MbTrnRecvIFServer -- running : Configuration file = /home/dorado1/auv-qnx-debug/auv/altex/onboard/config/mapper1_trn/terrainAid.cfg : mbTrnRecv - ip:134.89.32.107 port:27000 to:10000ms spread:11 swath:120 degrees : recv timeout ms is 10000 : MbTrnRecv::init() SO_RCVTIMEO to : 2 secs : MbTrnRecv::init() SO_RCVTIMEO set to : 10000 ms : MbTrnRecv - server:134.89.32.107/27000 filter to 25 beams : MbTrnRecv::initialize() - Ready to connect to server 134.89.32.107/27000 : MbTrnRecv - spread is set to 11 : MbTrnRecv - swath is set to 120 : MbTrnRecv::sendmsg(CON) : MbTrnRecv::sendmsg() - sent 4 bytes : mbTrnRecv - connected with mbtrn : TerrainAid -- configuration: : mapFileName = PortTiles : map_type = 2 : particlesName = particles.cfg : vehicleCfgName = mappingAUV_specs.cfg : terrainNavServer = 134.89.32.107:27027 : forceLowGradeFilter = false : allowFilterReinits = true : useModifiedWeighting = 4 : samplePeriod = 3000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxDepthCov = -1.00 : maxPsiBergCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : useIDTData = false : useDVLSide = false : useMbTrnData = true : Using MbTrn. Need mbtrn, Good to go : Vehicle configuration file = /home/dorado1/auv-qnx-debug/auv/altex/onboard/config/mapper1_trn/mappingAUV_specs.cfg : Map file = /home/dorado1/auv-qnx-debug/auv/altex/onboard/config/mapper1_trn/PortTiles : TerrainAidDriver:: RollOffset is 0.00 : TerrainAidDriver::TerrainAidDriver() - Utm zone = 10 : TerrainAidDriver: Using TerrainNavClient at 134.89.32.107 on port 27027 and map PortTiles : TerrainAidDriver - logs/latest is 2018.295.00-TRN/ : Navigation: acommsIF = 0x81518 : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 1009. : Navigation::connectSensors core - connecting to Nav->TailCone at t = 1009. : Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 1009. : Navigation::connectSensors core - connecting to Nav->Dvl at t = 1009. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 1009. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 1009. : Set write delay : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : Set remote response waiting time : WaypointBottom - Constructed behavior 1. : WaypointBottom - Constructed behavior 2. : WaypointBottom - Opened TerrainAidIFServer 0. : WaypointBottom - Opened DynamicControlIF. : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : Kearfott:: depthif is 0x7200c : Kearfott:: ctdIF is 0x72124 : AshtechGps::processRecord() - $GPGGA,171802.00,3641.76645,N,12156.77766,W,1,07,1.3,0.75,M,-32.59,M,,*54 : FastCat: data is streaming (400)... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPZDA,171802.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171802.00,3641.76645,N,12156.77766,W,1,07,1.3,0.75,M,-32.59,M,,*54 : AshtechGps::processRecord() - $GPZDA,171802.00,22,10,2018,+00,00 : Turn on doppler correction : reson6046: atsIF is 0x44294 : Running Reson6046Driver... : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : BenthosModem::onlineMode() - confirming... : ParosciServer::depth() - data is stale : done initializing modem : ParosciServer::depth() - data is stale : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : TerrainAidDriver::Connected to server. : TerrainAidDriver::TerrainAidDriver - ctor complete : TerrainAidTask::TerrainAidTask - ctor complete : terrainAidDriver:: - wait 40 seconds for the other interfaces to start.... : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : AshtechGps::processRecord() - $GPGGA,171803.00,3641.76634,N,12156.77764,W,1,07,1.3,0.93,M,-32.59,M,,*59 : AshtechGps::processRecord() - $GPZDA,171803.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171803.00,3641.76634,N,12156.77764,W,1,07,1.3,0.93,M,-32.59,M,,*59 : AshtechGps::processRecord() - $GPZDA,171803.00,22,10,2018,+00,00 : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : Parosci.cc - mode set to standard resolution : Parosci.cc -- Serial # is 87761 : Parosci::init() - mode set okay : Parosci.cc -- PI reply = 100 : Parosci.cc -- units = 3 : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : AshtechGps::processRecord() - $GPGGA,171804.00,3641.76615,N,12156.77761,W,1,07,1.3,0.48,M,-32.59,M,,*5E : AshtechGps::processRecord() - $GPZDA,171804.