Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/dorado538/workSite.cfg
createTask() - dropWeight
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/dorado538/vehicle.cfg"
upervisor::createTask() - externalCommsServer
Supervisor::createTask() - navigationServ: WorkSite::WorkSite -- Finished loading parameters
er
: 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: 0x21e74
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dy: ahrs if is Ahrs

namicControlServer
Supervisor::createTask() - simulator
Supervisor::createTask() - simDepthSensor
Supervisor::createTask() - simRangeFinder
: Create simulator...

Sup: Create VehicleConfigurationIF...

erv: Create DropWeightIF...

isor:: Okay...

:createTask() -: Create attributes...

 si: Simulator:: initPsi = 0.000000

mAhr: Done creating attributes. Parse 'em...

s
Supervisor::createTask() - simTailCone
: Simulator:: initPsi = 5.000000

: Simulator:: zMax = 210.000000

:  The utm zone is 33

Su:  Simulator: The lat/long in workSite.cfg is 1.41372, 0.523599
per:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 9.02691e+006, 759125
visor::createTask(: Invoke simulator->run()...

) - simGps
Supervisor::createTask() - simLbl
Supervisor::createTask() - scheduler
Supervisor::createTask() - simDvl
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: beacon 1 - x = 4067388.750000 y = 600674.187500 z = 73.699997
: beacon 2 - x = 4065156.000000 y = 600531.687500 z = 73.199997
: beacon 3 - x = 4067412.250000 y = 598447.000000 z = 91.400002
: beacon 4 - x = 4069389.500000 y = 600848.125000 z = 80.199997
: beacon 5 - x = 4067093.000000 y = 602732.187500 z = 57.299999
: Running SimLbl now
: Schedule Server : Subscribing to Layered Control.

: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200
: Running SimDvl now
: Navigation: Server for aux sensor "KearfottServer" not found
: Navigation: Server for aux sensor "Velocimeter" not found
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: in first loop

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

: Behavior::shouldBehaviorStart -- Checking to see if depthEnvelope should run
:  -- it should

: LayeredControl::execute() -- (t = 0.009999) Behavior depthEnvelope has changed to state Active

: LayeredControl::execute() -- (t = 0.019999) Behavior missionTimer has changed to state Active

: Behavior::shouldBehaviorStart -- Checking to see if acousticAbort should run
:  -- it should

: LayeredControl::execute() -- (t = 0.039997) Behavior acousticAbort has changed to state Active

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

: !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl"

: Schedule Server -> Start
: Event received at _simTime=0.02
: Simulator::missionStatusCallback() - mission started

:  simTime  = 0.00

:  realTime = 0.01

: Lbl::readTaskIF - Got new ping time. Interval = 1004182274.358620
:  simTime  = 1.00

:  realTime = 0.97

:  simTime  = 2.00

:  realTime = 1.97

:  simTime  = 3.00

:  realTime = 2.97

:  simTime  = 4.00

:  realTime = 3.97

:  simTime  = 5.00

:  realTime = 4.97

:  simTime  = 6.00

:  realTime = 5.97

:  simTime  = 7.00

:  realTime = 6.97

:  simTime  = 8.00

:  realTime = 7.97

:  simTime  = 9.00

:  realTime = 8.97

: Lbl::readTaskIF - Got new return times.
:  simTime  = 10.00

:  realTime = 9.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 11.00

:  realTime = 10.97

:  simTime  = 12.00

:  realTime = 11.97

:  simTime  = 13.00

:  realTime = 12.97

:  simTime  = 14.00

:  realTime = 13.97

:  simTime  = 15.00

:  realTime = 14.97

:  simTime  = 16.00

:  realTime = 15.97

:  simTime  = 17.00

:  realTime = 16.97

:  simTime  = 18.00

:  realTime = 17.97

:  simTime  = 19.00

:  realTime = 18.97

: Lbl::readTaskIF - Got new return times.
:  simTime  = 20.00

:  realTime = 19.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 21.00

:  realTime = 20.97

:  simTime  = 22.00

:  realTime = 21.97

:  simTime  = 23.00

:  realTime = 22.97

:  simTime  = 24.00

:  realTime = 23.97

:  simTime  = 25.00

:  realTime = 24.97

:  simTime  = 26.00

:  realTime = 25.97

:  simTime  = 27.00

:  realTime = 26.97

:  simTime  = 28.00

:  realTime = 27.97

:  simTime  = 29.00

:  realTime = 28.97

: Lbl::readTaskIF - Got new return times.
: Lbl::readTaskIF - Got new ping time. Interval = 9.809328
:  simTime  = 30.00

