Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - e: Initializing worksiteServer xternalCom: WorkSite::WorkSite -- Adding attributes ms: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg Server Supervisor::createTask() - navigationServer S: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" upervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... : *** NavigationServer::NavigationServer()... : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x23078 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. : Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciServer Supervisor::createTask() - dvlServer : Preparing to fork S: I'm the child...forking upervisor::: SerialDevice: done... c: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts rea: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts teTa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts sk(): TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts - : SerialDevice: done... dropWeig: SerialDevice: done... htServer Supervisor::createT: SerialDevice: done... ask() - sonardyneServer : Gps: initializing : SerialDevice: done... : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... Superviso: SerialDevice: done... r: Crossbow.cc: In getSerialNumber() ::createTas: SerialDevice: done... k() - cameraServer Super: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() visor::createTask() - echoSounde: SerialDevice: done... rServer: Parosci.cc -- parsed PR (30) and TempInterval (10) : SerialDevice: done... Supervisor:: Parosci.cc -- Serial # is 87760 :createTask: SerialDevice: done... : Parosci::init() - mode set okay () - benthosSe: SonardyneServer.cc was last compiled on Jul 12 2010, 16:59:16 rver : Parosci.cc -- PR reply = 30 S: SerialDevice: done... upervisor::createTask() - terrainAidServer : Parosci.cc -- units = 1 : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SonardyneDriver.cc was last compiled on Jul 12 2010, 16:59:13 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : CameraDriver:: Before navigation IF. : SerialDevice: done... : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1490.000000 m/s Beacon = V4,5 MRPL = 2 ms : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Navigation: acommsIF = 0x6ec7c : ahrs if is Ahrs : gpsDriver::readRecord() - serial device timed out : **** EventTriggers::add() - attaching proxy : Set verbose level : EchoSounder -- configuration: Maximum Range = 100 m StartGain = 20 dB Absorption = 0.20 dB/m Pulse Length = 270 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 1 Delay = 0 milliseconds xz mounting an.= 90.00 degrees Head angle = -90.00 degrees Sector angle = 0.00 degrees Step size = 2.40 degrees Acoustic Freq = 675 kHz Ping period = 1.00 seconds : Scaled and shifted frequency = 100 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 3000 : maxNorthingCov = 30.00 : maxEastingCov = 30.00 : maxNorthingError = 300.00 : maxEastingError = 300.00 : Set write delay : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : Parosci.cc -- Initial pressure = 1.097646 : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : Parosci.cc -- Parosci initial pressure period = 30.137890 : Reson configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/resonSeabat8101_specs.cfg : CR1 [Parameters set to FACTORY defaults] > : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : TerrainAidDriver:: RollOffset is 0.00 : PD5 > : BK1 > : TP00:00.20 > : TE00:00:00.00 > : Parosci.cc -- Parosci initial temp period = 5.839722 : Parosci.cc -- Paroscientific configured. : NMEA Update: $GPGGA,002850.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : Set remote response waiting time : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : SerialDevice: done... : 3 Modules found : EA+04238 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : Turn on doppler correction : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : NMEA Update: $GPGGA,002851.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : header is >CS 7 : Dvl record header not found. Resynchronize. : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : gpsDriver::readRecord() - serial device timed out : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,002852.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : NMEA Update: $GPGGA,002853.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002854.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : NMEA Update: $GPGGA,002855.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002856.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : NMEA Update: $GPGGA,002857.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002858.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : NMEA Update: $GPGGA,002859.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002900.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : NMEA Update: $GPGGA,002901.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002902.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : NMEA Update: $GPGGA,002903.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002904.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : NMEA Update: $GPGGA,002905.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002906.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : NMEA Update: $GPGGA,002907.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002908.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : NMEA Update: $GPGGA,002909.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002910.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : NMEA Update: $GPGGA,002911.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002912.98,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : 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, 36.812000, -121.968990 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4074513.00, 591962.00 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : NMEA Update: $GPGGA,002913.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : NMEA Update: $GPGGA,002914.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002915.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002916.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002917.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : NMEA Update: $GPGGA,002918.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002919.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002920.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002921.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002922.98,3648.7200,N,-12158.1394,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002923.98,3648.7200,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002924.98,3648.7200,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002925.98,3648.7200,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002926.98,3648.7200,N,-12158.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002927.98,3648.7199,N,-12158.1392,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : NMEA Update: $GPGGA,002928.98,3648.7199,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002929.98,3648.7199,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002930.98,3648.7199,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002931.98,3648.7199,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : NMEA Update: $GPGGA,002932.98,3648.7199,N,-12158.1391,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002933.98,3648.7199,N,-12158.1390,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002934.98,3648.7198,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002935.98,3648.7198,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002936.98,3648.7198,N,-12158.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002937.98,3648.7192,N,-12158.1381,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002938.98,3648.7188,N,-12158.1376,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002939.98,3648.7187,N,-12158.1373,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002940.98,3648.7187,N,-12158.1373,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002941.98,3648.7187,N,-12158.1373,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : NMEA Update: $GPGGA,002942.98,3648.7184,N,-12158.1370,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002943.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002944.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002945.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : NMEA Update: $GPGGA,002946.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002947.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002948.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002949.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002950.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : PeriodicTask::run() (terrainAidDriver) - sampleInterval=3000, maxInterval=3000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002951.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002952.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002953.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: _navTime0 = 1278980993.89 : TerrainAidDriver:: _dvlTime0 = 1792.53 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,002954.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002955.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,002956.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 0.00 : -44.86 : Estimated East Bias at time = 0.00 : 57.18 : Estimated Depth Bias at time = 0.00 : 2.36 : Estimated northing and easting = 4074855.14 : 590757.18 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 2.999794 : TerrainNav update at dvl time = 2.999794 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,002957.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 3.00 : -40.70 : Estimated East Bias at time = 3.00 : 60.14 : Estimated Depth Bias at time = 3.00 : 2.51 : Estimated northing and easting = 4074859.30 : 590760.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,002958.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,002959.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 5.999589 : TerrainNav update at dvl time = 5.999589 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003000.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 6.00 : -32.52 : Estimated East Bias at time = 6.00 : 63.29 : Estimated Depth Bias at time = 6.00 : 2.51 : Estimated northing and easting = 4074867.48 : 590763.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,003001.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003002.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 8.999384 : TerrainNav update at dvl time = 8.999384 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003003.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 9.00 : -25.93 : Estimated East Bias at time = 9.00 : 66.76 : Estimated Depth Bias at time = 9.00 : 2.45 : Estimated northing and easting = 4074874.07 : 590766.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,003004.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003005.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 11.999178 : TerrainNav update at dvl time = 11.999178 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003006.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 12.00 : -25.77 : Estimated East Bias at time = 12.00 : 69.56 : Estimated Depth Bias at time = 12.00 : 2.18 : Estimated northing and easting = 4074874.23 : 590769.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,003007.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003008.98,3648.7184,N,-12158.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 14.998973 : TerrainNav update at dvl time = 14.998973 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003009.98,3648.7185,N,-12158.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 15.00 : -32.13 : Estimated East Bias at time = 15.00 : 70.56 : Estimated Depth Bias at time = 15.00 : 1.68 : Estimated northing and easting = 4074867.87 : 590770.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,003010.98,3648.7185,N,-12158.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003011.98,3648.7186,N,-12158.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 17.998767 : TerrainNav update at dvl time = 17.998767 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003012.98,3648.7186,N,-12158.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : Estimated North Bias at time = 18.00 : -36.31 : Estimated East Bias at time = 18.00 : 69.76 : Estimated Depth Bias at time = 18.00 : 1.88 : Estimated northing and easting = 4074863.69 : 590769.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003013.98,3648.7186,N,-12158.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003014.98,3648.7186,N,-12158.