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171804.00,3641.76615,N,12156.77761,W,1,07,1.3,0.48,M,-32.59,M,,*5E : AshtechGps::processRecord() - $GPZDA,171804.00,22,10,2018,+00,00 : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : Parosci.cc -- Initial pressure = 0.075753 : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : Parosci.cc -- Parosci initial pressure period = 30.066643 : Parosci.cc -- Parosci initial temp period = 5.796052 : initial pressure is 1.118368 : Parosci.cc -- Paroscientific configured. : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : AshtechGps::processRecord() - $GPGGA,171805.00,3641.76598,N,12156.77753,W,1,07,1.3,0.24,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171805.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171805.00,3641.76598,N,12156.77753,W,1,07,1.3,0.24,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171805.00,22,10,2018,+00,00 : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : Parosci.cc - mode set to nano resolution : Parosci.cc - mode set to streaming : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : AshtechGps::processRecord() - $GPGGA,171806.00,3641.76578,N,12156.77764,W,1,07,1.3,0.96,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171806.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171806.00,3641.76578,N,12156.77764,W,1,07,1.3,0.96,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171806.00,22,10,2018,+00,00 : ParosciServer::depth() - data is stale : ParosciServer::depth() - data is stale : no response to address set : SerialDevice: done... : 3 Modules found : KearfottDriver: unable to open edgetechFSDW interface : Reson7K Center Socket connection ready! : AshtechGps::processRecord() - $GPGGA,171807.00,3641.76577,N,12156.77774,W,1,07,1.3,1.34,M,-32.59,M,,*54 : AshtechGps::processRecord() - $GPZDA,171807.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171807.00,3641.76577,N,12156.77774,W,1,07,1.3,1.34,M,-32.59,M,,*54 : AshtechGps::processRecord() - $GPZDA,171807.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171808.00,3641.76545,N,12156.77786,W,1,07,1.3,3.31,M,-32.59,M,,*50 : AshtechGps::processRecord() - $GPZDA,171808.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171808.00,3641.76545,N,12156.77786,W,1,07,1.3,3.31,M,-32.59,M,,*50 : AshtechGps::processRecord() - $GPZDA,171808.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171809.00,3641.76544,N,12156.77763,W,1,07,1.3,2.82,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171809.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171809.00,3641.76544,N,12156.77763,W,1,07,1.3,2.82,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171809.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171810.00,3641.76560,N,12156.77732,W,1,06,1.3,0.85,M,-32.59,M,,*5C : AshtechGps::processRecord() - $GPZDA,171810.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171810.00,3641.76560,N,12156.77732,W,1,06,1.3,0.85,M,-32.59,M,,*5C : AshtechGps::processRecord() - $GPZDA,171810.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171811.00,3641.76552,N,12156.77728,W,1,06,1.3,0.50,M,-32.59,M,,*5F : AshtechGps::processRecord() - $GPZDA,171811.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171811.00,3641.76552,N,12156.77728,W,1,06,1.3,0.50,M,-32.59,M,,*5F : AshtechGps::processRecord() - $GPZDA,171811.00,22,10,2018,+00,00 : Navigation: Server for aux sensor "Nav->EchoSounder" not found : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 11109. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 11109. : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : AshtechGps::processRecord() - $GPGGA,171812.00,3641.76538,N,12156.77693,W,1,06,1.3,1.92,M,-32.59,M,,*5E : AshtechGps::processRecord() - $GPZDA,171812.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171812.00,3641.76538,N,12156.77693,W,1,06,1.3,1.92,M,-32.59,M,,*5E : AshtechGps::processRecord() - $GPZDA,171812.