:  realTime = 29.98

:  simTime  = 31.00

:  realTime = 30.97

:  simTime  = 32.00

:  realTime = 31.97

:  simTime  = 33.00

:  realTime = 32.97

:  simTime  = 34.00

:  realTime = 33.97

:  simTime  = 35.00

:  realTime = 34.97

:  simTime  = 36.00

:  realTime = 35.97

:  simTime  = 37.00

:  realTime = 36.97

:  simTime  = 38.00

:  realTime = 37.97

: Lbl::readTaskIF - Got new return times.
:  simTime  = 39.00

:  realTime = 38.98

: Lbl::readTaskIF - Got new ping time. Interval = 9.989316
:  simTime  = 40.00

:  realTime = 39.97

:  simTime  = 41.00

:  realTime = 40.97

:  simTime  = 42.00

:  realTime = 41.97

:  simTime  = 43.00

:  realTime = 42.97

:  simTime  = 44.00

:  realTime = 43.97

:  simTime  = 45.00

:  realTime = 44.97

:  simTime  = 46.00

:  realTime = 45.97

:  simTime  = 47.00

:  realTime = 46.97

:  simTime  = 48.00

:  realTime = 47.97

: Lbl::readTaskIF - Got new return times.
:  simTime  = 49.00

:  realTime = 48.98

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 50.00

:  realTime = 49.98

:  simTime  = 51.00

:  realTime = 50.97

:  simTime  = 52.00

:  realTime = 51.97

:  simTime  = 53.00

:  realTime = 52.97

:  simTime  = 54.00

:  realTime = 53.97

:  simTime  = 55.00

:  realTime = 54.97

:  simTime  = 56.00

:  realTime = 55.97

:  simTime  = 57.00

:  realTime = 56.97

:  simTime  = 58.00

:  realTime = 57.97

: Lbl::readTaskIF - Got new return times.
:  simTime  = 59.00

:  realTime = 58.98

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 60.00

:  realTime = 59.97

: LayeredControl::execute() -- (t = 60.195876) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 60.195876) Behavior descend has changed to state Active

:  simTime  = 61.00

:  realTime = 60.97

:  simTime  = 62.00

:  realTime = 61.97

:  simTime  = 63.00

:  realTime = 62.97

:  simTime  = 64.00

:  realTime = 63.97

:  simTime  = 65.00

:  realTime = 64.97

:  simTime  = 66.00

:  realTime = 65.97

:  simTime  = 67.00

:  realTime = 66.97

:  simTime  = 68.00

:  realTime = 67.97

: Lbl::readTaskIF - Got new return times.
:  simTime  = 69.00

:  realTime = 68.98

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 70.00

:  realTime = 69.97

:  simTime  = 71.00

:  realTime = 70.97

:  simTime  = 72.00

:  realTime = 71.97

:  simTime  = 73.00

:  realTime = 72.97

:  simTime  = 74.00

:  realTime = 73.96

:  simTime  = 75.00

:  realTime = 74.96

:  simTime  = 76.00

:  realTime = 75.96

:  simTime  = 77.00

:  realTime = 76.96

:  simTime  = 78.00

:  realTime = 77.96

: Lbl::readTaskIF - Got new return times.
:  simTime  = 79.00

:  realTime = 78.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 80.00

:  realTime = 79.97

:  simTime  = 81.00

:  realTime = 80.96

:  simTime  = 82.00

:  realTime = 81.96

:  simTime  = 83.00

:  realTime = 82.96

:  simTime  = 84.00

:  realTime = 83.96

:  simTime  = 85.00

:  realTime = 84.98

:  simTime  = 86.00

:  realTime = 85.96

:  simTime  = 87.00

:  realTime = 86.96

:  simTime  = 88.00

:  realTime = 87.96

: Lbl::readTaskIF - Got new return times.
:  simTime  = 89.00

:  realTime = 88.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 90.00

:  realTime = 89.96

:  simTime  = 91.00

:  realTime = 90.96

:  simTime  = 92.00

:  realTime = 91.96

:  simTime  = 93.00

:  realTime = 92.96

:  simTime  = 94.00

:  realTime = 93.96

:  simTime  = 95.00

:  realTime = 94.96

:  simTime  = 96.00

:  realTime = 95.96

:  simTime  = 97.00

:  realTime = 96.96

:  simTime  = 98.00

:  realTime = 97.96

: Lbl::readTaskIF - Got new return times.
:  simTime  = 99.00

:  realTime = 98.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 100.00

:  realTime = 99.96

:  simTime  = 101.00

:  realTime = 100.96

:  simTime  = 102.00

:  realTime = 101.96

:  simTime  = 103.00

:  realTime = 102.96

:  simTime  = 104.00

:  realTime = 103.96

:  simTime  = 105.00

:  realTime = 104.96

:  simTime  = 106.00

:  realTime = 105.96

:  simTime  = 107.00

:  realTime = 106.96

:  simTime  = 108.00

:  realTime = 107.96

: Lbl::readTaskIF - Got new return times.
:  simTime  = 109.00

:  realTime = 108.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 110.00

:  realTime = 109.96

:  simTime  = 111.00

:  realTime = 110.96

:  simTime  = 112.00

:  realTime = 111.96

:  simTime  = 113.00

:  realTime = 112.96

:  simTime  = 114.00

:  realTime = 113.96

:  simTime  = 115.00

:  realTime = 114.96

:  simTime  = 116.00

:  realTime = 115.96

:  simTime  = 117.00

:  realTime = 116.96

:  simTime  = 118.00

:  realTime = 117.96

: Lbl::readTaskIF - Got new return times.
:  simTime  = 119.00

:  realTime = 118.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 120.00

:  realTime = 119.96

:  simTime  = 121.00

:  realTime = 120.96

:  simTime  = 122.00

:  realTime = 121.96

:  simTime  = 123.00

:  realTime = 122.96

:  simTime  = 124.00

:  realTime = 123.96

:  simTime  = 125.00

:  realTime = 124.96

:  simTime  = 126.00

:  realTime = 125.96

:  simTime  = 127.00

:  realTime = 126.96

:  simTime  = 128.00

:  realTime = 127.96

: Lbl::readTaskIF - Got new return times.
:  simTime  = 129.00

:  realTime = 128.97

: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  simTime  = 130.00

:  realTime = 129.96

:  simTime  = 131.00

:  realTime = 130.96

: Supervisor::signalHandler(); caught signal 15

: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task RangeFinderIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task LblIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task SimulatorIFServer - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::signalHandler(); caught signal 2

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()

//1/home/dorado1/auv/altex/onboard/bin/simDvl terminated (SIGSEGV) at 0007:00019A28.
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: Supervisor::signalHandler(); caught signal 15

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

: Supervisor::shutdown()

: Supervisor::signalHandler(); caught signal 2

: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

