Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer 
Supervisor::createTask() - workSite 
Supervisor::createTask() - vehicleConfigurationServer 
Supervisor::createTask() - externalCommsServer 
S: Initializing worksiteServer
upervisor::: WorkSite::WorkSite -- Adding attributes
creat: WorkSite::WorkSite -- Loading parameters from file /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/workSite.cfg
eTask() - navigationServer 
: Using default vehicle config file "/home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/vehicle.cfg"
: starting LC: layeredControlServer  -plan ../missions/2017_WallTest_1v3Ed.cfg.pp -abort abortSimPlan.cfg
Supervisor::createTask() - layeredControlServer  -plan ../missions/2017_WallTest_1v3Ed.cfg.pp -abort abortSimPlan.cfg
Supervisor::createTask() - dynamicControlServer 
: Creating NavigationServer...

: *** NavigationServer::NavigationServer()...

Supervisor::cre: 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: 0x231f0
: *** NavigationServer::NavigationServer() - DONE

: Done creating NavigationServer...

ateTask() - simulator 
: layeredControlServer - creating non dynamic version
Supervisor::createTask() - simDepthSensor 
: Navigation::Navigation - Setting start depth to 0.0 meters.
: Navigation::Navigation _logOnly = 1
: Navigation - Using only the Dvl to compute altitude.
: 
**** FastTime ctor [0007d12c] ****

: 
****Time::gettime using FastTime instance [0007d12c]

: Navigation/EchoSounder:: epoch = (1489609110,546090580)
: Navigation: Opening Acoustic Modem Interface:
: Supervisor: configDirPath = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging
Supervisor::createTask() - simKearfott 
S: Create simulator...

upervisor::createTask() - simAhrs 
: 
**** FastTime ctor [0007b5f4] ****

: 
****Time::gettime using FastTime instance [0007b5f4]

: Create VehicleConfigurationIF...

: Okay...

: Create attributes...

: Simulator::Simulator() - msSimDelay = 0
: Simulator:: initPsi = 0.000000

: 
**** FastTime ctor [000a30b4] ****

: 
****Time::gettime using FastTime instance [000a30b4]

: Done creating attributes. Parse 'em...

Supervi: SimulatedDepthSensor - connecting...
sor::cre: SimulatedDepthSensor - connected OK
ateTask() - simTailCone 
: SimulatedKearfott:: Constructor.
Supervis: SimulatedKearfott::Setting utm zone to 10
or::c: Running SimulatedKearfott now
reateTask() - simGps 
Supervisor::createTask() - simDvl 
Supervi: Simulator:: initPsi = 225.000000

sor::c: Simulator:: zMax = 210.000000

reateTask() :  The utm zone is 10

- simDv:  Simulator: The lat/long in workSite.cfg is 0.642245, -2.12882
lSide :  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.07295e+006, 591684

: Simulator:  _nydepths = 10
: Simulator:  0 _depth=100.0, _ydepth-_position0[2]=-450.0 
: Simulator:  1 _depth=100.0, _ydepth-_position0[2]=-390.0 
: Simulator:  2 _depth=100.0, _ydepth-_position0[2]=-312.0 
: Simulator:  3 _depth=100.0, _ydepth-_position0[2]=-310.0 
: Simulator:  4 _depth=100.0, _ydepth-_position0[2]=-230.0 
: Simulator:  5 _depth=100.0, _ydepth-_position0[2]=-220.0 
: Simulator:  6 _depth=100.0, _ydepth-_position0[2]=-140.0 
: Simulator:  7 _depth=100.0, _ydepth-_position0[2]=-130.0 
: Simulator:  8 _depth=100.0, _ydepth-_position0[2]=-50.0 
: Simulator:  9 _depth=100.0, _ydepth-_position0[2]=0.0 
: Simulator:  _nydepths = 10
: Simulator:  0 _depth=100.0, _ydepth-_position0[2]=-450.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  1 _depth=100.0, _ydepth-_position0[2]=-390.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  2 _depth=100.0, _ydepth-_position0[2]=-312.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  3 _depth=100.0, _ydepth-_position0[2]=-310.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  4 _depth=100.0, _ydepth-_position0[2]=-230.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  5 _depth=100.0, _ydepth-_position0[2]=-220.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  6 _depth=100.0, _ydepth-_position0[2]=-140.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  7 _depth=100.0, _ydepth-_position0[2]=-130.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  8 _depth=100.0, _ydepth-_position0[2]=-50.0, _slope=0.00e+000, _yinter=1.00e+002
: Simulator:  9 _depth=100.0, _ydepth-_position0[2]=0.0, _slope=0.00e+000, _yinter=0.00e+000
: Octree map file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo
: Simulator:: Octree map = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo
Supervisor::createTask() - simDeltaT 
Supervisor::createTask() - simCtd 
: Running SimDvl now
Supervisor::createTask() - si: Running SimDvlSide now
mBluefinBatt 
Supervisor::create: 
**** FastTime ctor [0002d5e0] ****

