Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTask() - externalCommsServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
createTask() - navigatio: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
nServer
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicContro: WorkSite::WorkSite -- Finished loading parameters
lS: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
erve: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
r
: 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: 0x22f58
Supervisor::createTask() - : New Navigation component constructor
simulator
S: Navigation - Using only the Dvl to compute altitude.
upervisor::createTask() - simDepthSensor
Supervisor::createTask() - simRangeFinder
Supervisor::createTask() - simAhrs
Supervisor::createTask() - simTailCone
: Create simulator...

Sup: Create VehicleConfigurationIF...

erv: Okay...

isor::createTas: Create attributes...

k(): Simulator:: initPsi = 0.000000

 - s: Done creating attributes. Parse 'em...

imGps
Supervisor::createTask() - simLbl
Supervisor::createTask() - scheduler
Supervisor::createTask() - simDvl
Supervisor::createTask() - simUsbl
: Simulator:: initPsi = 225.000000

: Simulator:: zMax = 210.000000

: beacon 1 - x = 4067388.750000 y = 600674.187500 z = 73.699997
:  The utm zone is 10

: beacon 2 - x = 4065156.000000 y = 600531.687500 z = 73.199997
:  Simulator: The lat/long in workSite.cfg is 0.638958, -2.12719
: beacon 3 - x = 4067412.250000 y = 598447.000000 z = 91.400002
:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.05215e+006, 600270
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: beacon 4 - x = 4069389.500000 y = 600848.125000 z = 80.199997
: Invoke simulator->run()...

: Schedule Server : Subscribing to Layered Control.

: beacon 5 - x = 4067093.000000 y = 602732.187500 z = 57.299999
: PeriodicTask::run() (scheduleServer) - sampleInterval=200, maxInterval=200
: Attributes::parse() - Couldn't open ps8000constants attributes file "/home/ps8000.cfg"


: PS8000 -- error loading configuration file
: Running SimLbl now
: ahrs if is Ahrs

: Running SimDvl now
: Running SimUsbl now
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.609600, -121.878800

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4052150.57, 600269.53

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

: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active

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

: LayeredControl::execute() -- (t = 0.010000) 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 = 1150937502.479820
:  simTime  = 0.00, (simTime - realTime) = 0.00
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 30.1, 
                iterations = 11 

:  simTime  = 1.00, (simTime - realTime) = 0.01
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: 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
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 30.1, 
                iterations = 11 

:  simTime  = 3.00, (simTime - realTime) = 0.01
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 30.0, 
                iterations = 11 

:  simTime  = 4.00, (simTime - realTime) = 0.01
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.9, 
                iterations = 11 

:  simTime  = 5.00, (simTime - realTime) = 0.01
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.9, 
                iterations = 11 

:  simTime  = 6.00, (simTime - realTime) = 0.01
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.8, 
                iterations = 11 

:  simTime  = 7.00, (simTime - realTime) = 0.01
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.6, 
                iterations = 11 

:  simTime  = 8.00, (simTime - realTime) = 0.01
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.609410) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.609410) Behavior setpoint has changed to state Active

:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.4, 
                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 = 29.3, 
                iterations = 11 

:  simTime  = 10.00, (simTime - realTime) = 0.00
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.2, 
                iterations = 11 

:  simTime  = 11.00, (simTime - realTime) = 0.00
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 29.1, 
                iterations = 11 

:  simTime  = 12.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.9, 
                iterations = 11 

:  simTime  = 13.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.8, 
                iterations = 11 

:  simTime  = 14.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.7, 
                iterations = 11 

:  simTime  = 15.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.5, 
                iterations = 11 

:  simTime  = 16.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.4, 
                iterations = 11 

:  simTime  = 17.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.3, 
                iterations = 11 

:  simTime  = 18.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.3, 
                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 = 28.1, 
                iterations = 11 

:  simTime  = 20.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.1, 
                iterations = 11 

:  simTime  = 21.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.1, 
                iterations = 11 

:  simTime  = 22.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.1, 
                iterations = 11 

:  simTime  = 23.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.1, 
                iterations = 11 

:  simTime  = 24.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.0, 
                iterations = 11 

:  simTime  = 25.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.0, 
                iterations = 11 

:  simTime  = 26.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.0, 
                iterations = 11 

:  simTime  = 27.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.0, 
                iterations = 11 

:  simTime  = 28.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 28.0, 
                iterations = 11 

:  simTime  = 29.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.9, 
                iterations = 11 

:  simTime  = 30.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.9, 
                iterations = 11 

:  simTime  = 31.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.9, 
                iterations = 11 

:  simTime  = 32.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.9, 
                iterations = 11 

:  simTime  = 33.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.9, 
                iterations = 11 

:  simTime  = 34.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.8, 
                iterations = 11 

:  simTime  = 35.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.8, 
                iterations = 11 

:  simTime  = 36.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.8, 
                iterations = 11 

:  simTime  = 37.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.8, 
                iterations = 11 