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 20.998562 : TerrainNav update at dvl time = 20.998562 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003015.98,3648.7188,N,-12158.1367,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 21.00 : -38.15 : Estimated East Bias at time = 21.00 : 71.24 : Estimated Depth Bias at time = 21.00 : 2.00 : Estimated northing and easting = 4074861.85 : 590771.24 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,003016.98,3648.7188,N,-12158.1367,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : NMEA Update: $GPGGA,003017.98,3648.7188,N,-12158.1367,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 23.998356 : TerrainNav update at dvl time = 23.998356 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003018.98,3648.7188,N,-12158.1367,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 24.00 : -40.32 : Estimated East Bias at time = 24.00 : 73.44 : Estimated Depth Bias at time = 24.00 : 1.93 : Estimated northing and easting = 4074859.68 : 590773.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,003019.98,3648.7187,N,-12158.1366,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003020.98,3648.7187,N,-12158.1366,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 26.998151 : TerrainNav update at dvl time = 26.998151 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003021.98,3648.7186,N,-12158.1364,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 27.00 : -43.32 : Estimated East Bias at time = 27.00 : 75.56 : Estimated Depth Bias at time = 27.00 : 1.76 : Estimated northing and easting = 4074856.68 : 590775.56 : gpsDriver::readRecord() - serial device timed out : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,003022.98,3648.7186,N,-12158.1364,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003023.98,3648.7186,N,-12158.1364,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003024.98,3648.7184,N,-12158.1362,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 30.00 : -47.11 : Estimated East Bias at time = 30.00 : 77.50 : Estimated Depth Bias at time = 30.00 : 1.53 : Estimated northing and easting = 4074852.89 : 590777.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 342.97 dEasting = -1189.64 : NMEA Update: $GPGGA,003025.98,3648.7183,N,-12158.1360,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003026.98,3648.7183,N,-12158.1360,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 32.997740 : TerrainNav update at dvl time = 32.997740 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003027.98,3648.7183,N,-12158.1359,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : Estimated North Bias at time = 33.00 : -48.55 : Estimated East Bias at time = 33.00 : 79.81 : Estimated Depth Bias at time = 33.00 : 1.43 : Estimated northing and easting = 4074851.45 : 590779.81 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.66 dEasting = -1187.58 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003028.98,3648.7182,N,-12158.1358,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003029.98,3648.7182,N,-12158.1358,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 35.997534 : TerrainNav update at dvl time = 35.997534 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003030.98,3648.7182,N,-12158.1358,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 36.00 : -48.92 : Estimated East Bias at time = 36.00 : 82.30 : Estimated Depth Bias at time = 36.00 : 1.38 : Estimated northing and easting = 4074851.08 : 590782.30 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.29 dEasting = -1185.09 : NMEA Update: $GPGGA,003031.98,3648.7182,N,-12158.1358,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003032.98,3648.7182,N,-12158.1358,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 38.997329 : TerrainNav update at dvl time = 38.997329 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003033.98,3648.7182,N,-12158.1358,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated North Bias at time = 39.00 : -49.11 : Estimated East Bias at time = 39.00 : 84.81 : Estimated Depth Bias at time = 39.00 : 1.35 : Estimated northing and easting = 4074850.89 : 590784.81 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.38 dEasting = -1182.81 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003034.98,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : NMEA Update: $GPGGA,003035.98,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 41.997123 : TerrainNav update at dvl time = 41.997123 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003036.98,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 42.00 : -49.27 : Estimated East Bias at time = 42.00 : 87.32 : Estimated Depth Bias at time = 42.00 : 1.31 : Estimated northing and easting = 4074850.73 : 590787.32 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.23 dEasting = -1180.30 : NMEA Update: $GPGGA,003037.98,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : NMEA Update: $GPGGA,003038.98,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 44.996917 : TerrainNav update at dvl time = 44.996917 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003039.98,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 45.00 : -49.33 : Estimated East Bias at time = 45.00 : 89.77 : Estimated Depth Bias at time = 45.00 : 1.27 : Estimated northing and easting = 4074850.67 : 590789.77 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.16 dEasting = -1177.85 : NMEA Update: $GPGGA,003040.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003041.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 47.996712 : TerrainNav update at dvl time = 47.996712 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003042.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 48.00 : -49.35 : Estimated East Bias at time = 48.00 : 92.33 : Estimated Depth Bias at time = 48.00 : 1.21 : Estimated northing and easting = 4074850.65 : 590792.33 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.15 dEasting = -1175.29 : NMEA Update: $GPGGA,003043.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003044.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 50.996507 : TerrainNav update at dvl time = 50.996507 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003045.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 51.00 : -49.33 : Estimated East Bias at time = 51.00 : 94.91 : Estimated Depth Bias at time = 51.00 : 1.15 : Estimated northing and easting = 4074850.67 : 590794.91 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.16 dEasting = -1172.71 : NMEA Update: $GPGGA,003046.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003047.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 53.996301 : TerrainNav update at dvl time = 53.996301 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003048.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 54.00 : -49.22 : Estimated East Bias at time = 54.00 : 97.39 : Estimated Depth Bias at time = 54.00 : 1.12 : Estimated northing and easting = 4074850.78 : 590797.39 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.27 dEasting = -1170.23 : NMEA Update: $GPGGA,003049.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003050.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 56.996096 : TerrainNav update at dvl time = 56.996096 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003051.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : Estimated North Bias at time = 57.00 : -49.07 : Estimated East Bias at time = 57.00 : 99.96 : Estimated Depth Bias at time = 57.00 : 1.07 : Estimated northing and easting = 4074850.93 : 590799.96 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.43 dEasting = -1167.66 : NMEA Update: $GPGGA,003052.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003053.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003054.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 60.00 : -48.87 : Estimated East Bias at time = 60.00 : 102.49 : Estimated Depth Bias at time = 60.00 : 1.01 : Estimated northing and easting = 4074851.13 : 590802.49 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.63 dEasting = -1165.12 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003055.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : NMEA Update: $GPGGA,003056.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 62.995685 : TerrainNav update at dvl time = 62.995685 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003057.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : Estimated North Bias at time = 63.00 : -48.71 : Estimated East Bias at time = 63.00 : 105.02 : Estimated Depth Bias at time = 63.00 : 0.95 : Estimated northing and easting = 4074851.29 : 590805.02 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 341.78 dEasting = -1162.60 : NMEA Update: $GPGGA,003058.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003059.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 65.995479 : TerrainNav update at dvl time = 65.995479 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003100.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 66.00 : -48.46 : Estimated East Bias at time = 66.00 : 107.44 : Estimated Depth Bias at time = 66.00 : 0.90 : Estimated northing and easting = 4074851.54 : 590807.44 : gpsDriver::readRecord() - serial device timed out : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 342.04 dEasting = -1160.18 : NMEA Update: $GPGGA,003101.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003102.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 68.995274 : TerrainNav update at dvl time = 68.995274 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003103.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 69.00 : -48.23 : Estimated East Bias at time = 69.00 : 109.82 : Estimated Depth Bias at time = 69.00 : 0.84 : Estimated northing and easting = 4074851.77 : 590809.82 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 342.27 dEasting = -1157.80 : NMEA Update: $GPGGA,003104.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003105.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 71.995068 : TerrainNav update at dvl time = 71.995068 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003106.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 72.00 : -47.94 : Estimated East Bias at time = 72.00 : 112.22 : Estimated Depth Bias at time = 72.00 : 0.78 : Estimated northing and easting = 4074852.06 : 590812.22 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 342.55 dEasting = -1155.40 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003107.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003108.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 74.994863 : TerrainNav update at dvl time = 74.994863 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003109.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Estimated North Bias at time = 74.99 : -47.70 : Estimated East Bias at time = 74.99 : 114.51 : Estimated Depth Bias at time = 74.99 : 0.73 : Estimated northing and easting = 4074852.30 : 590814.51 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 342.80 dEasting = -1153.11 : NMEA Update: $GPGGA,003110.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003111.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 77.994657 : TerrainNav update at dvl time = 77.994657 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003112.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : Estimated North Bias at time = 77.99 : -47.30 : Estimated East Bias at time = 77.99 : 116.92 : Estimated Depth Bias at time = 77.99 : 0.67 : Estimated northing and easting = 4074852.70 : 590816.92 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 343.19 dEasting = -1150.70 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003113.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003114.97,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 80.994452 : TerrainNav update at dvl time = 80.994452 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003115.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 80.99 : -46.82 : Estimated East Bias at time = 80.99 : 119.49 : Estimated Depth Bias at time = 80.99 : 0.59 : Estimated northing and easting = 4074853.18 : 590819.49 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 343.68 dEasting = -1148.13 : NMEA Update: $GPGGA,003116.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003117.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 83.994246 : TerrainNav update at dvl time = 83.994246 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003118.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : Estimated North Bias at time = 83.99 : -46.21 : Estimated East Bias at time = 83.99 : 121.92 : Estimated Depth Bias at time = 83.99 : 0.51 : Estimated northing and easting = 4074853.79 : 590821.92 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 344.28 dEasting = -1145.69 : NMEA Update: $GPGGA,003119.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003120.