Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervi: Initializing worksiteServer
sor::crea: WorkSite::WorkSite -- Adding attributes
te: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/workSite.cfg
Task() - vehicleConfigurationServer
Supervisor::createTask() : Using default vehicle config file "/home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/vehicle.cfg"
- externalCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: WorkSite::WorkSite -- Finished loading parameters
S: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
: layeredControlServer - creatinging Dyno
uper: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
visor::c: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
reate: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
Task: 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
 simu: WorkSite server: 0x230e0
lator
: DynoLayeredControlServer ctor
: DynoLayeredControlServer spawnAuxTasks
Supervisor::createTask() - simDepthSensor
: New Navigation component constructor
: Create simulator...

: Supervisor: configDirPath = /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389
Supervisor::createTask() - simAhrs
Supervisor::createTask() - simTailCone
: layeredControl - instantiating DynoLayeredControl
Supervisor::createTask() - simGps
Superv: Create VehicleConfigurationIF...

isor::createTask() - simDvl
Supervisor::crea: Okay...

teTask() - si: Create attributes...

mUs: Simulator:: initPsi = 0.000000

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

Supervisor::createTask() - simCtd
Supe: Running SimDvl now
rvisor::createTask() - simBluefinBatt
Su: Running SimUsbl now
pervisor::createTask() - simHydroscat
Supervisor::createTask() - clusterServer
Superv: Simulator:: initPsi = 225.000000

is: Simulator:: zMax = 210.000000

or::create:  The utm zone is 10

Task(:  Simulator: The lat/long in workSite.cfg is 0.64263, -2.12618
) :  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.07555e+006, 605152
- simGulper
: Invoke simulator->run()...

: Navigation - Using only the Dvl to compute altitude.
: ahrs if is Ahrs

Supervisor::createTask() - statePublisher
: Begin simGulper.
: Begin SimulatedGulperServer constructor.
: gulperLog:: Before navigation IF.
: gulperLog:: Constructor completed.
: End SimulatedGulperServer constructor.
: DynoLayeredControl ctor

: DynoLayeredControl initialize

: StatePublisher -- configuration:
	PublishPeriod = 500 ms
	AMC_IP        = 134.89.32.39
	AMC_PORT      = 8002
	ClusterName   = plume

: StatePublisher: Socket created on fd 8
: StatePublisher: Acquiring interfaces ctd, nav, and tailcone servers
: PeriodicTask::run() (statePublisher) - sampleInterval=1000, maxInterval=1000
: Cluster - main class created.
: cluster - loading configuration.
: Cluster - loading cluster.cfg
: Cluster: connecting to "Isus"
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: DropTheWeight:: -- Failed to initialize connection to DropWeightIF
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: cluster : warning : exception while loading a mfox cluster : Server "IsusIFServer" not found
: Cluster : warning : No cluster loaded !!!!!!!
: cluster - starting the task.
: PeriodicTask::run() (cluster) - sampleInterval=500, maxInterval=500
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.820000, -121.821000

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4075553.11, 605151.65

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:0 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:0 msg to VcsServer
: LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl - depthEnvelope BehaviorStarted:-1 msg to VcsServer
: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active

: LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer
: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

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

: Event received at _simTime=0.02
: Simulator::missionStatusCallback() - mission started

:  simTime  = 0.00, (simTime - realTime) = 0.00
	Heading  = 225.00 
	Depth = 0.00
	Speed = 0.00
	Pitch = 0.00
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 1.00, (simTime - realTime) = 0.05
	Heading  = 225.00 
	Depth = 0.00
	Speed = 0.00
	Pitch = 0.01
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 2.00, (simTime - realTime) = 0.05
	Heading  = 225.00 
	Depth = 0.00
	Speed = 0.00
	Pitch = 0.06
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 3.00, (simTime - realTime) = 0.05
	Heading  = 225.00 
	Depth = 0.00
	Speed = 0.00
	Pitch = 0.23
: LayeredControl::execute() -- (t = 3.199781) Behavior setpoint:0 has changed to state Finished

