Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer uperviso: WorkSite::WorkSite -- Adding attributes r::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/workSite.cfg createTask() - navigationServer : Using default vehicle config file "/home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/vehicle.cfg" : starting LC: layeredControlServer -plan Lab1.cfg -abort abortLab1.cfg Supervisor::createTask() - layeredControlServer -plan Lab1.cfg -abort abortLab1.cfg Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... : *** NavigationServer::NavigationServer()... : 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: 0x23294 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : layeredControlServer - creating non dynamic version : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 1 : Navigation/Multibeam:: epoch = (1580749367,434177138) : Navigation/EchoSounder:: epoch = (1580749367,434177138) : Navigation: Opening Acoustic Modem Interface: : 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 : Supervisor::createTasks() - spawning kearfottDvlServer Supervisor::createTask() - kearfottDvlServer : SerialDevice: done... : Supervisor::createTasks() - spawning parosciServer -dev /dev/ser1 -7khost 134.89.32.107 Superv: DropWeight::initialize - Resetting counters. i: **** EventTriggers::add() - attaching proxy sor::createTask() - parosciServer -dev /dev/ser1 -7khost 134.89.32.107 : Supervisor::createTasks() - spawning fanServer Supervisor::createTask() - fanServer : creating if InsIFServer : dop aid flag is 1 : Supervisor::createTasks() - spawning fastcatServer -dev /dev/ser7 : Preparing to fork Su: I'm the child...forking pervisor::createTask() - fastcatServer -dev /dev/ser7 : SerialDevice: done... : Supervisor::createTasks() - spawning reson6046Server Supervisor::create: SerialDevice: done... T: SerialDevice: done... ask() - reson6046Server : Supervisor::createTasks() - spawning edgetechFSDWServer Supervisor::createTask() - edgetechFSDWServer : 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... : Parosci: insIF is 0x40050 : Parosci::reson host is 134.89.32.107 : SerialDevice: done... : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts : Supervisor::createTasks() - spawning benthosWithAvtrakServer -dev /dev/ser12 : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts Sup: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts erv: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts iso: SerialDevice: done... r::createTask() - benthosWithAvtrakServer -dev /dev/ser12 Task::spawnServer() - execlp() of "fan" failed: Operation not permitted : Supervisor::createTasks() - spawning atsServer 9009 Supervi: SerialDevice: done... sor::createTask() - atsServer 9009 : 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 : fastcatDriver RUNNING... : SerialDevice: done... : Supervisor::createTasks() - spawning newBattDriver -n newBatt2 -dev tcp:134.89.32.140:10003 : FastCat: constructing... Supervisor::: FastCatLog.cc -- beginning constructor... c: FastCatLog.cc -- constructor succeeded re: fastcatDriver -- constructor succeeded at: FastCat: initializing... eTask() - newBattDriver -n newBatt2 -dev tcp:134.89.32.140:10003 : Supervisor::createTasks() - spawning terrainAidServer : Launching Reson6046Server... Sup: Setting name... ervi: Creating server... sor: Command constructor... ::: Run server... createTask() - terrainAidServer : SerialDevice: done... : Launching EdgetechFSDWServer... : Supervisor::createTasks() - spawning delta_tServer Supe: Setting name... rvis: Creating server... or:: Starting EdgeTech Handler.. :cr: --> Starting Edgetech FSDW Driver.... eateTask() - : -------EdgetechFSDW Configuration------- d: Debug Level = 1. el: Init Error Count Limit = 10. ta_: Error Count Limit = 10. tSe: Callback Period = 100 milliseconds. rve: Edgetech FSDW IP Address = 127.000.000.001. r : EdgeTech Visible on Network = False. : EdgeTech IP Address = 134.89.32.38. : EdgeTech Command Port = 1700. : EdgeTech Data Port = 0. : EdgeTech Shutdown Port = 0. : SBP Pulse Filename = 216Pulse_9k_14k_20ms.spf. : SBP Ping Rate = 4.00Hz. : SBP Pulse Power = 0.00%. : SSL Pulse Filename = ss75_5k_9k_20ms.spf. : SSL Ping Range = 100.00m. : SSL Pulse Power = 0.00%. : SSH Pulse Filename = ss75_5k_9k_20ms.spf. : SSH Ping Rate = 100.00m. : SSH Pulse Power = 0.00%. : ------------------------------------------- : Launching Reson6046Driver... : Command constructor... : Setting name to 'reson6046'... : Creating Reson6046Driver instance... : Initializing Edgetech Configuration... : --> Starting Reson 6046 Driver.... : Command constructor... : Supervisor::createTasks() - spawning mbTrnRecvServer -m 134.89.32.107 -t 5000 -s 11 Supervisor::c: reson6046: fastcatIF is 0x43ff4 : reson6046: navIF is 0x4414c reate: reson6046: insIF is 0x4438c Tas: reson6046: DepthSensorIF is 0x444d4 k() - mbTrnRecvServer -m 134.89.32.107 -t 5000 -s 11 : Supervisor::createTasks() - spawning mbTrnUpd8Server -m 134.89.32.107 -t 5000 Supervisor::createTask() - mbTrnUpd8Server -m 134.89.32.107 -t 5000 : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Navigation: acommsIF = 0x80958 : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : Parosci:: edgetechIF is 0x401b0 : SerialDevice: done... : dropWeightDriver::readRecord() - serial device timed out : SerialDevice::confirm() - Timed Out : FastCat: data is streaming (2376)... : Kearfott:: depthif is 0x72c94 : reson6046: atsIF is 0x445fc : parosci:: reson host is 134.89.32.107 : **** EventTriggers::add() - attaching proxy : BenthosModem::commandMode() - no prompt after +++ : **** EventTriggers::add() - attaching proxy : Kearfott:: ctdIF is 0x72dac : Running Reson6046Driver... : parosci:: reson interface successfully created : BenthosModem::commandMode() - trying EOL... : Kearfott:: edgetechIF is 0x72f04 : PeriodicTask::run() (reson6046) - sampleInterval=200, maxInterval=200 : Parosci.cc -- parsed PR (100) and TempInterval (100) : BenthosModem::commandMode() - confirming... : Reson7K Center Socket connection ready! : dropWeightDriver::readRecord() - serial device timed out : no response to address set : SerialDevice::confirm() - Timed Out : SerialDevice: done... : BenthosModem::commandMode() - no prompt after : 3 Modules found : BenthosModem::initialize() - init failed! : Battery newBatt1 initializing. : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object BenthosModemOutout **** : destroying segment BenthosModemOutout : destroying prot sem BenthosModemOutout_prot : Battery newBatt2 initializing. : destroying notify sem BenthosModemOutout_notify : AtsDriver: Socket created on fd 6 : SerialDevice: done... : PeriodicTask::run() (newBatt1) - sampleInterval=10000, maxInterval=10000 : PeriodicTask::run() (newBatt2) - sampleInterval=10000, maxInterval=10000 : Gps: initializing : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : mbTrnUpd8Server MbTrnUpd8IFServer -- running : DeltaTServer config: 83P: 1, Fwd: idt_fwd, NotSpecified, 4050 Side: idt, NotSpecified, 4040 : mbTrnRecvServer MbTrnRecvIFServer -- running : Configuration file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/terrainAid.cfg : mbTrnUpd8 - ip:134.89.32.107 port:8000 to:5000 ms : DeltaTServer: spawning driver... : recv timeout ms is 5000 : MbTrnUpd8::init() SO_RCVTIMEO to : 2 secs : MbTrnUpd8::init() SO_RCVTIMEO set to : 5000 ms : MbTrnUpd8::initialize() Jan 28 2020 22:47:57 - Ready to connect to server 134.89.32.107/8000 : MbTrnUpd8::sendmsg(REQ) : MbTrnUpd8::sendmsg() - sent 4 bytes : delta_t: 83P output requested : idt_fwd DeltaT: constructing... : idt_fwd DeltaT: msgQ DeltaTMessagesidt_fwd constructed... : mbTrnRecv - ip:134.89.32.107 port:27000 to:5000ms spread:11 swath:120 degrees : recv timeout ms is 5000 : DeltaT::DeltaT - Attaching to FastCat : DeltaT::DeltaT - Setting external control : idt_fwd DeltaT - start mvc logging : delta_t: Forward: idt_fwd : idt DeltaT: constructing... : idt DeltaT: msgQ DeltaTMessagesidt constructed... : MbTrnRecv::init() SO_RCVTIMEO to : 2 secs : MbTrnRecv::init() SO_RCVTIMEO set to : 5000 ms : MbTrnRecv - server:134.89.32.107/27000 