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 86.994040 : TerrainNav update at dvl time = 86.994040 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003121.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 86.99 : -45.60 : Estimated East Bias at time = 86.99 : 124.06 : Estimated Depth Bias at time = 86.99 : 0.45 : Estimated northing and easting = 4074854.40 : 590824.06 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 344.89 dEasting = -1143.55 : NMEA Update: $GPGGA,003122.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : NMEA Update: $GPGGA,003123.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003124.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 89.99 : -44.92 : Estimated East Bias at time = 89.99 : 126.58 : Estimated Depth Bias at time = 89.99 : 0.40 : Estimated northing and easting = 4074855.08 : 590826.58 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 345.57 dEasting = -1141.03 : NMEA Update: $GPGGA,003125.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003126.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 92.993630 : TerrainNav update at dvl time = 92.993630 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003127.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 92.99 : -44.24 : Estimated East Bias at time = 92.99 : 129.06 : Estimated Depth Bias at time = 92.99 : 0.34 : Estimated northing and easting = 4074855.76 : 590829.06 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 346.26 dEasting = -1138.56 : NMEA Update: $GPGGA,003128.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003129.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 95.993424 : TerrainNav update at dvl time = 95.993424 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003130.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 95.99 : -43.51 : Estimated East Bias at time = 95.99 : 131.34 : Estimated Depth Bias at time = 95.99 : 0.30 : Estimated northing and easting = 4074856.49 : 590831.34 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 346.99 dEasting = -1136.27 : NMEA Update: $GPGGA,003131.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003132.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 98.993219 : TerrainNav update at dvl time = 98.993219 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003133.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 98.99 : -42.65 : Estimated East Bias at time = 98.99 : 133.72 : Estimated Depth Bias at time = 98.99 : 0.23 : Estimated northing and easting = 4074857.35 : 590833.72 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 347.84 dEasting = -1133.89 : NMEA Update: $GPGGA,003134.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003135.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 101.993013 : TerrainNav update at dvl time = 101.993013 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003136.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : Estimated North Bias at time = 101.99 : -41.45 : Estimated East Bias at time = 101.99 : 136.24 : Estimated Depth Bias at time = 101.99 : 0.12 : Estimated northing and easting = 4074858.55 : 590836.24 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 349.04 dEasting = -1131.38 : NMEA Update: $GPGGA,003137.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003138.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 104.992808 : TerrainNav update at dvl time = 104.992808 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003139.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : Estimated North Bias at time = 104.99 : -40.49 : Estimated East Bias at time = 104.99 : 138.60 : Estimated Depth Bias at time = 104.99 : 0.05 : Estimated northing and easting = 4074859.51 : 590838.60 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 350.00 dEasting = -1129.01 : NMEA Update: $GPGGA,003140.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : NMEA Update: $GPGGA,003141.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 108.002601 : TerrainNav update at dvl time = 108.002601 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003142.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 108.00 : -39.59 : Estimated East Bias at time = 108.00 : 140.95 : Estimated Depth Bias at time = 108.00 : -0.07 : Estimated northing and easting = 4074860.41 : 590840.95 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 350.90 dEasting = -1126.67 : NMEA Update: $GPGGA,003143.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003144.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 111.002396 : TerrainNav update at dvl time = 111.002396 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003145.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 111.00 : -38.34 : Estimated East Bias at time = 111.00 : 143.36 : Estimated Depth Bias at time = 111.00 : -0.19 : Estimated northing and easting = 4074861.66 : 590843.36 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 352.29 dEasting = -1124.31 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003146.78,3648.7180,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003147.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 114.002190 : TerrainNav update at dvl time = 114.002190 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003148.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 114.00 : -37.41 : Estimated East Bias at time = 114.00 : 145.42 : Estimated Depth Bias at time = 114.00 : -0.27 : Estimated northing and easting = 4074862.59 : 590845.42 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 353.35 dEasting = -1122.31 : NMEA Update: $GPGGA,003149.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003150.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 117.001985 : TerrainNav update at dvl time = 117.001985 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003151.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 117.00 : -36.14 : Estimated East Bias at time = 117.00 : 147.50 : Estimated Depth Bias at time = 117.00 : -0.33 : Estimated northing and easting = 4074863.86 : 590847.50 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 354.61 dEasting = -1120.22 : NMEA Update: $GPGGA,003152.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003153.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003154.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 120.00 : -34.96 : Estimated East Bias at time = 120.00 : 149.62 : Estimated Depth Bias at time = 120.00 : -0.40 : Estimated northing and easting = 4074865.04 : 590849.62 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 355.80 dEasting = -1118.10 : NMEA Update: $GPGGA,003155.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003156.78,3648.7179,N,-12158.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 123.001574 : TerrainNav update at dvl time = 123.001574 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003157.78,3648.7179,N,-12158.1355,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : Estimated North Bias at time = 123.00 : -33.46 : Estimated East Bias at time = 123.00 : 152.02 : Estimated Depth Bias at time = 123.00 : -0.49 : Estimated northing and easting = 4074866.54 : 590852.02 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 357.51 dEasting = -1116.06 : NMEA Update: $GPGGA,003158.78,3648.7178,N,-12158.1353,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003159.78,3648.7178,N,-12158.1353,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 126.001368 : TerrainNav update at dvl time = 126.001368 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003200.78,3648.7178,N,-12158.1353,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 126.00 : -32.15 : Estimated East Bias at time = 126.00 : 154.06 : Estimated Depth Bias at time = 126.00 : -0.58 : Estimated northing and easting = 4074867.85 : 590854.06 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 358.82 dEasting = -1114.01 : NMEA Update: $GPGGA,003201.78,3648.7178,N,-12158.1353,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : NMEA Update: $GPGGA,003202.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 129.001163 : TerrainNav update at dvl time = 129.001163 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003203.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 129.00 : -30.69 : Estimated East Bias at time = 129.00 : 156.24 : Estimated Depth Bias at time = 129.00 : -0.68 : Estimated northing and easting = 4074869.31 : 590856.24 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 360.67 dEasting = -1112.16 : NMEA Update: $GPGGA,003204.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003205.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 132.000957 : TerrainNav update at dvl time = 132.000957 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003206.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 132.00 : -28.74 : Estimated East Bias at time = 132.00 : 158.32 : Estimated Depth Bias at time = 132.00 : -0.72 : Estimated northing and easting = 4074871.26 : 590858.32 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 362.63 dEasting = -1110.08 : NMEA Update: $GPGGA,003207.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003208.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 135.000752 : TerrainNav update at dvl time = 135.000752 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003209.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 135.00 : -27.53 : Estimated East Bias at time = 135.00 : 159.49 : Estimated Depth Bias at time = 135.00 : -0.67 : Estimated northing and easting = 4074872.47 : 590859.49 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 363.84 dEasting = -1108.91 : NMEA Update: $GPGGA,003210.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003211.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 138.000546 : TerrainNav update at dvl time = 138.000546 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003212.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 138.00 : -25.77 : Estimated East Bias at time = 138.00 : 161.74 : Estimated Depth Bias at time = 138.00 : -0.70 : Estimated northing and easting = 4074874.23 : 590861.74 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 365.60 dEasting = -1106.66 : NMEA Update: $GPGGA,003213.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003214.78,3648.7176,N,-12158.1351,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 141.000341 : TerrainNav update at dvl time = 141.000341 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003215.78,3648.7173,N,-12158.1350,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : Estimated North Bias at time = 141.00 : -24.17 : Estimated East Bias at time = 141.00 : 163.57 : Estimated Depth Bias at time = 141.00 : -0.78 : Estimated northing and easting = 4074875.83 : 590863.57 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 367.85 dEasting = -1105.15 : NMEA Update: $GPGGA,003216.78,3648.7172,N,-12158.1349,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003217.78,3648.7172,N,-12158.1349,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 144.000135 : TerrainNav update at dvl time = 144.000135 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003218.78,3648.7172,N,-12158.1349,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 144.00 : -22.37 : Estimated East Bias at time = 144.00 : 165.88 : Estimated Depth Bias at time = 144.00 : -0.87 : Estimated northing and easting = 4074877.63 : 590865.88 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 369.73 dEasting = -1103.02 : NMEA Update: $GPGGA,003219.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003220.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 146.999930 : TerrainNav update at dvl time = 146.999930 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003221.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : Estimated North Bias at time = 147.00 : -21.19 : Estimated East Bias at time = 147.00 : 167.23 : Estimated Depth Bias at time = 147.00 : -0.88 : Estimated northing and easting = 4074878.81 : 590867.23 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 370.91 dEasting = -1101.67 : NMEA Update: $GPGGA,003222.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003223.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003224.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 150.00 : -19.37 : Estimated East Bias at time = 150.00 : 169.14 : Estimated Depth Bias at time = 150.00 : -0.94 : Estimated northing and easting = 4074880.63 : 590869.14 : gpsDriver::readRecord() - serial device timed out : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 372.74 dEasting = -1099.76 : NMEA Update: $GPGGA,003225.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : NMEA Update: $GPGGA,003226.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 152.999519 : TerrainNav update at dvl time = 152.999519 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003227.