: LayeredControl - sending BehaviorFinished:0 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 4.00, (simTime - realTime) = 0.05
	Heading  = 225.04 
	Depth = 0.00
	Speed = 0.00
	Pitch = 0.61
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 5.00, (simTime - realTime) = 0.05
	Heading  = 225.12 
	Depth = 0.00
	Speed = 0.00
	Pitch = 1.32
: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion getgps after pos 2
: DynoLayeredControl::insert - stack now contains 4 behaviors
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 5.499623) Behavior getgps:435 has changed to state Active

: LayeredControl - getgps BehaviorStarted:435 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  simTime  = 6.00, (simTime - realTime) = 0.05
	Heading  = 225.23 
	Depth = 0.00
	Speed = 0.01
	Pitch = 2.46
: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion setpoint after pos 2
: DynoLayeredControl::insert - stack now contains 5 behaviors
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

:  simTime  = 7.00, (simTime - realTime) = 0.05
	Heading  = 225.33 
	Depth = 0.00
	Speed = 0.02
	Pitch = 4.07
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  simTime  = 8.00, (simTime - realTime) = 0.05
	Heading  = 225.41 
	Depth = 0.00
	Speed = 0.04
	Pitch = 6.14
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  simTime  = 9.00, (simTime - realTime) = 0.05
	Heading  = 225.49 
	Depth = 0.00
	Speed = 0.07
	Pitch = 8.57
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  simTime  = 10.00, (simTime - realTime) = 0.05
	Heading  = 225.56 
	Depth = 0.00
	Speed = 0.10
	Pitch = 11.19
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

:  simTime  = 11.00, (simTime - realTime) = 0.05
	Heading  = 225.59 
	Depth = 0.00
	Speed = 0.14
	Pitch = 13.76
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  simTime  = 12.00, (simTime - realTime) = 0.05
	Heading  = 225.58 
	Depth = 0.00
	Speed = 0.17
	Pitch = 16.02
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  simTime  = 13.00, (simTime - realTime) = 0.05
	Heading  = 225.58 
	Depth = 0.00
	Speed = 0.21
	Pitch = 17.74
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 13.799055) Behavior getgps:435 has changed to state Finished

: LayeredControl - sending BehaviorFinished:435 msg to VcsServer
: LayeredControl::execute() -- (t = 13.799055) Behavior setpoint:455 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:455 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

:  simTime  = 14.00, (simTime - realTime) = 0.05
	Heading  = 225.58 
	Depth = 0.00
	Speed = 0.23
	Pitch = 18.70
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 15.00, (simTime - realTime) = 0.05
	Heading  = 225.58 
	Depth = 0.00
	Speed = 0.26
	Pitch = 18.77
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 16.00, (simTime - realTime) = 0.05
	Heading  = 225.75 
	Depth = 0.00
	Speed = 0.28
	Pitch = 17.86
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl::execute() -- (t = 16.998836) Behavior setpoint:455 has changed to state Finished

: LayeredControl - sending BehaviorFinished:455 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

:  simTime  = 17.00, (simTime - realTime) = 0.05
	Heading  = 226.24 
	Depth = 0.00
	Speed = 0.28
	Pitch = 16.00
: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion setpoint after pos 2
: DynoLayeredControl::insert - stack now contains 6 behaviors
: LayeredControl::execute() -- (t = 17.488802) Behavior setpoint:475 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:475 msg to VcsServer
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

:  simTime  = 18.00, (simTime - realTime) = 0.05
	Heading  = 227.04 
	Depth = 0.00
	Speed = 0.27
	Pitch = 13.30
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 19.00, (simTime - realTime) = 0.05
	Heading  = 228.08 
	Depth = 0.00
	Speed = 0.25
	Pitch = 10.02
: LayeredControl _resolvedCommand - vertMode=1 vert=0.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 20.00, (simTime - realTime) = 0.05
	Heading  = 229.32 
	Depth = 0.00
	Speed = 0.21
	Pitch = 6.46
: LayeredControl::execute() -- (t = 20.598589) Behavior setpoint:475 has changed to state Finished