Task(: 
****Time::gettime using FastTime instance [0002d5e0]

) - si: SimulatedDeltaT::Constructor starting at t = 0
mHydro: SimulatedDeltaT::minGrazing = 0.00 deg.
scat 
Supervisor::createTask() - simIsus 
Supervisor::createTask() - simGulper 
Supervisor::createTask() - simReson 
Supervisor::createTask() - simModem 
S: Begin simGulper.
upervisor::: Begin SimulatedGulperServer constructor.
createTask() - simUsbl 
Supervisor: gulperLog:: Constructor completed.
::crea: End SimulatedGulperServer constructor.
teTask() - simTerrainAid 
Supervisor::createTask() - simCathx 
Superv: SimulatedUsbl:: Initial beacon interrogation address is V7_7
isor::createTask() - simCarl 
: SimulatedUsbl:: There are 5 beacons in the table.

: SimulatedUsbl:: beacon 27 V11_2 lat=36.81249 lon=-121.97346
  SimulatedUsbl:: northing = 4074563.1 easting=591562.4

: SimulatedUsbl:: beacon 50 V4_5 lat=36.81611 lon=-121.98352
  SimulatedUsbl:: northing = 4074955.6 easting=590661.2

: SimulatedUsbl:: beacon 28 V12_2 lat=36.81249 lon=-121.97346
  SimulatedUsbl:: northing = 4074563.1 easting=591562.4

: SimulatedUsbl:: beacon 29 V13_2 lat=36.81349 lon=-121.97746
  SimulatedUsbl:: northing = 4074670.2 easting=591204.4

: SimulatedUsbl:: beacon 0 V7_7 lat=36.60682 lon=-121.87457
  SimulatedUsbl:: northing = 4051846.5 easting=600651.5

: SimulatedUsbl:: Changing to beacon 0 at (4051846.5, 600651.5)
:  Simulating Usbl with Gaussian noise.
: Running SimUsbl now
Supervisor::createTa: TerrainAidServer::TerrainAidServer - sim
sk() - cameraSe: cathxServer - initializing...
: cathxServer - running...
rver -dev tcp:172.20.64.21: Configuration file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/terrainAid.cfg

4:10002 -sim
Supervisor::createTask() - simEchoSounder 
Supervisor::createTask() - sysDataDriver -f5
: CameraDriver:: Before navigation IF.
: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
: TerrainAid -- configuration:

: 	mapFileName = TheWall_2m.bo

: 
**** FastTime ctor [0003bfc4] ****

: 	map_type = 2

: 
****Time::gettime using FastTime instance [0003bfc4]

: 	particlesName = particles900v1.cfg

: SimulatedEchoSounder::Constructor starting at t = 0
: 	vehicleCfgName = mappingAUV_specsSide20.cfg

: SimulatedEchoSounder::minGrazing = 0.00 deg.
: 	terrainNavServer = 134.89.18.153:27027

: 	forceLowGradeFilter = false

: 	allowFilterReinits = true

: 	useModifiedWeighting = true

: 	samplePeriod = 3000
: 	maxNorthingCov   = -1.00
: 	maxEastingCov    = -1.00
: 	maxNorthingError = -1.00
: 	maxEastingError  = -1.00
: 	useIDTData = true

: 	useDVLSide = true

: Vehicle Configuration now

: Vehicle configuration file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specsSide20.cfg

: Map file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo

: TerrainAidDriver:: RollOffset is 0.00
: TerrainAidDriver: Using TerrainNavClient at 134.89.18.153 on port 27027 and map TheWall_2m.bo
: TerrainAidDriver - logs/latest is 2017.074.03-TRN/
: Navigation: acommsIF = 0x81540