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 153.00 : -17.50 : Estimated East Bias at time = 153.00 : 171.24 : Estimated Depth Bias at time = 153.00 : -1.05 : Estimated northing and easting = 4074882.50 : 590871.24 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 374.60 dEasting = -1097.67 : NMEA Update: $GPGGA,003228.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003229.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 155.999313 : TerrainNav update at dvl time = 155.999313 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003230.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 156.00 : -15.57 : Estimated East Bias at time = 156.00 : 173.30 : Estimated Depth Bias at time = 156.00 : -1.25 : Estimated northing and easting = 4074884.43 : 590873.30 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 376.54 dEasting = -1095.61 : NMEA Update: $GPGGA,003231.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003232.78,3648.7172,N,-12158.1348,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 158.999108 : TerrainNav update at dvl time = 158.999108 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003233.78,3648.7171,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 159.00 : -13.85 : Estimated East Bias at time = 159.00 : 175.17 : Estimated Depth Bias at time = 159.00 : -1.34 : Estimated northing and easting = 4074886.15 : 590875.17 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 378.47 dEasting = -1093.90 : NMEA Update: $GPGGA,003234.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003235.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 161.998902 : TerrainNav update at dvl time = 161.998902 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003236.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : Estimated North Bias at time = 162.00 : -12.20 : Estimated East Bias at time = 162.00 : 176.99 : Estimated Depth Bias at time = 162.00 : -1.48 : Estimated northing and easting = 4074887.80 : 590876.99 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 380.12 dEasting = -1092.08 : NMEA Update: $GPGGA,003237.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003238.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 164.998697 : TerrainNav update at dvl time = 164.998697 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003239.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 165.00 : -9.90 : Estimated East Bias at time = 165.00 : 178.89 : Estimated Depth Bias at time = 165.00 : -1.53 : Estimated northing and easting = 4074890.10 : 590878.89 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 382.43 dEasting = -1090.18 : NMEA Update: $GPGGA,003240.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003241.78,3648.7170,N,-12158.1347,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 167.998491 : TerrainNav update at dvl time = 167.998491 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003242.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 168.00 : -8.02 : Estimated East Bias at time = 168.00 : 180.67 : Estimated Depth Bias at time = 168.00 : -1.61 : Estimated northing and easting = 4074891.98 : 590880.67 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 384.52 dEasting = -1088.63 : NMEA Update: $GPGGA,003243.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003244.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 170.998286 : TerrainNav update at dvl time = 170.998286 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003245.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 171.00 : -5.97 : Estimated East Bias at time = 171.00 : 182.44 : Estimated Depth Bias at time = 171.00 : -1.66 : Estimated northing and easting = 4074894.03 : 590882.44 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 386.56 dEasting = -1086.86 : NMEA Update: $GPGGA,003246.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : NMEA Update: $GPGGA,003247.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 173.998080 : TerrainNav update at dvl time = 173.998080 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003248.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 174.00 : -4.40 : Estimated East Bias at time = 174.00 : 183.60 : Estimated Depth Bias at time = 174.00 : -1.69 : Estimated northing and easting = 4074895.60 : 590883.60 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 388.14 dEasting = -1085.70 : NMEA Update: $GPGGA,003249.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003250.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 176.997875 : TerrainNav update at dvl time = 176.997875 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003251.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 177.00 : -2.24 : Estimated East Bias at time = 177.00 : 185.21 : Estimated Depth Bias at time = 177.00 : -1.78 : Estimated northing and easting = 4074897.76 : 590885.21 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 390.30 dEasting = -1084.09 : NMEA Update: $GPGGA,003252.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003253.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003254.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 180.00 : 0.32 : Estimated East Bias at time = 180.00 : 187.13 : Estimated Depth Bias at time = 180.00 : -1.94 : Estimated northing and easting = 4074900.32 : 590887.13 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 392.86 dEasting = -1082.17 : NMEA Update: $GPGGA,003255.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003256.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 182.997464 : TerrainNav update at dvl time = 182.997464 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003257.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 183.00 : 2.99 : Estimated East Bias at time = 183.00 : 188.91 : Estimated Depth Bias at time = 183.00 : -2.11 : Estimated northing and easting = 4074902.99 : 590888.91 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 395.53 dEasting = -1080.40 : NMEA Update: $GPGGA,003258.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003259.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 185.997258 : TerrainNav update at dvl time = 185.997258 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003300.78,3648.7169,N,-12158.1345,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : Estimated North Bias at time = 186.00 : 5.65 : Estimated East Bias at time = 186.00 : 190.49 : Estimated Depth Bias at time = 186.00 : -2.23 : Estimated northing and easting = 4074905.65 : 590890.49 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 398.19 dEasting = -1078.98 : NMEA Update: $GPGGA,003301.78,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003302.78,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 188.997053 : TerrainNav update at dvl time = 188.997053 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003303.78,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : Estimated North Bias at time = 189.00 : 7.72 : Estimated East Bias at time = 189.00 : 191.52 : Estimated Depth Bias at time = 189.00 : -2.30 : Estimated northing and easting = 4074907.72 : 590891.52 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 400.26 dEasting = -1077.95 : NMEA Update: $GPGGA,003304.78,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : NMEA Update: $GPGGA,003305.78,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 191.996847 : TerrainNav update at dvl time = 191.996847 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003306.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 192.00 : 10.41 : Estimated East Bias at time = 192.00 : 192.66 : Estimated Depth Bias at time = 192.00 : -2.31 : Estimated northing and easting = 4074910.41 : 590892.66 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 402.95 dEasting = -1076.81 : NMEA Update: $GPGGA,003307.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003308.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 194.996642 : TerrainNav update at dvl time = 194.996642 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003309.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 195.00 : 13.50 : Estimated East Bias at time = 195.00 : 194.25 : Estimated Depth Bias at time = 195.00 : -2.48 : Estimated northing and easting = 4074913.50 : 590894.25 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 406.04 dEasting = -1075.22 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003310.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003311.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 197.996436 : TerrainNav update at dvl time = 197.996436 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003312.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 198.00 : 16.02 : Estimated East Bias at time = 198.00 : 195.31 : Estimated Depth Bias at time = 198.00 : -2.59 : Estimated northing and easting = 4074916.02 : 590895.31 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 408.55 dEasting = -1074.17 : NMEA Update: $GPGGA,003313.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003314.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 200.996231 : TerrainNav update at dvl time = 200.996231 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003315.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 201.00 : 18.42 : Estimated East Bias at time = 201.00 : 196.30 : Estimated Depth Bias at time = 201.00 : -2.69 : Estimated northing and easting = 4074918.42 : 590896.30 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 410.96 dEasting = -1073.18 : NMEA Update: $GPGGA,003316.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003317.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 203.996025 : TerrainNav update at dvl time = 203.996025 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003318.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 204.00 : 21.02 : Estimated East Bias at time = 204.00 : 197.21 : Estimated Depth Bias at time = 204.00 : -2.78 : Estimated northing and easting = 4074921.02 : 590897.21 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 413.56 dEasting = -1072.26 : NMEA Update: $GPGGA,003319.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003320.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 206.995820 : TerrainNav update at dvl time = 206.995820 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003321.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : Estimated North Bias at time = 207.00 : 23.95 : Estimated East Bias at time = 207.00 : 198.12 : Estimated Depth Bias at time = 207.00 : -2.96 : Estimated northing and easting = 4074923.95 : 590898.12 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 416.49 dEasting = -1071.36 : NMEA Update: $GPGGA,003322.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003323.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003324.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 210.00 : 26.74 : Estimated East Bias at time = 210.00 : 199.03 : Estimated Depth Bias at time = 210.00 : -3.01 : Estimated northing and easting = 4074926.74 : 590899.03 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 419.28 dEasting = -1070.44 : NMEA Update: $GPGGA,003325.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : NMEA Update: $GPGGA,003326.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 212.995409 : TerrainNav update at dvl time = 212.995409 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003327.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 213.00 : 29.72 : Estimated East Bias at time = 213.00 : 199.95 : Estimated Depth Bias at time = 213.00 : -3.10 : Estimated northing and easting = 4074929.72 : 590899.95 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 422.26 dEasting = -1069.53 : NMEA Update: $GPGGA,003328.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003329.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 215.995203 : TerrainNav update at dvl time = 215.995203 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003330.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 216.00 : 32.77 : Estimated East Bias at time = 216.00 : 200.90 : Estimated Depth Bias at time = 216.00 : -3.19 : Estimated northing and easting = 4074932.77 : 590900.90 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 425.30 dEasting = -1068.58 : NMEA Update: $GPGGA,003331.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003332.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 218.994998 : TerrainNav update at dvl time = 218.994998 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003333.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 218.99 : 35.70 : Estimated East Bias at time = 218.99 : 201.75 : Estimated Depth Bias at time = 218.99 : -3.35 : Estimated northing and easting = 4074935.70 : 590901.75 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 428.24 dEasting = -1067.72 : NMEA Update: $GPGGA,003334.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003335.