: LayeredControl - sending BehaviorFinished:475 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 21.00, (simTime - realTime) = 0.05
	Heading  = 230.73 
	Depth = 0.00
	Speed = 0.18
	Pitch = 2.94
: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion setpoint after pos 2
: DynoLayeredControl::insert - stack now contains 7 behaviors
: LayeredControl::execute() -- (t = 21.688514) Behavior setpoint:495 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:495 msg to VcsServer
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 22.00, (simTime - realTime) = 0.05
	Heading  = 232.26 
	Depth = 0.00
	Speed = 0.14
	Pitch = -0.23
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 23.00, (simTime - realTime) = 0.05
	Heading  = 233.86 
	Depth = 0.00
	Speed = 0.11
	Pitch = -2.80
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 24.00, (simTime - realTime) = 0.05
	Heading  = 235.45 
	Depth = 0.00
	Speed = 0.09
	Pitch = -4.58
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl::execute() -- (t = 24.798301) Behavior setpoint:495 has changed to state Finished

: LayeredControl - sending BehaviorFinished:495 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 25.00, (simTime - realTime) = 0.05
	Heading  = 237.00 
	Depth = 0.00
	Speed = 0.07
	Pitch = -5.43
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 26.00, (simTime - realTime) = 0.05
	Heading  = 238.49 
	Depth = 0.00
	Speed = 0.07
	Pitch = -5.26
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 27.00, (simTime - realTime) = 0.05
	Heading  = 239.90 
	Depth = 0.00
	Speed = 0.07
	Pitch = -4.07
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 28.00, (simTime - realTime) = 0.05
	Heading  = 241.26 
	Depth = 0.00
	Speed = 0.09
	Pitch = -1.99
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 29.00, (simTime - realTime) = 0.05
	Heading  = 242.55 
	Depth = 0.00
	Speed = 0.12
	Pitch = 0.73
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 30.00, (simTime - realTime) = 0.05
	Heading  = 243.76 
	Depth = 0.00
	Speed = 0.15
	Pitch = 3.79
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 31.00, (simTime - realTime) = 0.05
	Heading  = 244.93 
	Depth = 0.00
	Speed = 0.19
	Pitch = 6.82
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 32.00, (simTime - realTime) = 0.05
	Heading  = 246.09 
	Depth = 0.00
	Speed = 0.22
	Pitch = 9.47
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 33.00, (simTime - realTime) = 0.05
	Heading  = 247.28 
	Depth = 0.00
	Speed = 0.26
	Pitch = 11.46
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 34.00, (simTime - realTime) = 0.05
	Heading  = 248.50 
	Depth = 0.00
	Speed = 0.28
	Pitch = 12.57
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 35.00, (simTime - realTime) = 0.05
	Heading  = 249.79 
	Depth = 0.00
	Speed = 0.30
	Pitch = 12.67
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 36.00, (simTime - realTime) = 0.05
	Heading  = 251.18 
	Depth = 0.00
	Speed = 0.31
	Pitch = 11.74
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 37.00, (simTime - realTime) = 0.05
	Heading  = 252.67 
	Depth = 0.00
	Speed = 0.30
	Pitch = 9.88
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 38.00, (simTime - realTime) = 0.05
	Heading  = 254.24 
	Depth = 0.00
	Speed = 0.29
	Pitch = 7.25
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 39.00, (simTime - realTime) = 0.05
	Heading  = 255.88 
	Depth = 0.00
	Speed = 0.26
	Pitch = 4.12
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 40.00, (simTime - realTime) = 0.05
	Heading  = 257.58 
	Depth = 0.00
	Speed = 0.23
	Pitch = 0.80
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 41.00, (simTime - realTime) = 0.05
	Heading  = 259.34 
	Depth = 0.00
	Speed = 0.19
	Pitch = -2.40
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