filter to 25 beams : DeltaT::DeltaT - Attaching to FastCat : MbTrnRecv::initialize() - Ready to connect to server 134.89.32.107/27000 : DeltaT::DeltaT - Setting external control : MbTrnRecv - spread is set to 11 : idt DeltaT - start mvc logging : delta_t: Side: idt : MbTrnRecv - swath is set to 120 : idt_fwd 83P output on : MbTrnRecv::sendmsg(REQ) : idt_fwd DeltaT: initializing... : idt_fwd DeltaT: initializing port 4050... : MbTrnRecv::sendmsg() - sent 4 bytes : idt_fwd We are ready to receive datagrams from any interface on port 4050 sockfd 11... : mbTrnRecv - connected with mbtrn : idt_fwd Opened 83P file on fd: 12 : delta_t: configure fwd : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 6 : idt_fwd DeltaT - set_profile_min_range to 1 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 7 : idt_fwd DeltaT - set_tilt_angle to -90 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 8 : idt_fwd DeltaT - set_trigger_enable to 1, value = 3 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 9 : idt_fwd DeltaT - set_trigger_edge to 1, value = 3 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 10 : idt_fwd DeltaT - set_trigger_delay to 100000 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 11 : idt_fwd DeltaT - set_xducer_orientation to 0 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 12 : idt_fwd DeltaT - set profile point filter to 1 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 4 : idt_fwd DeltaT - set gain to 12 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 19 : idt_fwd DeltaT - set range to 80 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 16 : idt_fwd DeltaT - using beams 0 to 119 : DeltaT::messageHandler : idt_fwd DeltaT::messageHandler: Got msg: 14 : idt_fwd DeltaT::Sending to 0:0... 837:1 Range:9 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : idt 83P output on : idt DeltaT: initializing... : idt DeltaT: initializing port 4040... : idt We are ready to receive datagrams from any interface on port 4040 sockfd 13... : idt Opened 83P file on fd: 14 : delta_t: configure side : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 6 : idt DeltaT - set_profile_min_range to 1 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 7 : idt DeltaT - set_tilt_angle to 0 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 8 : idt DeltaT - set_trigger_enable to 1, value = 3 : DeltaT::messageHandler : Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 13959. : idt DeltaT::messageHandler: Got msg: 9 : Navigation::connectSensors core - connecting to Nav->TailCone at t = 13959. : idt DeltaT - set_trigger_edge to 1, value = 3 : Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 13959. : DeltaT::messageHandler : Navigation::connectSensors core - connecting to Nav->Dvl at t = 13959. : idt DeltaT::messageHandler: Got msg: 10 : Navigation::connectSensors aux - connecting to Nav->Multibeam at t = 13959. : idt DeltaT - set_trigger_delay to 100000 : Multibeam:: inside createTaskIF : DeltaT::messageHandler : Navigation::connectSensors aux - connecting to Nav->Gps at t = 13959. : idt DeltaT::messageHandler: Got msg: 11 : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 13959. : idt DeltaT - set_xducer_orientation to 0 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 12 : idt DeltaT - set profile point filter to 2 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 4 : idt DeltaT - set gain to 12 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 19 : idt DeltaT - set range to 100 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 16 : idt DeltaT - using beams 0 to 119 : DeltaT::messageHandler : idt DeltaT::messageHandler: Got msg: 14 : idt DeltaT::Sending to 0:0... 