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 221.994792 : TerrainNav update at dvl time = 221.994792 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003336.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 221.99 : 37.61 : Estimated East Bias at time = 221.99 : 201.88 : Estimated Depth Bias at time = 221.99 : -3.32 : Estimated northing and easting = 4074937.61 : 590901.88 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 430.15 dEasting = -1067.59 : NMEA Update: $GPGGA,003337.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003338.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 224.994587 : TerrainNav update at dvl time = 224.994587 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003339.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated North Bias at time = 224.99 : 40.73 : Estimated East Bias at time = 224.99 : 202.57 : Estimated Depth Bias at time = 224.99 : -3.44 : Estimated northing and easting = 4074940.73 : 590902.57 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 433.27 dEasting = -1066.91 : NMEA Update: $GPGGA,003340.77,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003341.78,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 227.994381 : TerrainNav update at dvl time = 227.994381 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003342.78,3648.7169,N,-12158.1344,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 227.99 : 44.13 : gpsDriver::readRecord() - serial device timed out : Estimated East Bias at time = 227.99 : 203.01 : Estimated Depth Bias at time = 227.99 : -3.57 : Estimated northing and easting = 4074944.13 : 590903.01 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 436.93 dEasting = -1066.63 : NMEA Update: $GPGGA,003343.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003344.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 230.994176 : TerrainNav update at dvl time = 230.994176 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003345.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 230.99 : 46.88 : Estimated East Bias at time = 230.99 : 203.24 : Estimated Depth Bias at time = 230.99 : -3.72 : Estimated northing and easting = 4074946.88 : 590903.24 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 439.68 dEasting = -1066.41 : NMEA Update: $GPGGA,003346.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003347.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 233.993970 : TerrainNav update at dvl time = 233.993970 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003348.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 233.99 : 49.91 : Estimated East Bias at time = 233.99 : 203.52 : Estimated Depth Bias at time = 233.99 : -3.81 : Estimated northing and easting = 4074949.91 : 590903.52 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 442.71 dEasting = -1066.12 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003349.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : NMEA Update: $GPGGA,003350.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 236.993765 : TerrainNav update at dvl time = 236.993765 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003351.78,3648.7168,N,-12158.1343,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 236.99 : 52.98 : Estimated East Bias at time = 236.99 : 203.66 : Estimated Depth Bias at time = 236.99 : -3.91 : Estimated northing and easting = 4074952.98 : 590903.66 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 445.94 dEasting = -1066.31 : NMEA Update: $GPGGA,003352.78,3648.7167,N,-12158.1341,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003353.78,3648.7166,N,-12158.1340,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003354.78,3648.7165,N,-12158.1340,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 239.99 : 55.74 : Estimated East Bias at time = 239.99 : 203.73 : Estimated Depth Bias at time = 239.99 : -4.05 : Estimated northing and easting = 4074955.74 : 590903.73 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 449.02 dEasting = -1066.37 : NMEA Update: $GPGGA,003355.78,3648.7165,N,-12158.1340,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003356.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 242.993354 : TerrainNav update at dvl time = 242.993354 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003357.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 242.99 : 58.78 : Estimated East Bias at time = 242.99 : 203.69 : Estimated Depth Bias at time = 242.99 : -4.16 : Estimated northing and easting = 4074958.78 : 590903.69 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 452.45 dEasting = -1066.58 : NMEA Update: $GPGGA,003358.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003359.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 245.993148 : TerrainNav update at dvl time = 245.993148 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003400.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 245.99 : 62.18 : Estimated East Bias at time = 245.99 : 203.61 : Estimated Depth Bias at time = 245.99 : -4.30 : Estimated northing and easting = 4074962.18 : 590903.61 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 455.85 dEasting = -1066.66 : NMEA Update: $GPGGA,003401.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003402.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 248.992943 : TerrainNav update at dvl time = 248.992943 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003403.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 248.99 : 65.63 : Estimated East Bias at time = 248.99 : 203.35 : Estimated Depth Bias at time = 248.99 : -4.43 : Estimated northing and easting = 4074965.63 : 590903.35 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 459.30 dEasting = -1066.92 : NMEA Update: $GPGGA,003404.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003405.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 252.002737 : TerrainNav update at dvl time = 252.002737 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003406.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : Estimated North Bias at time = 252.00 : 69.05 : Estimated East Bias at time = 252.00 : 202.88 : Estimated Depth Bias at time = 252.00 : -4.54 : Estimated northing and easting = 4074969.05 : 590902.88 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 462.73 dEasting = -1067.39 : NMEA Update: $GPGGA,003407.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003408.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 255.002531 : TerrainNav update at dvl time = 255.002531 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003409.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 255.00 : 72.34 : Estimated East Bias at time = 255.00 : 202.41 : Estimated Depth Bias at time = 255.00 : -4.62 : Estimated northing and easting = 4074972.34 : 590902.41 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 466.02 dEasting = -1067.86 : NMEA Update: $GPGGA,003410.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : NMEA Update: $GPGGA,003411.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 258.002326 : TerrainNav update at dvl time = 258.002326 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003412.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 258.00 : 75.53 : Estimated East Bias at time = 258.00 : 201.81 : Estimated Depth Bias at time = 258.00 : -4.72 : Estimated northing and easting = 4074975.53 : 590901.81 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 469.23 dEasting = -1068.49 : NMEA Update: $GPGGA,003413.78,3648.7163,N,-12158.1339,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003414.78,3648.7162,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 261.002120 : TerrainNav update at dvl time = 261.002120 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003415.78,3648.7162,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 261.00 : 78.73 : Estimated East Bias at time = 261.00 : 201.23 : Estimated Depth Bias at time = 261.00 : -4.81 : Estimated northing and easting = 4074978.73 : 590901.23 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 472.75 dEasting = -1069.46 : NMEA Update: $GPGGA,003416.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003417.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 264.001915 : TerrainNav update at dvl time = 264.001915 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003418.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 264.00 : 82.20 : Estimated East Bias at time = 264.00 : 200.37 : Estimated Depth Bias at time = 264.00 : -4.91 : Estimated northing and easting = 4074982.20 : 590900.37 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 476.22 dEasting = -1070.32 : NMEA Update: $GPGGA,003419.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003420.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 267.001709 : TerrainNav update at dvl time = 267.001709 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003421.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 267.00 : 85.76 : Estimated East Bias at time = 267.00 : 199.38 : Estimated Depth Bias at time = 267.00 : -4.97 : Estimated northing and easting = 4074985.76 : 590899.38 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 479.78 dEasting = -1071.31 : NMEA Update: $GPGGA,003422.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003423.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003424.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : Estimated North Bias at time = 270.00 : 88.87 : Estimated East Bias at time = 270.00 : 198.29 : Estimated Depth Bias at time = 270.00 : -5.04 : Estimated northing and easting = 4074988.87 : 590898.29 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 482.89 dEasting = -1072.41 : NMEA Update: $GPGGA,003425.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003426.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 273.001298 : TerrainNav update at dvl time = 273.001298 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003427.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : Estimated North Bias at time = 273.00 : 92.10 : Estimated East Bias at time = 273.00 : 197.06 : Estimated Depth Bias at time = 273.00 : -5.11 : Estimated northing and easting = 4074992.10 : 590897.06 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 486.13 dEasting = -1073.63 : NMEA Update: $GPGGA,003428.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : NMEA Update: $GPGGA,003429.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 276.001093 : TerrainNav update at dvl time = 276.001093 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003430.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 276.00 : 95.24 : Estimated East Bias at time = 276.00 : 195.73 : Estimated Depth Bias at time = 276.00 : -5.15 : Estimated northing and easting = 4074995.24 : 590895.73 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 489.27 dEasting = -1074.96 : NMEA Update: $GPGGA,003431.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003432.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 279.000887 : TerrainNav update at dvl time = 279.000887 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003433.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 279.00 : 98.28 : Estimated East Bias at time = 279.00 : 194.41 : Estimated Depth Bias at time = 279.00 : -5.24 : Estimated northing and easting = 4074998.28 : 590894.41 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 492.31 dEasting = -1076.28 : NMEA Update: $GPGGA,003434.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003435.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 282.000682 : TerrainNav update at dvl time = 282.000682 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003436.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 282.00 : 101.48 : Estimated East Bias at time = 282.00 : 193.00 : Estimated Depth Bias at time = 282.00 : -5.33 : Estimated northing and easting = 4075001.48 : 590893.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 495.51 dEasting = -1077.69 : NMEA Update: $GPGGA,003437.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003438.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 285.000476 : TerrainNav update at dvl time = 285.000476 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003439.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 285.00 : 104.49 : Estimated East Bias at time = 285.00 : 191.56 : Estimated Depth Bias at time = 285.00 : -5.41 : Estimated northing and easting = 4075004.49 : 590891.56 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 498.51 dEasting = -1079.13 : NMEA Update: $GPGGA,003440.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003441.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 288.000271 : TerrainNav update at dvl time = 288.000271 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003442.78,3648.7161,N,-12158.1336,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 288.00 : 107.69 : Estimated East Bias at time = 288.00 : 189.98 : Estimated Depth Bias at time = 288.00 : -5.46 : Estimated northing and easting = 4075007.69 : 590889.98 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 502.00 dEasting = -1080.86 : NMEA Update: $GPGGA,003443.