:  simTime  = 42.00, (simTime - realTime) = 0.05
	Heading  = 261.11 
	Depth = 0.00
	Speed = 0.16
	Pitch = -5.22
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 43.00, (simTime - realTime) = 0.05
	Heading  = 262.85 
	Depth = 0.00
	Speed = 0.12
	Pitch = -7.40
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 44.00, (simTime - realTime) = 0.05
	Heading  = 264.52 
	Depth = 0.00
	Speed = 0.10
	Pitch = -8.73
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 45.00, (simTime - realTime) = 0.05
	Heading  = 266.10 
	Depth = 0.00
	Speed = 0.08
	Pitch = -9.07
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl::UpdateVcsNewBehaviorTimeout() - timeout!
: LayeredControl - VCS too slow submitting new behavior
: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 45.996849) Behavior setpoint:-1 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:-1 msg to VcsServer
: LayeredControl::execute() -- (t = 45.996849) Behavior missionTimer:-1 has changed to state Active

: LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer
:  simTime  = 46.00, (simTime - realTime) = 0.05
	Heading  = 267.60 
	Depth = 0.00
	Speed = 0.08
	Pitch = -8.35
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 47.00, (simTime - realTime) = 0.05
	Heading  = 268.99 
	Depth = 0.00
	Speed = 0.07
	Pitch = -6.60
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 48.00, (simTime - realTime) = 0.05
	Heading  = 270.24 
	Depth = 0.00
	Speed = 0.09
	Pitch = -3.93
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

:  simTime  = 49.00, (simTime - realTime) = 0.05
	Heading  = 271.36 
	Depth = 0.00
	Speed = 0.11
	Pitch = -0.58
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 50.00, (simTime - realTime) = 0.05
	Heading  = 272.42 
	Depth = 0.00
	Speed = 0.14
	Pitch = 3.14
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 51.00, (simTime - realTime) = 0.05
	Heading  = 273.47 
	Depth = 0.00
	Speed = 0.18
	Pitch = 6.84
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

:  simTime  = 52.00, (simTime - realTime) = 0.00
	Heading  = 274.48 
	Depth = 0.00
	Speed = 0.21
	Pitch = 10.17
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 53.00, (simTime - realTime) = 0.05
	Heading  = 275.31 
	Depth = 0.00
	Speed = 0.25
	Pitch = 12.81
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 54.00, (simTime - realTime) = 0.05
	Heading  = 275.82 
	Depth = 0.00
	Speed = 0.27
	Pitch = 14.52
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
:  simTime  = 55.00, (simTime - realTime) = 0.05
	Heading  = 276.02 
	Depth = 0.00
	Speed = 0.29
	Pitch = 15.16
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

:  simTime  = 56.00, (simTime - realTime) = 0.05
	Heading  = 275.88 
	Depth = 0.00
	Speed = 0.30
	Pitch = 14.71
: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task SimulatorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00041810.

//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/statePublisher terminated (SIGSEGV) at 0007:00015F34.
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: TaskServer::signalHandler() for task CtdIFServer - exit() on signal 2

: TaskServer::signalHandler() for task BluefinBatteryIFServer - exit() on signal 2

: TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ClusterIFServer - exit() on signal 2

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

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/simUsbl terminated (SIGSEGV) at 0007:00020FAC.
: **** SharedData destructor for object BluefinBattOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object GulperOutput ****

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

: **** SharedData destructor for object BluefinBattOutput ****

: **** SharedData destructor for object HydroscatOutput_ShmemName ****

: **** SharedData destructor for object cluster.plume ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: **** SharedData destructor for object HydroscatOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/simBluefinBatt terminated (SIGSEGV) at 0007:00011CAE.
: **** SharedData destructor for object IsusOutput_ShmemName ****

: Cluster - destroying the main class.
: Cluster : destroying ConfParser
