Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTask() - ex: Initializing worksiteServer
ternalComm: WorkSite::WorkSite -- Adding attributes
sS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - navigationServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
upervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
Supervisor::createTa: WorkSite::WorkSite -- Finished loading parameters
s: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
k(: 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
 sim: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
ula: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
tor: WorkSite server: 0x22f60

Supervisor::createTask() - simDepthSensor
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - simRangeFinder
Supervisor::createTask() - simAhrs
Supervisor::createTask() - simTailCone
S: Create simulator...

upervisor::createTask() - simGps
Su: Create VehicleConfigurationIF...

perv: Okay...

isor::createTa: Create attributes...

sk: Simulator:: initPsi = 0.000000

() -: Done creating attributes. Parse 'em...

 simLbl
Supervisor::createTask() - scheduler
Supervisor::createTask() - simDvl
Supervisor::: beacon 1 - x = 4067388.750000 y = 600674.187500 z = 73.699997
creat: beacon 2 - x = 4065156.000000 y = 600531.687500 z = 73.199997
eTas: beacon 3 - x = 4067412.250000 y = 598447.000000 z = 91.400002
k(): beacon 4 - x = 4069389.500000 y = 600848.125000 z = 80.199997
 - s: beacon 5 - x = 4067093.000000 y = 602732.187500 z = 57.299999
imUsbl
: Attributes::parse() - Couldn't open ps8000constants attributes file "/home/ps8000.cfg"


: PS8000 -- error loading configuration file
: Simulator:: initPsi = 225.000000

: Running SimLbl now
: Simulator:: zMax = 210.000000

: Schedule Server : Subscribing to Layered Control.

: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200
:  The utm zone is 10

:  Simulator: The lat/long in workSite.cfg is 0.642326, -2.1256
:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.07365e+006, 608109
: Invoke simulator->run()...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: Running SimDvl now
: Running SimUsbl now
: ahrs if is Ahrs

: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.802552, -121.788121

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4073654.20, 608108.69

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: in first loop

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

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

: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer 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

: Lbl::readTaskIF - Got new ping time. Interval = 1143573814.985542
:  simTime  = 0.00, (simTime - realTime) = 0.00
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 30.1, 
                iterations = 11 

:  simTime  = 1.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 30.1, 
                iterations = 11 

:  simTime  = 2.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 30.0, 
                iterations = 11 

:  simTime  = 3.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 30.0, 
                iterations = 11 

:  simTime  = 4.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.9, 
                iterations = 11 

:  simTime  = 5.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.8, 
                iterations = 11 

:  simTime  = 6.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.8, 
                iterations = 11 

:  simTime  = 7.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.6, 
                iterations = 11 

:  simTime  = 8.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.5, 
                iterations = 11 

:  simTime  = 9.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.4, 
                iterations = 11 

:  simTime  = 10.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.3, 
                iterations = 11 

:  simTime  = 11.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.2, 
                iterations = 11 

:  simTime  = 12.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.1, 
                iterations = 11 

:  simTime  = 13.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.0, 
                iterations = 11 

:  simTime  = 14.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.9, 
                iterations = 11 

:  simTime  = 15.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.8, 
                iterations = 11 

:  simTime  = 16.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.8, 
                iterations = 11 

:  simTime  = 17.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.7, 
                iterations = 11 

:  simTime  = 18.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.7, 
                iterations = 11 

:  simTime  = 19.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.6, 
                iterations = 11 

:  simTime  = 20.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.5, 
                iterations = 11 

:  simTime  = 21.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.3, 
                iterations = 11 

:  simTime  = 22.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.9, 
                iterations = 11 

:  simTime  = 23.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.6, 
                iterations = 11 

:  simTime  = 24.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.2, 
                iterations = 10 

:  simTime  = 25.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 26.6, 
                iterations = 10 

:  simTime  = 26.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 26.0, 
                iterations = 10 

:  simTime  = 27.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 25.4, 
                iterations = 10 

:  simTime  = 28.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.7, 
                iterations = 10 

:  simTime  = 29.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.1, 
                iterations = 10 

:  simTime  = 30.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.3, 
                iterations = 10 

:  simTime  = 31.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.6, 
                iterations = 10 

:  simTime  = 32.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 33.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.1, 
                iterations = 10 

:  simTime  = 34.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 20.3, 
                iterations = 9 

:  simTime  = 35.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 19.6, 
                iterations = 9 

:  simTime  = 36.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 18.7, 
                iterations = 9 

:  simTime  = 37.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 17.9, 
                iterations = 9 

:  simTime  = 38.00, (simTime - realTime) = 0.01
: Descend::execute() - Descend terminating on depth 13.069256 > 13.000000 at time 38.397370

: LayeredControl::execute() -- (t = 38.397370) Behavior descend has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 38.40                             (wplog)
  The current location (N,E) = 4073654.0      , 608077.3         (wplog)
  The next waypoint          = 4066375.5      , 599658.3         (wplog)
  The bearing to the next w.p. is 229.2 Degrees.