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171813.00,3641.76542,N,12156.77741,W,1,06,1.3,-0.50,M,-32.59,M,,*7E : AshtechGps::processRecord() - $GPZDA,171813.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171813.00,3641.76542,N,12156.77741,W,1,06,1.3,-0.50,M,-32.59,M,,*7E : AshtechGps::processRecord() - $GPZDA,171813.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171814.00,3641.76527,N,12156.77716,W,1,06,1.3,0.55,M,-32.59,M,,*50 : AshtechGps::processRecord() - $GPZDA,171814.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171814.00,3641.76527,N,12156.77716,W,1,06,1.3,0.55,M,-32.59,M,,*50 : AshtechGps::processRecord() - $GPZDA,171814.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171815.00,3641.76514,N,12156.77704,W,1,06,1.3,1.07,M,-32.59,M,,*54 : AshtechGps::processRecord() - $GPZDA,171815.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171815.00,3641.76514,N,12156.77704,W,1,06,1.3,1.07,M,-32.59,M,,*54 : AshtechGps::processRecord() - $GPZDA,171815.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171816.00,3641.76506,N,12156.77721,W,1,08,1.2,2.04,M,-32.59,M,,*5C : AshtechGps::processRecord() - $GPZDA,171816.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171816.00,3641.76506,N,12156.77721,W,1,08,1.2,2.04,M,-32.59,M,,*5C : AshtechGps::processRecord() - $GPZDA,171816.00,22,10,2018,+00,00 : newBatt1::Average voltage = 30.28 V, Total current = 0.00 A : newBatt1::Max pack voltage = 30.31 V, pack 45 : newBatt1::Min pack voltage = 30.26 V, pack 21 : newBatt1::Env:16.5 C, 17.5 C, 19.7 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.0 V, Disch = 0.0 V : newBatt1::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : : newBatt2::Average voltage = 30.85 V, Total current = 0.00 A : newBatt2::Max pack voltage = 30.88 V, pack 48 : newBatt2::Min pack voltage = 30.82 V, pack 8 : newBatt2::Env:16.1 C, 16.7 C, 10.7 %rH : newBatt2::packsOnline = 55 : newBatt2::Charge = 0.0 V, Disch = 0.0 V : newBatt2::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : : AshtechGps::processRecord() - $GPGGA,171817.00,3641.76519,N,12156.77713,W,1,08,1.2,1.99,M,-32.59,M,,*55 : AshtechGps::processRecord() - $GPZDA,171817.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171817.00,3641.76519,N,12156.77713,W,1,08,1.2,1.99,M,-32.59,M,,*55 : AshtechGps::processRecord() - $GPZDA,171817.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171818.00,3641.76507,N,12156.77672,W,1,08,1.2,4.26,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171818.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171818.00,3641.76507,N,12156.77672,W,1,08,1.2,4.26,M,-32.59,M,,*52 : AshtechGps::processRecord() - $GPZDA,171818.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171819.00,3641.76498,N,12156.77665,W,1,07,1.4,3.92,M,-32.59,M,,*53 : AshtechGps::processRecord() - $GPZDA,171819.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171819.00,3641.76498,N,12156.77665,W,1,07,1.4,3.92,M,-32.59,M,,*53 : AshtechGps::processRecord() - $GPZDA,171819.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171820.00,3641.76451,N,12156.77633,W,1,08,1.2,6.55,M,-32.59,M,,*58 : AshtechGps::processRecord() - $GPZDA,171820.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171820.00,3641.76451,N,12156.77633,W,1,08,1.2,6.55,M,-32.59,M,,*58 : AshtechGps::processRecord() - $GPZDA,171820.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171821.00,3641.76416,N,12156.77618,W,1,08,1.2,8.27,M,-32.59,M,,*58 : AshtechGps::processRecord() - $GPZDA,171821.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171821.00,3641.76416,N,12156.77618,W,1,08,1.2,8.27,M,-32.59,M,,*58 : AshtechGps::processRecord() - $GPZDA,171821.00,22,10,2018,+00,00 : Navigation: Server for aux sensor "Nav->Usbl" not found : Navigation::Navigation(). _es->valid() = 0 at t = 21208. : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : Reson Behavior::log=0,sbp=0,0.000000 | hiss=0,0.000000,-1.000000,200.000000 | loss=0,0.000000,-1.000000,200.000000 | mb=1,0.000000,3.000000,200.000000,35.000000,0.000060,0.000000 | pulse="","" : Reson Behavior: Stopping subbottom profiler : Sending stop subsystem 2 command... : Reson Behavior: Setting