: Navigation::connectSensors core - connecting to Nav->DepthSensor at t = 0.
: Navigation::connectSensors core - connecting to Nav->TailCone at t = 0.
: Navigation::connectSensors core - connecting to Nav->KearfottServer at t = 0.
: Navigation::connectSensors core - connecting to Nav->Dvl at t = 0.
: Navigation::connectSensors aux - connecting to Nav->Gps at t = 0.
: Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 0.
: WaypointWall::Converted lastLatitude =  36.77941200 degrees to   4070872.06 m
: WaypointWall::Converted lastLongitude = -121.99624900 degrees to    589568.46 m
: WaypointWall::validInput() - Opening IF to rangeInst = 3
: Using range finder 3.
: WaypointWall::Converted lastLatitude =  36.77680900 degrees to   4070574.12 m
: WaypointWall::Converted lastLongitude = -122.00609700 degrees to    588692.66 m
: WaypointWall::validInput() - Opening IF to rangeInst = 3
: Using range finder 3.
: WaypointWall::validInput() - Opening IF to rangeInst = 3
: Using range finder 3.
: WaypointWall::Converted lastLatitude =  36.77622700 degrees to   4070514.57 m
: WaypointWall::Converted lastLongitude = -122.00070300 degrees to    589174.69 m
: WaypointWall::validInput() - Opening IF to rangeInst = 3
: Using range finder 3.
: WaypointWall::validInput() - Opening IF to rangeInst = 3
: Using range finder 3.
: WaypointWall::Converted lastLatitude =  36.77480900 degrees to   4070363.88 m
: WaypointWall::Converted lastLongitude = -121.99363600 degrees to    589807.00 m
: WaypointWall::validInput() - Opening IF to rangeInst = 3
: Using range finder 3.
: WaypointWall::validInput() - Opening IF to rangeInst = 3
: Using range finder 3.
: PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0
: TerrainAidDriver::Connected to server.
: TerrainAidDriver::TerrainAidDriver - ctor complete
: Running simTerrainAid now
: Simulator::Octree Map /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/TheWall_2m.bo loaded successfully.
: Simulator::Octree lower bounds ( 4069512.00 586730.00 100.00 )
: Simulator::Octree upper bounds ( 4077704.00 594922.00 8292.00 )
: Simulator::Octree number of branch nodes =     1370579.
: Simulator::Octree number of leaf nodes   =     9594054.
: Simulator::Octree size in RAM           >=    98681693 bytes.
: 
**** FastTime ctor [00084b80] ****

: 
****Simulator::init_simulation [0006b464] using FastTime instance [00084b80]

: Invoke simulator->run()...

: SimulatedDeltaT:: _verticalMount = 0, _fwdEnabled = 1
: SimulatedDeltaT:: _tbeams = 210, _nbeams = 120
: SimulatedEchoSounder - sector = 30.
: SimulatedEchoSounder:: epoch = (1489609110,546090580)
: SimulatedEchoSounder::Constructor finished at t = 0
: Running SimEchoSounder now
: Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 0.
: Navigation: Server for aux sensor "Nav->Velocimeter" not found
: Navigation::connectSensors aux - connecting to Nav->Usbl at t = 0.
: Navigation: Setting simulator callback
: Navigation::Navigation(). _es->valid() = 0 at t = 0.
: PeriodicTask::run() (navigation) - sampleInterval=2000, maxInterval=0
: 				============== Navigation giving simulation a push start in 2...
: SimulatedDeltaT:: epoch = (1489609110,546090580)
: SimulatedDeltaT::Constructor finished at t = 0
: sysDataDriver: Frequency is 5
: sysDataDriver - frequency = 5
: PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200
: 
**** FastTime ctor [00021444] ****

: 
****Time::gettime using FastTime instance [00021444]

: 
**** FastTime ctor [000201c8] ****

: 
****Time::gettime using FastTime instance [000201c8]

: 
**** FastTime ctor [0003b1e0] ****

: 
****Time::gettime using FastTime instance [0003b1e0]

: 
**** FastTime ctor [000313a4] ****

: 
****Time::gettime using FastTime instance [000313a4]

: 
**** FastTime ctor [0004ad0c] ****

: 
****Time::gettime using FastTime instance [0004ad0c]

:  Navigation:: deltaT = 0.00 is impermissible.

