Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer : Initializing worksiteServer Superviso: WorkSite::WorkSite -- Adding attributes r::cr: WorkSite::WorkSite -- Loading parameters from file /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/workSite.cfg eateTask() - 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::createTask() - simulator : 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: 0x23208 : *** NavigationServer::NavigationServer() - DONE : Done creating NavigationServer... : 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 [0007d144] **** : ****Time::gettime using FastTime instance [0007d144] : Navigation/EchoSounder:: epoch = (1490048372,259320410) : 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 [0007b608] **** : ****Time::gettime using FastTime instance [0007b608] : Create VehicleConfigurationIF... : Okay... : Create attributes... : Simulator::Simulator() - msSimDelay = 0 : Simulator:: initPsi = 0.000000 Su: Done creating attributes. Parse 'em... pervis: SimulatedDepthSensor - connecting... or::cre: SimulatedDepthSensor - connected OK ateTask() - simTailCone : **** FastTime ctor [000a30e8] **** : ****Time::gettime using FastTime instance [000a30e8] Supervi: SimulatedKearfott:: Constructor. sor::crea: SimulatedKearfott::Setting utm zone to 10 teTas: Running SimulatedKearfott now k() - simGps Supervisor::createTask() - simDvl Superv: Simulator:: initPsi = 225.000000 isor::: Simulator:: zMax = 210.000000 createTask: The utm zone is 10 () - simD: Simulator: The lat/long in workSite.cfg is 0.642245, -2.12882 vlSid: Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.07295e+006, 591684 e : 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() - simBluef: Running SimDvlSide now inBatt Supervisor::create: **** FastTime ctor [0002d5f4] **** Task(): ****Time::gettime using FastTime instance [0002d5f4] - 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::c: Begin SimulatedGulperServer constructor. reateTask() - simUsbl Superv: gulperLog:: Constructor completed. isor::: End SimulatedGulperServer constructor. createTask() - 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::createTas: TerrainAidServer::TerrainAidServer - sim k() - camer: cathxServer - initializing... : cathxServer - running... aServer -dev tcp:172.20.64.214:: Configuration file = /home/henthorn/AUV/auv-qnx/auv/altex/onboard/config/imaging/terrainAid.cfg 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 [0003bfdc] **** : map_type = 2 : ****Time::gettime using FastTime instance [0003bfdc] : particlesName = particles900v1.cfg : SimulatedEchoSounder::Constructor starting at t = 0 : vehicleCfgName = mappingAUV_specsSide20.cfg : SimulatedEchoSounder::minGrazing = 0.00 deg. : terrainNavServer = 134.89.11.43:27027 : 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 134.89.11.43 on port 27027 and map TheWall_2m.bo : TerrainAidDriver - logs/latest is 2017.079.04-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 [0006b478] using FastTime instance [00084b80] : Invoke simulator->run()... : SimulatedDeltaT:: _verticalMount = 0, _fwdEnabled = 1 : SimulatedDeltaT:: _tbeams = 210, _nbeams = 120 : SimulatedEchoSounder - sector = 30. : SimulatedEchoSounder:: epoch = (1490048372,259320410) : 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 = (1490048372,259320410) : SimulatedDeltaT::Constructor finished at t = 0 : sysDataDriver: Frequency is 5 : sysDataDriver - frequency = 5 : PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200 : **** FastTime ctor [0002145c] **** : ****Time::gettime using FastTime instance [0002145c] : **** FastTime ctor [000201dc] **** : ****Time::gettime using FastTime instance [000201dc] : **** FastTime ctor [0003b1f4] **** : ****Time::gettime using FastTime instance [0003b1f4] : **** FastTime ctor [000313bc] **** : ****Time::gettime using FastTime instance [000313bc] : **** FastTime ctor [0004ad24] **** : ****Time::gettime using FastTime instance [0004ad24] : 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 [0003af88] **** : ****Time::gettime using FastTime instance [0003af88] : **** 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 [0002a7b4] **** : ****Time::gettime using FastTime instance [0002a7b4] : 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 [000de1cc] **** : ****Time::gettime using FastTime instance [000de1cc] : 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 : 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 : 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 : 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 : 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: 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 = 8.800000) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.800000) Behavior setpoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 1 at t = 8.80 sec. : DynamicControlServer::Begin vertical mode 1 at t = 8.80 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.69, 591683.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072945.37, 591683.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072944.55, 591682.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072943.21, 591681.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072941.35, 591679.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 19.37, IDT[75] = 0.00 : _navData-> (x,y) = (4072938.98, 591678.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 19.37, IDT[75] = 0.00 : _navData-> (x,y) = (4072936.18, 591676.93) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 7.10, IDT[75] = 0.00 : _navData-> (x,y) = (4072933.03, 591676.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 7.10, IDT[75] = 0.00 : _navData-> (x,y) = (4072929.65, 591675.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 8.14, IDT[75] = 0.00 : _navData-> (x,y) = (4072926.11, 591675.84) : _tercom->outstandingMeas() = 0 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 39.000000) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 39.000000) Behavior descend:-1 has changed to state Active : TerrainAidDriver::readData() - IDT[45] = 8.14, IDT[75] = 0.00 : _navData-> (x,y) = (4072922.45, 591676.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 12.59, IDT[75] = 0.00 : _navData-> (x,y) = (4072918.71, 591676.