SBP gain to 128.000000 : Reson Server - setting SBP gain to 128.000000 : Reson Behavior: Setting SBP duration to 300.000000 : Reson Server - setting SBP duration to 300.000000 : Reson Behavior: Setting SSLo range to 200.000000 : Setting ping range for subsystem 3 to 200.000000... : Reson Behavior: Stopping lo-freq SS : Sending stop subsystem 3 command... : Reson Behavior: Setting SSHi range to 200.000000 : Setting ping range for subsystem 4 to 200.000000... : Reson Behavior: Stopping hi-freq SS : Sending stop subsystem 4 command... : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Server - setting MB Sound Velocity to 0.000000 : Reson Behavior: Setting MB power to 0.000000 : Setting ping power for subsystem 0 to 0.000000... : Reson Behavior: Setting MB range to 200.000000 : Setting ping range for subsystem 0 to 200.000000... : Reson Behavior: Setting MB rate to 3.000000 : Setting ping rate for subsystem 0 to 3.000000... : Reson Behavior: Setting MB gain to 35.000000 : Setting receiver gain for subsystem 0 to 35.000000... : Reson Behavior: Setting MB pulse width to 0.000060 : Setting pulse width for subsystem 0 to 0.000060... : Reson Behavior: Setting MB Bottom detection filter 25.000000:200.000000:0.000000:200.000000 : Reson Behavior: Turning on snippet control - window size = 200 : Reson Server - setting MB snippets: enable = 1, window size = 200 : Reson Behavior: Turning on bottom detection modes: 0, 1 : Reson Behavior: Starting MB pinging : Sending start subsystem 0 command... : Reson Behavior: Stopping logging : Sending stop logging command... : Reson Behavior: Stopping 7k Center Logging : Sending stop logging command... : LayeredControl::execute() -- (t = 0.009999) Behavior reson:-1 has changed to state Active : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.009999) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.009999) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : **** EventTriggers::add() - attaching proxy : Setting SBP gain to 128.000000 : Setting SBP sweep to 300.000000 : setting speed of sound to 1464.107544 : sending speed of sound of 1464.107544 : setting multibeam transmit power : AshtechGps::processRecord() - $GPGGA,171822.00,3641.76429,N,12156.77624,W,1,08,1.2,6.46,M,-32.59,M,,*51 : AshtechGps::processRecord() - $GPZDA,171822.00,22,10,2018,+00,00 : MbTrnRecv::recvmsg() failure: 11 MbTrnRecv::recvmsg(): Resource temporarily unavailable : AshtechGps::processRecord() - $GPGGA,171822.00,3641.76429,N,12156.77624,W,1,08,1.2,6.46,M,-32.59,M,,*51 : AshtechGps::processRecord() - $GPZDA,171822.00,22,10,2018,+00,00 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,171823.00,3641.76432,N,12156.77693,W,1,08,1.2,2.42,M,-32.59,M,,*56 : AshtechGps::processRecord() - $GPZDA,171823.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171823.00,3641.76432,N,12156.77693,W,1,08,1.2,2.42,M,-32.59,M,,*56 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : AshtechGps::processRecord() - $GPZDA,171823.00,22,10,2018,+00,00 : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,171824.00,3641.76426,N,12156.77710,W,1,08,1.2,1.23,M,-32.59,M,,*5A : AshtechGps::processRecord() - $GPZDA,171824.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171824.00,3641.76426,N,12156.77710,W,1,08,1.2,1.23,M,-32.59,M,,*5A : AshtechGps::processRecord() - $GPZDA,171824.00,22,10,2018,+00,00 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,171825.00,3641.76436,N,12156.77658,W,1,07,1.3,2.20,M,-32.59,M,,*59 : AshtechGps::processRecord() - $GPZDA,171825.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171825.00,3641.76436,N,12156.77658,W,1,07,1.3,2.20,M,-32.59,M,,*59 : AshtechGps::processRecord() - $GPZDA,171825.00,22,10,2018,+00,00 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,171826.00,3641.76422,N,12156.77656,W,1,07,1.4,2.63,M,-32.59,M,,*51 : AshtechGps::processRecord() - $GPZDA,171826.