: **** EventTriggers::add() - attaching proxy
: Reson Behavior::log=0,sbp=0,0.000000 | hiss=0,0.000000,-1.000000,200.000000 | loss=0,0.000000,-1.000000,200.000000 | mb=1,0.000000,3.000000,200.000000,33.000000,0.000030,0.000000 | pulse="",""
: Reson Behavior: Stopping subbottom profiler
: Reson Behavior: Setting SBP gain to 128.000000
: Reson Behavior: Setting SBP duration to 300.000000
: Reson Behavior: Setting SSLo range to 200.000000
: Reson Behavior: Stopping lo-freq SS
: Reson Behavior: Setting SSHi range to 200.000000
: Reson Behavior: Stopping hi-freq SS
: Reson Behavior: Tell Multibeam to set MB sound velocity
: Reson Behavior: Setting MB power to 0.000000
: Reson Behavior: Setting MB range to 200.000000
: Reson Behavior: Setting MB rate to 3.000000
: Reson Behavior: Setting MB gain to 33.000000
: Reson Behavior: Setting MB pulse width to 0.000030
: Reson Behavior: Setting MB Bottom detection filter 15.000000:200.000000:0.000000:200.000000
: Reson Behavior: Turning on snippet control - window size = 200
: Reson Behavior: Turning on bottom detection modes: 0, 1
: Reson Behavior: Starting MB pinging
: Reson Behavior: Stopping logging
: Reson Behavior: Stopping 7k Center Logging
: LayeredControl::execute() -- (t = 0.000000) Behavior reson:-1 has changed to state Active

:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active

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

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

: 
**** FastTime ctor [0003af68] ****

: 
****Time::gettime using FastTime instance [0003af68]

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

: **** EventTriggers::add() - attaching proxy
: !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl"

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

: 
**** FastTime ctor [0002a79c] ****

: 
****Time::gettime using FastTime instance [0002a79c]

: TerrainAidDriver:: _navTime0 = 0.00
: TerrainAidDriver:: _dvlTime0 = 0.00
: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072945.70, 591683.55) 

: _tercom->outstandingMeas() = 0

: 
**** FastTime ctor [000dd1cc] ****

: 
****Time::gettime using FastTime instance [000dd1cc]

: Simulator:: Before the call to motion(): 
 simTime  = 0.00, (simTime - realTime) = 0.00
	Heading  = 225.00 
	Depth = 0.00
	Speed = 0.00
	Pitch = 0.00
: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed
: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed
: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed
: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072945.70, 591683.55) 

: _tercom->outstandingMeas() = 0

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed
: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed
: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed
: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: Reson Behavior::log=-1,sbp=-1,0.000000 | hiss=-1,0.000000,-1.000000,-1.000000 | loss=-1,0.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="",""
:  GetGPS: fix.quality = 1

: SimulatedDeltaT: Surface detected at simtime = 6.00.
: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072945.70, 591683.55) 

: _tercom->outstandingMeas() = 0

: Behavior reson - Timed out!
: LayeredControl::execute() -- (t = 6.200000) Behavior reson:-1 has changed to state Finished

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed
:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed
:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

:  GetGPS: fix.quality = 1

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.600000) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.600000) Behavior setpoint:-1 has changed to state Active

: DynamicControlServer::Begin horizontal mode 1 at t = 8.60 sec.
: DynamicControlServer::Begin vertical mode 1 at t = 8.60 sec.
: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072945.69, 591683.52) 

: _tercom->outstandingMeas() = 0

:  SimulatedDvlSide::get() 
               waterDepth(0.,0.) = 112.0 
               Dvl range = 0.0,
               range = 0.0
               numValidBeams = 0
               beam1 range = 0.0,  iterations = 0, grazing = 0.0 
               beam2 range = 0.0,  iterations = 0, grazing = 0.0 
               beam3 range = 0.0,  iterations = 0, grazing = 0.0 
               beam4 range = 0.0,  iterations = 0, grazing = 0.0 
               bottomStatus = ff 
: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072945.35, 591683.17) 

: _tercom->outstandingMeas() = 0

: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072944.49, 591682.31) 

: _tercom->outstandingMeas() = 0

: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072943.13, 591681.03) 

: _tercom->outstandingMeas() = 0

: TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00

: _navData-> (x,y) = (4072941.26, 591679.52) 