: LayeredControl::execute() -- (t = 38.397370) Behavior waypoint_homing has changed to state Active

:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 17.1, 
                iterations = 9 

:  simTime  = 39.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 16.1, 
                iterations = 9 

:  simTime  = 40.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.9, 
                iterations = 9 

:  simTime  = 41.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.1, 
                iterations = 9 

:  simTime  = 42.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 13.6, 
                iterations = 8 

:  simTime  = 43.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 13.6, 
                iterations = 8 

:  simTime  = 44.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 13.6, 
                iterations = 8 

:  simTime  = 45.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 13.9, 
                iterations = 9 

:  simTime  = 46.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.1, 
                iterations = 9 

:  simTime  = 47.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.2, 
                iterations = 9 

:  simTime  = 48.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.4, 
                iterations = 9 

:  simTime  = 49.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.5, 
                iterations = 9 

:  simTime  = 50.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.7, 
                iterations = 9 

:  simTime  = 51.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.8, 
                iterations = 9 

:  simTime  = 52.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.9, 
                iterations = 9 

:  simTime  = 53.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 14.9, 
                iterations = 9 

:  simTime  = 54.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.0, 
                iterations = 9 

:  simTime  = 55.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 56.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 57.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 58.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 59.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 60.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 61.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 62.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 63.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 64.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 65.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 66.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 67.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 68.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 69.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 70.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 71.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 72.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 73.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 74.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 75.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 76.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 77.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 78.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 79.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 80.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 81.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 82.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 83.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 84.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 85.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 86.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 87.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 88.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 89.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 90.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 91.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 92.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 93.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 94.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 95.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 96.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 97.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 98.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 99.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 100.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 101.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 102.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 103.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 104.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 105.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 106.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 107.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 108.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 109.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 110.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 111.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 112.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 113.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 114.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 115.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 116.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 117.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 118.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 119.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 120.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 121.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 122.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 123.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 124.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 125.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 126.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 127.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 128.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 129.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 130.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 131.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 132.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 133.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 134.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 135.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 136.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 137.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 138.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 139.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 140.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 141.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 142.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 143.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 144.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 145.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 146.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 147.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 148.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 149.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.809328
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 150.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 151.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 152.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 153.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 154.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 155.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 156.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 157.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 158.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 159.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 160.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 161.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 162.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 163.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 164.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 165.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 166.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 167.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 168.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 169.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 170.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 171.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 172.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 173.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 174.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 175.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 176.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 177.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 178.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 179.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 180.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 181.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 182.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 183.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 184.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 185.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 186.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 187.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 188.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 189.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 190.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 191.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 192.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 193.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 194.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 195.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 196.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 197.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 198.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 199.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 200.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 201.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 202.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 203.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 204.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 205.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 206.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 207.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 208.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 209.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 210.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 211.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 212.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 213.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 214.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 215.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 216.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 217.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 218.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 219.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 220.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 221.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 222.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 223.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 224.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 225.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 226.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 227.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 228.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 229.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 230.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 231.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 232.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 233.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 234.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 235.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 236.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 237.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 238.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 239.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 240.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 241.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 242.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 243.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 244.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 245.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 246.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 247.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 248.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 249.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 250.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 251.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 252.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 253.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 254.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 255.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 256.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 257.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 258.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 259.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 260.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 261.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 262.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 263.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 264.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 265.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 266.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 267.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 268.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 269.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 270.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 271.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 272.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 273.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 274.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 275.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 276.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 277.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 278.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 279.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 280.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 281.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 282.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 283.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 284.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 285.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 286.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 287.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 288.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 289.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.819327
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 290.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 291.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 292.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 15.1, 
                iterations = 9 

:  simTime  = 293.00, (simTime - realTime) = 0.01
: 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()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: NavigationOutput::~NavigationOutput()


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D38.
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task SimulatorIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/simUsbl terminated (SIGSEGV) at 0007:00024E76.
: **** SharedData destructor for object navigationOutput ****

: NavigationOutput::~NavigationOutput()

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

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

: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