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003444.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 291.000065 : TerrainNav update at dvl time = 291.000065 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003445.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated North Bias at time = 291.00 : 111.05 : Estimated East Bias at time = 291.00 : 188.11 : Estimated Depth Bias at time = 291.00 : -5.46 : Estimated northing and easting = 4075011.05 : 590888.11 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 505.36 dEasting = -1082.74 : NMEA Update: $GPGGA,003446.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003447.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 293.999860 : TerrainNav update at dvl time = 293.999860 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003448.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 294.00 : 113.99 : Estimated East Bias at time = 294.00 : 186.24 : Estimated Depth Bias at time = 294.00 : -5.52 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated northing and easting = 4075013.99 : 590886.24 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 508.30 dEasting = -1084.61 : NMEA Update: $GPGGA,003449.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : NMEA Update: $GPGGA,003450.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 296.999654 : TerrainNav update at dvl time = 296.999654 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003451.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 297.00 : 116.94 : Estimated East Bias at time = 297.00 : 184.28 : Estimated Depth Bias at time = 297.00 : -5.57 : Estimated northing and easting = 4075016.94 : 590884.28 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 511.25 dEasting = -1086.57 : NMEA Update: $GPGGA,003452.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003453.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003454.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 300.00 : 119.65 : Estimated East Bias at time = 300.00 : 182.30 : Estimated Depth Bias at time = 300.00 : -5.63 : Estimated northing and easting = 4075019.65 : 590882.30 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 513.97 dEasting = -1088.55 : NMEA Update: $GPGGA,003455.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003456.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 302.999243 : TerrainNav update at dvl time = 302.999243 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003457.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 303.00 : 122.27 : Estimated East Bias at time = 303.00 : 180.19 : Estimated Depth Bias at time = 303.00 : -5.70 : Estimated northing and easting = 4075022.27 : 590880.19 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 516.58 dEasting = -1090.65 : NMEA Update: $GPGGA,003458.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003459.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 305.999038 : TerrainNav update at dvl time = 305.999038 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003500.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 306.00 : 124.91 : Estimated East Bias at time = 306.00 : 178.02 : Estimated Depth Bias at time = 306.00 : -5.74 : Estimated northing and easting = 4075024.91 : 590878.02 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 519.22 dEasting = -1092.83 : NMEA Update: $GPGGA,003501.78,3648.7160,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003502.78,3648.7159,N,-12158.1335,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 308.998832 : TerrainNav update at dvl time = 308.998832 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003503.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : Estimated North Bias at time = 309.00 : 127.53 : Estimated East Bias at time = 309.00 : 175.83 : Estimated Depth Bias at time = 309.00 : -5.78 : Estimated northing and easting = 4075027.53 : 590875.83 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 522.14 dEasting = -1095.22 : NMEA Update: $GPGGA,003504.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003505.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 311.998627 : TerrainNav update at dvl time = 311.998627 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003506.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated North Bias at time = 312.00 : 130.16 : Estimated East Bias at time = 312.00 : 173.64 : gpsDriver::readRecord() - serial device timed out : Estimated Depth Bias at time = 312.00 : -5.85 : Estimated northing and easting = 4075030.16 : 590873.64 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 524.77 dEasting = -1097.41 : NMEA Update: $GPGGA,003507.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003508.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 314.998421 : TerrainNav update at dvl time = 314.998421 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003509.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 315.00 : 132.54 : Estimated East Bias at time = 315.00 : 171.46 : Estimated Depth Bias at time = 315.00 : -5.90 : Estimated northing and easting = 4075032.54 : 590871.46 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 527.15 dEasting = -1099.59 : NMEA Update: $GPGGA,003510.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003511.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 317.998216 : TerrainNav update at dvl time = 317.998216 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003512.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 318.00 : 134.88 : Estimated East Bias at time = 318.00 : 169.17 : Estimated Depth Bias at time = 318.00 : -5.96 : Estimated northing and easting = 4075034.88 : 590869.17 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 529.48 dEasting = -1101.87 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003513.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : NMEA Update: $GPGGA,003514.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 320.998010 : TerrainNav update at dvl time = 320.998010 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003515.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 321.00 : 137.27 : Estimated East Bias at time = 321.00 : 166.81 : Estimated Depth Bias at time = 321.00 : -5.99 : Estimated northing and easting = 4075037.27 : 590866.81 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 531.88 dEasting = -1104.23 : NMEA Update: $GPGGA,003516.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003517.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 323.997805 : TerrainNav update at dvl time = 323.997805 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003518.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 324.00 : 139.50 : Estimated East Bias at time = 324.00 : 164.49 : Estimated Depth Bias at time = 324.00 : -6.02 : Estimated northing and easting = 4075039.50 : 590864.49 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 534.11 dEasting = -1106.56 : NMEA Update: $GPGGA,003519.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003520.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 326.997599 : TerrainNav update at dvl time = 326.997599 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003521.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 327.00 : 141.80 : Estimated East Bias at time = 327.00 : 162.14 : Estimated Depth Bias at time = 327.00 : -6.04 : Estimated northing and easting = 4075041.80 : 590862.14 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 536.41 dEasting = -1108.90 : NMEA Update: $GPGGA,003522.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003523.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003524.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated North Bias at time = 330.00 : 143.94 : Estimated East Bias at time = 330.00 : 159.84 : Estimated Depth Bias at time = 330.00 : -6.06 : Estimated northing and easting = 4075043.94 : 590859.84 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 538.55 dEasting = -1111.21 : NMEA Update: $GPGGA,003525.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003526.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 332.997188 : TerrainNav update at dvl time = 332.997188 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003527.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 333.00 : 146.01 : Estimated East Bias at time = 333.00 : 157.46 : Estimated Depth Bias at time = 333.00 : -6.07 : Estimated northing and easting = 4075046.01 : 590857.46 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 540.62 dEasting = -1113.59 : NMEA Update: $GPGGA,003528.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003529.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 335.996983 : TerrainNav update at dvl time = 335.996983 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003530.78,3648.7158,N,-12158.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : Estimated North Bias at time = 336.00 : 148.10 : Estimated East Bias at time = 336.00 : 155.04 : Estimated Depth Bias at time = 336.00 : -6.06 : Estimated northing and easting = 4075048.10 : 590855.04 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 542.86 dEasting = -1116.26 : NMEA Update: $GPGGA,003531.78,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003532.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 338.996777 : TerrainNav update at dvl time = 338.996777 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003533.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 339.00 : 149.98 : Estimated East Bias at time = 339.00 : 152.75 : Estimated Depth Bias at time = 339.00 : -6.06 : Estimated northing and easting = 4075049.98 : 590852.75 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 544.74 dEasting = -1118.55 : NMEA Update: $GPGGA,003534.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : NMEA Update: $GPGGA,003535.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 341.996572 : TerrainNav update at dvl time = 341.996572 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003536.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 342.00 : 151.73 : Estimated East Bias at time = 342.00 : 150.51 : Estimated Depth Bias at time = 342.00 : -6.04 : Estimated northing and easting = 4075051.73 : 590850.51 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 546.49 dEasting = -1120.80 : NMEA Update: $GPGGA,003537.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003538.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 344.996366 : TerrainNav update at dvl time = 344.996366 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003539.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 345.00 : 153.33 : Estimated East Bias at time = 345.00 : 148.27 : Estimated Depth Bias at time = 345.00 : -6.00 : Estimated northing and easting = 4075053.33 : 590848.27 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 548.09 dEasting = -1123.03 : NMEA Update: $GPGGA,003540.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003541.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 347.996161 : TerrainNav update at dvl time = 347.996161 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003542.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 348.00 : 154.67 : Estimated East Bias at time = 348.00 : 146.16 : Estimated Depth Bias at time = 348.00 : -5.95 : Estimated northing and easting = 4075054.67 : 590846.16 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 549.43 dEasting = -1125.14 : NMEA Update: $GPGGA,003543.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003544.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 350.995955 : TerrainNav update at dvl time = 350.995955 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003545.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 351.00 : 155.58 : Estimated East Bias at time = 351.00 : 144.16 : Estimated Depth Bias at time = 351.00 : -5.88 : Estimated northing and easting = 4075055.58 : 590844.16 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 550.34 dEasting = -1127.14 : NMEA Update: $GPGGA,003546.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003547.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 353.995750 : TerrainNav update at dvl time = 353.995750 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003548.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated North Bias at time = 354.00 : 156.64 : Estimated East Bias at time = 354.00 : 141.95 : Estimated Depth Bias at time = 354.00 : -5.83 : Estimated northing and easting = 4075056.64 : 590841.95 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 551.40 dEasting = -1129.35 : NMEA Update: $GPGGA,003549.