: _tercom->outstandingMeas() = 0

:  SimulatedDvlSide::get() 
               waterDepth(0.,0.) = 112.0 
               Dvl range = 0.0,
               range = 0.0
               numValidBeams = 0
               beam1 range = 0.0,  iterations = 0, grazing = 0.0 
               beam2 range = 0.0,  iterations = 0, grazing = 0.0 
               beam3 range = 0.0,  iterations = 0, grazing = 0.0 
               beam4 range = 0.0,  iterations = 0, grazing = 0.0 
               bottomStatus = ff 
: TerrainAidDriver::readData() - IDT[45] = 21.80, IDT[75] = 0.00

: _navData-> (x,y) = (4072938.88, 591678.05) 

: _tercom->outstandingMeas() = 0

: TerrainAidDriver::readData() - IDT[45] = 21.80, IDT[75] = 0.00

: _navData-> (x,y) = (4072936.07, 591676.89) 

: _tercom->outstandingMeas() = 0

: TerrainAidDriver::readData() - IDT[45] = 6.87, IDT[75] = 0.00

: _navData-> (x,y) = (4072932.92, 591676.17) 

: _tercom->outstandingMeas() = 0

: TerrainAidDriver::readData() - IDT[45] = 6.87, IDT[75] = 0.00

: _navData-> (x,y) = (4072929.53, 591675.85) 

: _tercom->outstandingMeas() = 0

:  SimulatedDvlSide::get() 
               waterDepth(0.,0.) = 114.0 
               Dvl range = 0.0,
               range = 0.0
               numValidBeams = 0
               beam1 range = 0.0,  iterations = 0, grazing = 0.0 
               beam2 range = 0.0,  iterations = 0, grazing = 0.0 
               beam3 range = 0.0,  iterations = 0, grazing = 0.0 
               beam4 range = 0.0,  iterations = 0, grazing = 0.0 
               bottomStatus = ff 
: TerrainAidDriver::readData() - IDT[45] = 8.11, IDT[75] = 0.00

: _navData-> (x,y) = (4072925.99, 591675.83) 

: _tercom->outstandingMeas() = 0

TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Invalid argument
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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TerrainNavClient::get_msg: Connection reset by peer
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: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: 
****Time::cleanup FastTime instance[0007d12c]]

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

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

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

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

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

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

: 
**** FastTime dtor [0007d12c] ****

: 
****Time::cleanup FastTime instance[0003b1e0]]

: 
****Time::cleanup FastTime instance[000201c8]]

: 
****Time::cleanup FastTime instance[0004ad0c]]

: 
****Time::cleanup FastTime instance[000313a4]]

: 
****Time::cleanup FastTime instance[0003bfc4]]

: **** SharedData destructor for object FastTime ****

: 
**** FastTime dtor [0003b1e0] ****

: 
**** FastTime dtor [000201c8] ****

: 
**** FastTime dtor [0004ad0c] ****

: 
**** FastTime dtor [000313a4] ****

: 
**** FastTime dtor [0003bfc4] ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: destroying segment FastTime
: destroying prot sem FastTime_prot
: destroying segment FastTime
: destroying segment FastTime
: destroying segment FastTime
: destroying segment FastTime
: destroying segment FastTime
: destroying notify sem FastTime_notify
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

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

: 
****Time::cleanup FastTime instance[000a30b4]]

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

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

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

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

: TaskServer::signalHandler() for task Reson6046IFServer - exit() on signal 2

: 
****Time::cleanup FastTime instance[0003af68]]

: 
**** FastTime dtor [000a30b4] ****

: 
****Time::cleanup FastTime instance[0007b5f4]]

: 
****Time::cleanup FastTime instance[00021444]]

: 
****Time::cleanup FastTime instance[0002a79c]]

: 
****Time::cleanup FastTime instance[0002d5e0]]

: NavigationOutput::~NavigationOutput()

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

: destroying segment navigationOutput
: destroying prot sem navigationOutput_prot
: destroying notify sem navigationOutput_notify
: 
**** FastTime dtor [0003af68] ****

: **** SharedData destructor for object FastTime ****

: 
**** FastTime dtor [0007b5f4] ****

: 
**** FastTime dtor [00021444] ****

: 
**** FastTime dtor [0002a79c] ****

: 
**** FastTime dtor [0002d5e0] ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: **** SharedData destructor for object FastTime ****