837:1 Range:10 Gain:12 Gain_eq:0 Nbeams:2 Sector:3 Width:1 Avg:0 SOS:14985 Trigger:3 : _delta_t::Start receiving at 1580749381.4032... : TerrainAid -- configuration: : mapFileName = PortTiles : map_type = 2 : particlesName = particles.cfg : vehicleCfgName = mappingAUV_specs.cfg : terrainNavServer = 134.89.32.107:27027 : forceLowGradeFilter = false : allowFilterReinits = true : filterType = 2 : 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 : useMbTrnServer = false : mbTrnUpdater = false : Using mbtrnpp. Need mbtrn, Good to go : Vehicle configuration file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/mappingAUV_specs.cfg : Map file = /home/dorado1/auv-qnx-dev2020/auv/altex/onboard/config/mapper1_trn/PortTiles : Run server... : 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 2020.034.00/ : wierd PD4 message : kearfott - caught Exception: Server "BenthosModemServer" not found : **** SharedData destructor for object kearfottOutput **** : destroying segment kearfottOutput : destroying prot sem kearfottOutput_prot : destroying notify sem kearfottOutput_notify : **** SharedData destructor for object DvlOutput_ShmemName **** : destroying segment DvlOutput_ShmemName : destroying prot sem DvlOutput_ShmemName_prot : destroying notify sem DvlOutput_ShmemName_notify : TaskServer::signalHandler() for task InsIFServer - exit() on signal 18 : **** SharedData destructor for object kearfottOutput **** : destroying segment kearfottOutput : destroying prot sem kearfottOutput_prot : destroying notify sem kearfottOutput_notify : _delta_t::timeout: no data from beamformers : Task "kearfottServer" died? Supervisor::createTask() - kearfottServer -dev /dev/ser10 -7khost 134.89.32.107 : Task "benthosWithAvtrakServer" died? Supervisor::createTask() - benthosWithAvtra: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 kServer -dev /dev/ser12 : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object FastCat **** : TaskServer::signalHandler() for task DeltaTIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : in DeltaT destructor : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - 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 Reson6046IFServer - exit() on signal 2 : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : DropWeight Destructor Executing. : Command destructor... : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object AtsOutout **** : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : destroying segment ParosciOutput_ShmemName : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : **** SharedData destructor for object newBatt1 **** : **** SharedData destructor for object newBatt2 **** : TaskServer::signalHandler() for task MbTrnUpd8IFServer - exit() on signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : **** SharedData destructor for object MbTrnUpd8Output_ShmemName **** : TaskServer::signalHandler() for task MbTrnRecvIFServer - exit() on signal 18 : destroying segment FastCat : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object DeltaTInput_ShmemNameidt_fwd **** : NavigationOutput::~NavigationOutput() : destroying segment LayeredControlOutput_ShmemName : **** SharedData destructor for object LayeredControlInput_ShmemName **** : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=0.00. : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DeltaTInput_ShmemNameidt **** : Reson6046Server - killing driver : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object FastCat **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object AtsOutout **** : **** SharedData destructor for object TerrainAidOutput **** : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object reson6046Output **** : destroying segment AtsOutout : Supervisor::signalHandler - setting exit flag [1] : destroying prot sem ParosciOutput_ShmemName_prot : Supervisor::signalHandler - setting exit flag [1] : **** SharedData destructor for object navigationOutput **** : Supervisor::signalHandler - setting exit flag [1] : destroying segment newBatt1 : **** SharedData destructor for object MbTrnUpd8Output_ShmemName **** : destroying segment newBatt2 : **** SharedData destructor for object GpsOutput_ShmemName **** : destroying segment MbTrnUpd8Output_ShmemName : **** SharedData destructor for object MbTrnRecvOutput_ShmemName **** : destroying prot sem FastCat_prot : destroying segment DeltaTInput_ShmemNameidt_fwd : **** SharedData destructor for object navigationOutput **** : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying segment LayeredControlInput_ShmemName : destroying segment ParosciOutput_ShmemName : destroying segment DeltaTInput_ShmemNameidt : TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 18 : destroying segment dropWeightOutput : destroying segment TailConeInput_ShmemName : destroying segment dropWeightOutput : destroying segment DvlOutput_ShmemName : destroying segment fanOutput : destroying segment FastCat : destroying segment fanOutput : destroying segment AtsOutout : destroying segment TerrainAidOutput : **** SharedData destructor for object TailConeInput_ShmemName **** : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem AtsOutout_prot : Supervisor::shutdown - cleaning up : destroying notify sem ParosciOutput_ShmemName_notify : destroying segment navigationOutput : creating if InsIFServer : destroying prot sem newBatt1_prot : destroying prot sem newBatt2_prot : destroying segment MbTrnUpd8Output_ShmemName : destroying prot sem MbTrnUpd8Output_ShmemName_prot : destroying notify sem FastCat_notify : destroying segment GpsOutput_ShmemName : destroying prot sem DeltaTInput_ShmemNameidt_fwd_prot : destroying segment navigationOutput : destroying segment MbTrnRecvOutput_ShmemName : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem DeltaTInput_ShmemNameidt_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem fanOutput_prot : destroying prot sem FastCat_prot : destroying prot sem fanOutput_prot : destroying prot sem AtsOutout_prot : destroying prot sem TerrainAidOutput_prot : destroying segment TailConeInput_ShmemName : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem AtsOutout_notify : Supervisor::shutdown - deleting output : destroying prot sem navigationOutput_prot : dop aid flag is 1 : destroying notify sem newBatt1_notify : destroying notify sem newBatt2_notify : destroying prot sem MbTrnUpd8Output_ShmemName_prot : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : destroying notify sem MbTrnUpd8Output_ShmemName_notify : SerialDevice: done... : destroying prot sem GpsOutput_ShmemName_prot : TaskServer::signalHandler() for task FastCat - exit() on signal 18 : destroying notify sem DeltaTInput_ShmemNameidt_fwd_notify : destroying prot sem navigationOutput_prot : destroying prot sem MbTrnRecvOutput_ShmemName_prot : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem DeltaTInput_ShmemNameidt_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying notify sem fanOutput_notify : destroying notify sem fanOutput_notify : destroying notify sem AtsOutout_notify : destroying notify sem TerrainAidOutput_notify : destroying prot sem TailConeInput_ShmemName_prot : **** SharedData destructor for object SupervisorOutout **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem navigationOutput_notify : TaskServer::signalHandler() for task AuvTimeSyncIFServer - exit() on signal 18 : Preparing to fork : destroying notify sem MbTrnUpd8Output_ShmemName_notify : SerialDevice: done... : **** SharedData destructor for object DeltaTOutput_ShmemNameidt_fwd **** : destroying notify sem navigationOutput_notify : TaskServer::signalHandler() for task MbTrnUpd8IFServer - exit() on signal 18 : destroying segment LayeredControlInput_ShmemName : destroying notify sem MbTrnRecvOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object DeltaTOutput_ShmemNameidt **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying notify sem TailConeInput_ShmemName_notify : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying segment SupervisorOutout : I'm the child...forking : BenthosModem::commandMode() - confirming... : destroying segment DeltaTOutput_ShmemNameidt_fwd : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment LayeredControlOutput_ShmemName : destroying segment DeltaTOutput_ShmemNameidt : destroying segment TailConeOutput_ShmemName : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying prot sem SupervisorOutout_prot : SerialDevice: done...