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171826.00,3641.76422,N,12156.77656,W,1,07,1.4,2.63,M,-32.59,M,,*51 : AshtechGps::processRecord() - $GPZDA,171826.00,22,10,2018,+00,00 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : newBatt1::Average voltage = 30.28 V, Total current = 0.00 A : newBatt1::Max pack voltage = 30.31 V, pack 45 : newBatt1::Min pack voltage = 30.26 V, pack 21 : newBatt1::Env:16.5 C, 17.6 C, 19.7 %rH : newBatt1::packsOnline = 55 : newBatt1::Charge = 0.0 V, Disch = 0.0 V : newBatt1::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : : newBatt2::Average voltage = 30.85 V, Total current = 0.00 A : newBatt2::Max pack voltage = 30.88 V, pack 48 : newBatt2::Min pack voltage = 30.82 V, pack 8 : newBatt2::Env:16.1 C, 16.7 C, 10.6 %rH : newBatt2::packsOnline = 55 : newBatt2::Charge = 0.0 V, Disch = 0.0 V : newBatt2::Aux Current = 0.00 A, Discharge Current = 0.00 A Charge Current = 0.00 A : : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : AshtechGps::processRecord() - $GPGGA,171827.00,3641.76413,N,12156.77652,W,1,07,1.4,2.82,M,-32.59,M,,*59 : AshtechGps::processRecord() - $GPZDA,171827.00,22,10,2018,+00,00 : AshtechGps::processRecord() - $GPGGA,171827.00,3641.76413,N,12156.77652,W,1,07,1.4,2.82,M,-32.59,M,,*59 : Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : GetGPS: fix.quality = 1 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : GetGPS::execute(): Depth loop open > 1 minute: 0 Gps data processed: 1 Gps data rejected: 0 Dvl data processed: 0 Dvl data rejected: 0 ZUPT processed 0 Valid Dvl height 0 : GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed : AshtechGps::processRecord() - $GPZDA,171827.00,22,10,2018,+00,00 : Supervisor::signalHandler - caught signal 15 : Supervisor::signalHandler - setting exit flag [1] : Supervisor::run - caught stop signal - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : TaskServer::signalHandler() for task InsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task FastCat - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 2 : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object AtsOutout **** : Command destructor... : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : **** SharedData destructor for object newBatt2 **** : TaskServer::signalHandler() for task MbTrnRecvIFServer - exit() on signal 18 : **** SharedData destructor for object kearfottOutput **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : destroying segment ParosciOutput_ShmemName : destroying segment FastCat : destroying segment kearfottOutput : **** SharedData destructor for object DvlOutput_ShmemName **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.21, at t=5.19. : destroying segment LayeredControlOutput_ShmemName : Reson6046Server - killing driver : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object AtsOutout **** : destroying segment AtsOutout : failed to unlink queue benthosModemCommand : Supervisor::signalHandler possible duplicate signal[2] : destroying segment newBatt1 : destroying segment newBatt2 : StepGetStat(2): checksum error : destroying segment kearfottOutput : TerrainAidDestructor Executing. : **** SharedData destructor for object reson6046Output **** : **** SharedData destructor for object MbTrnRecvOutput_ShmemName **** : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem FastCat_prot : destroying prot sem kearfottOutput_prot : destroying segment DvlOutput_ShmemName : NavigationOutput::~NavigationOutput() : destroying prot sem LayeredControlOutput_ShmemName_prot : **** SharedData destructor for object reson6046Output **** : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 18 : **** SharedData destructor for object dropWeightOutput **** : destroying segment TailConeInput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment TerrainAidOutput : **** SharedData destructor for object navigationOutput **** : destroying segment LayeredControlInput_ShmemName : destroying segment ParosciOutput_ShmemName : destroying prot sem GpsOutput_ShmemName_prot : destroying segment dropWeightOutput : destroying segment fanOutput : destroying segment FastCat : destroying segment fanOutput : destroying segment AtsOutout : destroying prot sem AtsOutout_prot : **** SharedData destructor for object BenthosModemOutout **** : Supervisor::signalHandler - setting