: destroying segment FastTime
: destroying segment FastTime
: destroying segment FastTime
: destroying segment FastTime
: destroying segment FastTime
: destroying segment FastTime
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying prot sem FastTime_prot
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: destroying notify sem FastTime_notify
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: DynamicControlServer::Destructor.  Difference between clock time and accumulated sample periods is 0.00, at t=36.00.
: destroying segment LayeredControlOutput_ShmemName
: destroying prot sem LayeredControlOutput_ShmemName_prot
: destroying notify sem LayeredControlOutput_ShmemName_notify
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: destroying segment LayeredControlInput_ShmemName
: destroying prot sem LayeredControlInput_ShmemName_prot
: destroying notify sem LayeredControlInput_ShmemName_notify

//1/home/henthorn/AUV/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:0005C458.
: 
**** FastTime dtor [00084b80] ****

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

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

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

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

:  CameraDestructor Executing.
: Supervisor::signalHandler - caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

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

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

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

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

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

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

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

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

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

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

: **** SharedData destructor for object FastTime ****

: NavigationOutput::~NavigationOutput()

: destroying segment FastTime
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: destroying prot sem FastTime_prot
: **** SharedData destructor for object CameraOutput ****

: destroying notify sem FastTime_notify
: SerialDeviceExt::closeSD() - closed

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

: destroying segment LayeredControlInput_ShmemName
: destroying segment CameraOutput
: **** SharedData destructor for object CameraOutput ****

: destroying segment navigationOutput
: destroying prot sem LayeredControlInput_ShmemName_prot
: destroying prot sem CameraOutput_prot
: destroying prot sem navigationOutput_prot
: destroying segment CameraOutput
: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying notify sem CameraOutput_notify
: destroying notify sem navigationOutput_notify
: Supervisor::signalHandler - setting exit flag [1]

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

: 
****Time::cleanup FastTime instance[000dd1cc]]

: destroying prot sem CameraOutput_prot
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: failed to unlink queue NavigationInput
: destroying notify sem CameraOutput_notify
: destroying segment LayeredControlOutput_ShmemName
: destroying prot sem LayeredControlOutput_ShmemName_prot
: destroying notify sem LayeredControlOutput_ShmemName_notify
: 
**** FastTime dtor [000dd1cc] ****

: Supervisor::run - caught stop signal - exiting run loop

: destroying segment GulperOutput
: **** SharedData destructor for object FastTime ****

: Supervisor::run - calling shutdown/exit

: destroying prot sem GulperOutput_prot
: Supervisor::shutdown - signaling processes

: destroying notify sem GulperOutput_notify
: destroying segment FastTime
: Supervisor::signalHandler - caught signal 2
: destroying prot sem FastTime_prot
: Supervisor::signalHandler possible duplicate signal[2]

: destroying notify sem FastTime_notify
: Supervisor::signalHandler - setting exit flag [2]

:  TerrainAidDestructor Executing.
: Supervisor::shutdown - cleaning up

: Supervisor::shutdown - deleting FastTime [0001d1c0]

: 
**** FastTime dtor [0001d1c0] ****

: **** SharedData destructor for object FastTime ****

: destroying segment FastTime
: destroying prot sem FastTime_prot
: destroying notify sem FastTime_notify
: Supervisor::shutdown - deleting output

: **** SharedData destructor for object TerrainAidOutput ****

: **** SharedData destructor for object SupervisorOutout ****

: destroying segment TerrainAidOutput
: destroying segment SupervisorOutout
: destroying prot sem TerrainAidOutput_prot
: destroying prot sem SupervisorOutout_prot
: destroying notify sem TerrainAidOutput_notify
: destroying notify sem SupervisorOutout_notify
: Supervisor::shutdown - done

: Supervisor::~Supervisor - dtor

: Supervisor::~Supervisor - deleting FastTime [0001d1c0]

: 
**** FastTime dtor [0001d1c0] ****

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

: destroying segment 
: destroying prot sem $
: destroying notify sem FastTime_notify
: 
****Time::cleanup FastTime instance[0001d2b0]]

: 
**** FastTime dtor [0001d2b0] ****

: **** SharedData destructor for object FastTime ****

: destroying segment FastTime
: destroying prot sem FastTime_prot
: destroying notify sem FastTime_notify
:  SysData Destructor Executing.
: failed to unlink queue TerrainAidMsgs
: **** SharedData destructor for object TerrainAidOutput ****

: destroying segment TerrainAidOutput
: destroying prot sem TerrainAidOutput_prot
: destroying notify sem TerrainAidOutput_notify