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003550.77,3648.7157,N,-12158.1332,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 356.995544 : TerrainNav update at dvl time = 356.995544 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003551.77,3648.7155,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : Estimated North Bias at time = 357.00 : 157.79 : Estimated East Bias at time = 357.00 : 139.55 : Estimated Depth Bias at time = 357.00 : -5.79 : Estimated northing and easting = 4075057.79 : 590839.55 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 553.03 dEasting = -1131.90 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003552.77,3648.7155,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : NMEA Update: $GPGGA,003553.77,3648.7155,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003554.77,3648.7155,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 360.00 : 158.92 : Estimated East Bias at time = 360.00 : 137.17 : Estimated Depth Bias at time = 360.00 : -5.74 : Estimated northing and easting = 4075058.92 : 590837.17 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 554.16 dEasting = -1134.28 : NMEA Update: $GPGGA,003555.77,3648.7155,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : NMEA Update: $GPGGA,003556.77,3648.7155,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 362.995133 : TerrainNav update at dvl time = 362.995133 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003557.77,3648.7153,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 363.00 : 160.02 : Estimated East Bias at time = 363.00 : 134.81 : Estimated Depth Bias at time = 363.00 : -5.67 : Estimated northing and easting = 4075060.02 : 590834.81 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 555.55 dEasting = -1136.67 : NMEA Update: $GPGGA,003558.77,3648.7153,N,-12158.1331,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003559.77,3648.7150,N,-12158.1329,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 365.994928 : TerrainNav update at dvl time = 365.994928 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003600.77,3648.7150,N,-12158.1330,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 365.99 : 161.05 : Estimated East Bias at time = 365.99 : 132.34 : Estimated Depth Bias at time = 365.99 : -5.60 : Estimated northing and easting = 4075061.05 : 590832.34 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 557.30 dEasting = -1139.28 : NMEA Update: $GPGGA,003601.77,3648.7149,N,-12158.1330,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003602.77,3648.7149,N,-12158.1330,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 368.994722 : TerrainNav update at dvl time = 368.994722 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003603.77,3648.7149,N,-12158.1330,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 368.99 : 161.86 : Estimated East Bias at time = 368.99 : 130.01 : Estimated Depth Bias at time = 368.99 : -5.53 : Estimated northing and easting = 4075061.86 : 590830.01 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 558.11 dEasting = -1141.61 : NMEA Update: $GPGGA,003604.77,3648.7149,N,-12158.1330,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003605.77,3648.7149,N,-12158.1330,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 371.994517 : TerrainNav update at dvl time = 371.994517 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003606.77,3648.7148,N,-12158.1329,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 371.99 : 162.69 : Estimated East Bias at time = 371.99 : 127.53 : Estimated Depth Bias at time = 371.99 : -5.47 : Estimated northing and easting = 4075062.69 : 590827.53 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 559.09 dEasting = -1144.27 : NMEA Update: $GPGGA,003607.78,3648.7148,N,-12158.1329,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003608.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 374.994311 : TerrainNav update at dvl time = 374.994311 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003609.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : Estimated North Bias at time = 374.99 : 163.44 : Estimated East Bias at time = 374.99 : 125.08 : Estimated Depth Bias at time = 374.99 : -5.42 : Estimated northing and easting = 4075063.44 : 590825.08 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 559.92 dEasting = -1146.99 : NMEA Update: $GPGGA,003610.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003611.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 377.994106 : TerrainNav update at dvl time = 377.994106 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003612.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 377.99 : 164.06 : Estimated East Bias at time = 377.99 : 122.66 : Estimated Depth Bias at time = 377.99 : -5.37 : Estimated northing and easting = 4075064.06 : 590822.66 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 560.55 dEasting = -1149.41 : NMEA Update: $GPGGA,003613.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : NMEA Update: $GPGGA,003614.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 380.993900 : TerrainNav update at dvl time = 380.993900 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003615.78,3648.7148,N,-12158.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 380.99 : 164.66 : Estimated East Bias at time = 380.99 : 120.21 : Estimated Depth Bias at time = 380.99 : -5.32 : Estimated northing and easting = 4075064.66 : 590820.21 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 561.37 dEasting = -1152.05 : NMEA Update: $GPGGA,003616.78,3648.7147,N,-12158.1326,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003617.78,3648.7146,N,-12158.1324,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 383.993695 : TerrainNav update at dvl time = 383.993695 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003618.78,3648.7146,N,-12158.1324,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 383.99 : 165.16 : Estimated East Bias at time = 383.99 : 117.85 : Estimated Depth Bias at time = 383.99 : -5.27 : Estimated northing and easting = 4075065.16 : 590817.85 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 562.00 dEasting = -1154.69 : NMEA Update: $GPGGA,003619.78,3648.7146,N,-12158.1324,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003620.78,3648.7146,N,-12158.1323,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 386.993489 : TerrainNav update at dvl time = 386.993489 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003621.78,3648.7146,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 386.99 : 165.42 : Estimated East Bias at time = 386.99 : 115.46 : Estimated Depth Bias at time = 386.99 : -5.23 : Estimated northing and easting = 4075065.42 : 590815.46 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 562.26 dEasting = -1157.36 : NMEA Update: $GPGGA,003622.78,3648.7146,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003623.78,3648.7146,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003624.78,3648.7146,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 389.99 : 165.71 : Estimated East Bias at time = 389.99 : 113.05 : Estimated Depth Bias at time = 389.99 : -5.18 : Estimated northing and easting = 4075065.71 : 590813.05 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 562.64 dEasting = -1159.74 : NMEA Update: $GPGGA,003625.78,3648.7145,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003626.78,3648.7145,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 392.993078 : TerrainNav update at dvl time = 392.993078 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003627.78,3648.7145,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Estimated North Bias at time = 392.99 : 165.98 : Estimated East Bias at time = 392.99 : 110.74 : Estimated Depth Bias at time = 392.99 : -5.14 : Estimated northing and easting = 4075065.98 : 590810.74 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 562.96 dEasting = -1162.04 : NMEA Update: $GPGGA,003628.78,3648.7145,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003629.78,3648.7145,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 395.992873 : TerrainNav update at dvl time = 395.992873 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003630.78,3648.7145,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : Estimated North Bias at time = 395.99 : 166.17 : Estimated East Bias at time = 395.99 : 108.28 : Estimated Depth Bias at time = 395.99 : -5.09 : Estimated northing and easting = 4075066.17 : 590808.28 : gpsDriver::readRecord() - serial device timed out : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.15 dEasting = -1164.51 : NMEA Update: $GPGGA,003631.78,3648.7145,N,-12158.1322,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003632.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 399.002666 : TerrainNav update at dvl time = 399.002666 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003633.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : Estimated North Bias at time = 399.00 : 166.32 : Estimated East Bias at time = 399.00 : 106.00 : Estimated Depth Bias at time = 399.00 : -5.04 : Estimated northing and easting = 4075066.32 : 590806.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.31 dEasting = -1166.97 : NMEA Update: $GPGGA,003634.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003635.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 402.002461 : TerrainNav update at dvl time = 402.002461 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003636.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 402.00 : 166.45 : Estimated East Bias at time = 402.00 : 103.30 : Estimated Depth Bias at time = 402.00 : -4.97 : Estimated northing and easting = 4075066.45 : 590803.30 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.44 dEasting = -1169.67 : NMEA Update: $GPGGA,003637.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003638.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 405.002255 : TerrainNav update at dvl time = 405.002255 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003639.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 405.00 : 166.60 : Estimated East Bias at time = 405.00 : 100.85 : Estimated Depth Bias at time = 405.00 : -4.88 : Estimated northing and easting = 4075066.60 : 590800.85 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.58 dEasting = -1172.13 : NMEA Update: $GPGGA,003640.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003641.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 408.002050 : TerrainNav update at dvl time = 408.002050 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003642.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 408.00 : 166.73 : Estimated East Bias at time = 408.00 : 98.65 : Estimated Depth Bias at time = 408.00 : -4.80 : Estimated northing and easting = 4075066.73 : 590798.65 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.71 dEasting = -1174.33 : NMEA Update: $GPGGA,003643.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003644.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 411.001845 : TerrainNav update at dvl time = 411.001845 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003645.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 411.00 : 166.69 : Estimated East Bias at time = 411.00 : 96.22 : Estimated Depth Bias at time = 411.00 : -4.74 : Estimated northing and easting = 4075066.69 : 590796.22 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.68 dEasting = -1176.76 : NMEA Update: $GPGGA,003646.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003647.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : gpsDriver::readRecord() - serial device timed out : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 414.001639 : TerrainNav update at dvl time = 414.001639 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003648.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : Estimated North Bias at time = 414.00 : 166.49 : Estimated East Bias at time = 414.00 : 93.63 : Estimated Depth Bias at time = 414.00 : -4.66 : Estimated northing and easting = 4075066.49 : 590793.63 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.48 dEasting = -1179.35 : NMEA Update: $GPGGA,003649.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003650.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 417.001434 : TerrainNav update at dvl time = 417.001434 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003651.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 417.00 : 166.32 : Estimated East Bias at time = 417.00 : 91.07 : Estimated Depth Bias at time = 417.00 : -4.58 : Estimated northing and easting = 4075066.32 : 590791.07 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.30 dEasting = -1181.90 : NMEA Update: $GPGGA,003652.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003653.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003654.