exit flag [2] : destroying prot sem newBatt1_prot : destroying prot sem newBatt2_prot : destroying prot sem kearfottOutput_prot : destroying notify sem ParosciOutput_ShmemName_notify : destroying segment MbTrnRecvOutput_ShmemName : destroying notify sem FastCat_notify : destroying notify sem kearfottOutput_notify : destroying prot sem DvlOutput_ShmemName_prot : **** SharedData destructor for object navigationOutput **** : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying segment dropWeightOutput : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem TerrainAidOutput_prot : destroying segment navigationOutput : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying notify sem GpsOutput_ShmemName_notify : destroying prot sem dropWeightOutput_prot : destroying prot sem fanOutput_prot : destroying prot sem FastCat_prot : destroying prot sem fanOutput_prot : destroying prot sem AtsOutout_prot : destroying notify sem AtsOutout_notify : destroying segment BenthosModemOutout : Supervisor::shutdown - cleaning up : destroying notify sem newBatt1_notify : destroying notify sem newBatt2_notify : destroying notify sem kearfottOutput_notify : destroying prot sem MbTrnRecvOutput_ShmemName_prot : **** SharedData destructor for object DvlOutput_ShmemName **** : destroying notify sem DvlOutput_ShmemName_notify : destroying segment navigationOutput : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying prot sem dropWeightOutput_prot : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem TerrainAidOutput_notify : TaskServer::signalHandler() for task FastCat - exit() on signal 18 : destroying prot sem navigationOutput_prot : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem fanOutput_notify : destroying notify sem fanOutput_notify : destroying notify sem AtsOutout_notify : destroying prot sem BenthosModemOutout_prot : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : Supervisor::shutdown - deleting output : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 18 : destroying notify sem MbTrnRecvOutput_ShmemName_notify : destroying segment DvlOutput_ShmemName : destroying prot sem navigationOutput_prot : destroying segment LayeredControlInput_ShmemName : destroying notify sem dropWeightOutput_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying notify sem navigationOutput_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying notify sem BenthosModemOutout_notify : **** SharedData destructor for object SupervisorOutout **** : destroying prot sem DvlOutput_ShmemName_prot : destroying notify sem navigationOutput_notify : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment TailConeOutput_ShmemName : failed to unlink queue NavigationInput : destroying segment LayeredControlOutput_ShmemName : destroying notify sem DvlOutput_ShmemName_notify : destroying segment SupervisorOutout : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying notify sem LayeredControlInput_ShmemName_notify : destroying prot sem TailConeOutput_ShmemName_prot : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying prot sem SupervisorOutout_prot : WaypointBottom - Destructing Behavior::_terrainAid. 1 interfaces open. : destroying notify sem TailConeOutput_ShmemName_notify : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying notify sem SupervisorOutout_notify : WaypointBottom number 2 - Destroying dynamicControl interface: Behavior::_dynamicControl. : Supervisor::shutdown - done : WaypointBottom - Destroying behavior 2. : Supervisor::~Supervisor - dtor : failed to unlink queue TerrainAidMsgs : WaypointBottom - Destroying behavior 1. : **** SharedData destructor for object TerrainAidOutput **** : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 18 18 00 00 05 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying segment TailConeInput_ShmemName : destroying prot sem TailConeInput_ShmemName_prot : destroying notify sem TailConeInput_ShmemName_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment TailConeOutput_ShmemName : destroying prot sem TailConeOutput_ShmemName_prot : destroying notify sem TailConeOutput_ShmemName_notify