:  simTime  = 38.00, (simTime - realTime) = 0.01
: LayeredControl::execute() -- (t = 38.797342) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 38.807342) Behavior descend has changed to state Active

:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.8, 
                iterations = 11 

:  simTime  = 39.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.7, 
                iterations = 11 

:  simTime  = 40.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.6, 
                iterations = 11 

:  simTime  = 41.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.6, 
                iterations = 11 

:  simTime  = 42.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.5, 
                iterations = 10 

:  simTime  = 43.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.4, 
                iterations = 10 

:  simTime  = 44.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.2, 
                iterations = 10 

:  simTime  = 45.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 27.1, 
                iterations = 10 

:  simTime  = 46.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 26.9, 
                iterations = 10 

:  simTime  = 47.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 26.7, 
                iterations = 10 

:  simTime  = 48.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 26.5, 
                iterations = 10 

:  simTime  = 49.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 26.3, 
                iterations = 10 

:  simTime  = 50.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 26.1, 
                iterations = 10 

:  simTime  = 51.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 25.8, 
                iterations = 10 

:  simTime  = 52.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 25.6, 
                iterations = 10 

:  simTime  = 53.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 25.4, 
                iterations = 10 

:  simTime  = 54.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 25.1, 
                iterations = 10 

:  simTime  = 55.00, (simTime - realTime) = 0.01
: Descend::execute() - Descend terminating on depth 5.002450 > 5.000000 at time 55.996164

: LayeredControl::execute() -- (t = 56.006163) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 56.01                             (wplog)
  The current location (N,E) = 4052177.3      , 600239.3         (wplog)
  The next waypoint          = 4052616.5      , 600264.1         (wplog)
  The bearing to the next w.p. is 3.2 Degrees.

: LayeredControl::execute() -- (t = 56.016163) Behavior waypoint has changed to state Active

:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.9, 
                iterations = 10 

:  simTime  = 56.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.6, 
                iterations = 10 

:  simTime  = 57.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.4, 
                iterations = 10 

:  simTime  = 58.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.2, 
                iterations = 10 

:  simTime  = 59.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.2, 
                iterations = 10 

:  simTime  = 60.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.1, 
                iterations = 10 

:  simTime  = 61.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.1, 
                iterations = 10 

:  simTime  = 62.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 24.0, 
                iterations = 10 

:  simTime  = 63.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.8, 
                iterations = 10 

:  simTime  = 64.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.7, 
                iterations = 10 

:  simTime  = 65.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.6, 
                iterations = 10 

:  simTime  = 66.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.5, 
                iterations = 10 

:  simTime  = 67.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.4, 
                iterations = 10 

:  simTime  = 68.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.2, 
                iterations = 10 

:  simTime  = 69.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 23.1, 
                iterations = 10 

:  simTime  = 70.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.9, 
                iterations = 10 

:  simTime  = 71.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.7, 
                iterations = 10 

:  simTime  = 72.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.6, 
                iterations = 10 

:  simTime  = 73.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.3, 
                iterations = 10 

:  simTime  = 74.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.2, 
                iterations = 10 

:  simTime  = 75.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 76.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 77.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 78.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 79.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 80.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 81.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 82.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 83.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 84.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 85.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 86.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 87.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 88.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 89.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 90.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 91.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 92.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 93.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 94.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.8, 
                iterations = 10 

:  simTime  = 95.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 96.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 97.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 98.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 99.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 100.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 101.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 102.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 103.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 104.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 105.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 106.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 107.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 108.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 109.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 110.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 111.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 112.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 113.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 21.9, 
                iterations = 10 

:  simTime  = 114.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 115.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 116.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 117.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 118.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 119.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 120.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 121.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 122.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 123.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 124.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 125.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 126.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 127.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 128.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 129.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 130.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 131.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 132.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 133.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 134.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 135.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 136.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 137.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 138.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 139.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 140.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 141.00, (simTime - realTime) = 0.02
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 142.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 143.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 144.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 145.00, (simTime - realTime) = 0.02
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 146.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 147.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 148.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 149.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.809328
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 150.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 151.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 152.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 153.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 154.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.0, 
                iterations = 10 

:  simTime  = 155.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 156.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 157.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 158.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 159.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 160.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 161.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 162.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 163.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 164.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 165.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 166.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 167.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 168.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 169.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new ping time. Interval = 9.999315
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 170.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 171.00, (simTime - realTime) = 0.01
: Lbl::readTaskIF - Got new return times.
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 172.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 173.00, (simTime - realTime) = 0.01
:  SimulatedRangeFinder::range() 
               waterDepth(0.,0.) = 30.0 
               range = 22.1, 
                iterations = 10 

:  simTime  = 174.00, (simTime - realTime) = 0.01
: 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()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00039A58.
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task SimulatorIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: NavigationOutput::~NavigationOutput()

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

//10/home/dorado1/auv/altex/onboard/bin/simUsbl terminated (SIGSEGV) at 0007:00024F32.
: NavigationOutput::~NavigationOutput()

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

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object navigationOutput ****

: Supervisor::cleanup() - delete _theSupervisor

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

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

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