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated North Bias at time = 420.00 : 166.04 : Estimated East Bias at time = 420.00 : 88.60 : Estimated Depth Bias at time = 420.00 : -4.51 : Estimated northing and easting = 4075066.04 : 590788.60 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 563.03 dEasting = -1184.38 : NMEA Update: $GPGGA,003655.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003656.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 423.001023 : TerrainNav update at dvl time = 423.001023 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003657.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 423.00 : 165.61 : Estimated East Bias at time = 423.00 : 86.16 : Estimated Depth Bias at time = 423.00 : -4.42 : Estimated northing and easting = 4075065.61 : 590786.16 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 562.69 dEasting = -1186.85 : NMEA Update: $GPGGA,003658.78,3648.7145,N,-12158.1321,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : NMEA Update: $GPGGA,003659.78,3648.7143,N,-12158.1320,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 426.000817 : TerrainNav update at dvl time = 426.000817 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003700.78,3648.7143,N,-12158.1320,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 426.00 : 165.09 : Estimated East Bias at time = 426.00 : 83.58 : Estimated Depth Bias at time = 426.00 : -4.35 : Estimated northing and easting = 4075065.09 : 590783.58 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 562.66 dEasting = -1189.69 : NMEA Update: $GPGGA,003701.78,3648.7142,N,-12158.1319,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003702.78,3648.7141,N,-12158.1318,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 429.000612 : TerrainNav update at dvl time = 429.000612 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003703.78,3648.7141,N,-12158.1318,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : Estimated North Bias at time = 429.00 : 164.38 : Estimated East Bias at time = 429.00 : 81.02 : Estimated Depth Bias at time = 429.00 : -4.28 : Estimated northing and easting = 4075064.38 : 590781.02 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 562.11 dEasting = -1192.36 : NMEA Update: $GPGGA,003704.78,3648.7141,N,-12158.1318,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003705.78,3648.7141,N,-12158.1318,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 432.000406 : TerrainNav update at dvl time = 432.000406 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003706.78,3648.7141,N,-12158.1318,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 432.00 : 163.72 : Estimated East Bias at time = 432.00 : 78.32 : Estimated Depth Bias at time = 432.00 : -4.19 : Estimated northing and easting = 4075063.72 : 590778.32 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 561.50 dEasting = -1195.08 : NMEA Update: $GPGGA,003707.78,3648.7141,N,-12158.1318,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003708.78,3648.7140,N,-12158.1318,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 435.000201 : TerrainNav update at dvl time = 435.000201 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003709.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Estimated North Bias at time = 435.00 : 162.99 : Estimated East Bias at time = 435.00 : 75.95 : Estimated Depth Bias at time = 435.00 : -4.06 : Estimated northing and easting = 4075062.99 : 590775.95 : gpsDriver::readRecord() - serial device timed out : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 561.25 dEasting = -1197.80 : NMEA Update: $GPGGA,003710.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003711.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 437.999995 : TerrainNav update at dvl time = 437.999995 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003712.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : Estimated North Bias at time = 438.00 : 162.05 : Estimated East Bias at time = 438.00 : 73.30 : Estimated Depth Bias at time = 438.00 : -3.94 : Estimated northing and easting = 4075062.05 : 590773.30 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 560.31 dEasting = -1200.45 : NMEA Update: $GPGGA,003713.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003714.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 440.999789 : TerrainNav update at dvl time = 440.999789 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003715.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : Estimated North Bias at time = 441.00 : 161.03 : Estimated East Bias at time = 441.00 : 70.78 : Estimated Depth Bias at time = 441.00 : -3.86 : Estimated northing and easting = 4075061.03 : 590770.78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 559.29 dEasting = -1202.97 : gpsDriver::readRecord() - serial device timed out : NMEA Update: $GPGGA,003716.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : NMEA Update: $GPGGA,003717.78,3648.7138,N,-12158.1316,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 443.999584 : TerrainNav update at dvl time = 443.999584 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003718.78,3648.7138,N,-12158.1315,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 444.00 : 160.11 : Estimated East Bias at time = 444.00 : 68.72 : Estimated Depth Bias at time = 444.00 : -3.80 : Estimated northing and easting = 4075060.11 : 590768.72 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 558.45 dEasting = -1205.35 : NMEA Update: $GPGGA,003719.78,3648.7138,N,-12158.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : NMEA Update: $GPGGA,003720.78,3648.7138,N,-12158.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 446.999378 : TerrainNav update at dvl time = 446.999378 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003721.78,3648.7138,N,-12158.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 447.00 : 158.81 : Estimated East Bias at time = 447.00 : 66.12 : Estimated Depth Bias at time = 447.00 : -3.70 : Estimated northing and easting = 4075058.81 : 590766.12 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 557.15 dEasting = -1207.94 : NMEA Update: $GPGGA,003722.78,3648.7138,N,-12158.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,003723.78,3648.7138,N,-12158.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainAidDriver:: Running with _test = True. : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074900.00, 590700.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,003724.78,3648.7138,N,-12158.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : gpsDriver::readRecord() - serial device timed out : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.61 speedMode=1 speed=0.00 : Estimated North Bias at time = 450.00 : 157.62 : Estimated East Bias at time = 450.00 : 63.84 : Estimated Depth Bias at time = 450.00 : -3.61 : Estimated northing and easting = 4075057.62 : 590763.84 : DynamicControlServer:: TerrainNav has new data. Valid = 1 : DynamicControlServer:: TerrainNav correction: dNorthing = 555.96 dEasting = -1210.22 : NMEA Update: $GPGGA,003725.78,3648.7138,N,-12158.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - 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 DepthSensorIFServer - 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 BenthosModemServer - exit() on signal 2 : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : destroying segment ParosciOutput_ShmemName : Supervisor::signalHandler(); caught 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 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : CameraDestructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : DropWeight Destructor Executing. : destroying segment m3dmgx1Cmd : **** SharedData destructor for object SonardyneOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : destroying prot sem m3dmgx1Cmd_prot : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : NavigationOutput::~NavigationOutput() : SerialDeviceExt::closeSD() - closed : destroying segment LayeredControlOutput_ShmemName : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : destroying prot sem ParosciOutput_ShmemName_prot : 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. : destroying segment GpsOutput_ShmemName : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : destroying segment SonardyneOutput_ShmemName : failed to unlink queue benthosModemCommand : destroying segment EchoSounderOutput_ShmemName : destroying notify sem m3dmgx1Cmd_notify : destroying segment m3dmgx1 : destroying segment DvlOutput_ShmemName : destroying segment TailConeInput_ShmemName : destroying segment SonardyneOutput_ShmemName : destroying segment GpsOutput_ShmemName : destroying segment ParosciOutput_ShmemName : destroying segment DvlOutput_ShmemName : **** SharedData destructor for object m3dmgx1 **** : destroying segment navigationOutput : destroying prot sem LayeredControlOutput_ShmemName_prot : **** SharedData destructor for object navigationOutput **** : destroying segment TailConeInput_ShmemName : **** SharedData destructor for object CameraOutput **** : destroying segment TerrainAidOutput : destroying notify sem ParosciOutput_ShmemName_notify : Supervisor::cleanup() - delete _theSupervisor : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem navigationOutput_prot : destroying segment LayeredControlInput_ShmemName : destroying segment dropWeightOutput : destroying segment dropWeightOutput : destroying segment CameraOutput : destroying prot sem SonardyneOutput_ShmemName_prot : **** SharedData destructor for object BenthosModemOutout **** : destroying segment EchoSounderOutput_ShmemName : destroying prot sem EchoSounderOutput_ShmemName_prot : destroying prot sem m3dmgx1_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem SonardyneOutput_ShmemName_prot : destroying prot sem GpsOutput_ShmemName_prot : destroying prot sem ParosciOutput_ShmemName_prot : destroying prot sem DvlOutput_ShmemName_prot : destroying segment m3dmgx1 : destroying notify sem LayeredControlOutput_ShmemName_notify : destroying segment navigationOutput : destroying prot sem TailConeInput_ShmemName_prot : destroying prot sem TerrainAidOutput_prot : destroying notify sem TailConeInput_ShmemName_notify : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : destroying segment CameraOutput : **** SharedData destructor for object SupervisorOutout **** : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem navigationOutput_notify : destroying prot sem m3dmgx1_prot : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem dropWeightOutput_prot : destroying prot sem CameraOutput_prot : destroying notify sem SonardyneOutput_ShmemName_notify : destroying segment BenthosModemOutout : destroying prot sem EchoSounderOutput_ShmemName_prot : destroying notify sem EchoSounderOutput_ShmemName_notify : destroying notify sem m3dmgx1_notify : destroying notify sem DvlOutput_ShmemName_notify : destroying prot sem CameraOutput_prot : destroying notify sem SonardyneOutput_ShmemName_notify : destroying notify sem GpsOutput_ShmemName_notify : destroying notify sem DvlOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying prot sem navigationOutput_prot : destroying notify sem TailConeInput_ShmemName_notify : destroying notify sem TerrainAidOutput_notify : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : destroying segment SupervisorOutout : destroying notify sem m3dmgx1_notify : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem dropWeightOutput_notify : destroying notify sem CameraOutput_notify : destroying prot sem BenthosModemOutout_prot : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18 : destroying notify sem EchoSounderOutput_ShmemName_notify : **** SharedData destructor for object m3dmgx1Cmd **** : SerialDeviceExt::closeSD() - closed : destroying notify sem CameraOutput_notify : destroying segment LayeredControlInput_ShmemName : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeOutput_ShmemName **** : destroying segment TailConeOutput_ShmemName : destroying prot sem SupervisorOutout_prot : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18 : destroying notify sem BenthosModemOutout_notify : failed to unlink queue EchoSounderCommand : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18 : destroying prot sem LayeredControlInput_ShmemName_prot : destroying prot sem TailConeOutput_ShmemName_prot : destroying segment TailConeOutput_ShmemName : destroying notify sem SupervisorOutout_notify : destroying segment LayeredControlOutput_ShmemName : destroying notify sem LayeredControlInput_ShmemName_notify : destroying notify sem TailConeOutput_ShmemName_notify : destroying prot sem TailConeOutput_ShmemName_prot : Supervisor::shutdown() : destroying prot sem LayeredControlOutput_ShmemName_prot //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044540. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TerrainAidDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:000245AF.