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 12.59, IDT[75] = 0.00 : _navData-> (x,y) = (4072915.12, 591676.53) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 22.06, IDT[75] = 0.00 : _navData-> (x,y) = (4072911.83, 591676.80) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on depth 3.018810 > 3.000000 at time 50.000000 : LayeredControl::execute() -- (t = 50.000000) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 50.000000) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 50.00 (wplog) The current location (N,E) = 4072909.8 , 591677.0 (wplog) The next waypoint = 4073031.6 , 591706.5 (wplog) The bearing to the next w.p. is 13.6 Degrees. : LayeredControl::execute() -- (t = 50.000000) Behavior waypoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 3 at t = 50.00 sec. : DynamicControlServer::Begin vertical mode 2 at t = 50.00 sec. : TerrainAidDriver::readData() - IDT[45] = 22.06, IDT[75] = 0.00 : _navData-> (x,y) = (4072908.84, 591677.04) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 37.38, IDT[75] = 0.00 : _navData-> (x,y) = (4072906.06, 591677.25) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 37.38, IDT[75] = 0.00 : _navData-> (x,y) = (4072903.27, 591677.68) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 77.50, IDT[75] = 0.00 : _navData-> (x,y) = (4072900.45, 591678.56) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 77.50, IDT[75] = 0.00 : _navData-> (x,y) = (4072897.78, 591680.00) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 81.98, IDT[75] = 0.00 : _navData-> (x,y) = (4072895.47, 591681.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 81.98, IDT[75] = 0.00 : _navData-> (x,y) = (4072893.72, 591684.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 69.01, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.61, 591686.73) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 69.01, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.14, 591689.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 71.60, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.22, 591691.37) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 71.60, IDT[75] = 0.00 : _navData-> (x,y) = (4072892.77, 591693.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 80.75, IDT[75] = 0.00 : _navData-> (x,y) = (4072893.69, 591695.13) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 80.75, IDT[75] = 0.00 : _navData-> (x,y) = (4072894.91, 591696.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 91.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072896.35, 591697.75) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 91.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072897.97, 591698.60) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072899.69, 591699.14) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072901.47, 591699.36) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 100.00, (simTime - realTime) = 0.00 Heading = -11.67 Depth = 17.31 Speed = 0.61 Pitch = -35.27 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072903.25, 591699.26) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072904.98, 591698.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072906.62, 591698.18) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072908.14, 591697.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072909.55, 591696.11) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072910.86, 591694.87) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072912.12, 591693.59) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072913.38, 591692.34) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072914.68, 591691.16) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072916.05, 591690.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072917.49, 591689.15) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072919.02, 591688.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072920.62, 591687.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072922.26, 591687.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072923.95, 591686.82) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072925.65, 591686.55) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072927.38, 591686.38) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072929.10, 591686.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072930.83, 591686.27) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072932.56, 591686.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072934.29, 591686.35) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072936.01, 591686.39) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072937.73, 591686.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072939.46, 591686.40) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072941.18, 591686.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072942.90, 591686.30) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072944.62, 591686.24) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072946.34, 591686.20) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072948.06, 591686.19) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072949.78, 591686.22) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072951.49, 591686.29) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072953.21, 591686.41) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072954.91, 591686.58) : _tercom->outstandingMeas() = 0 : Simulator:: Before the call to motion(): simTime = 200.00, (simTime - realTime) = 0.00 Heading = 9.21 Depth = 41.98 Speed = 0.60 Pitch = -39.71 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072956.62, 591686.80) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072958.32, 591687.06) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072960.01, 591687.36) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072961.69, 591687.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072963.36, 591688.09) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072965.03, 591688.50) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072966.70, 591688.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072968.36, 591689.44) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072970.04, 591689.96) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072971.73, 591690.51) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072973.44, 591691.10) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072975.18, 591691.71) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072976.95, 591692.35) : _tercom->outstandingMeas() = 0 : SimulatedDeltaT: Surface lost at simtime = 240.00. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072978.76, 591693.02) : _tercom->outstandingMeas() = 0 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : _navData-> (x,y) = (4072980.62, 591693.70) : _tercom->outstandingMeas() = 0 TerrainNavClient::get_msg: Connection reset by peer : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : Waypoint has set the state to finished. : Waypoint (4073031.6, 591706.5), reached at t = 296.80 (wplog) : Vehicle Position is error is (-0.2, 0.1) : LayeredControl::execute() -- (t = 296.800000) Behavior waypoint:-1 has changed to state Finished : Reson Behavior::log=0,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,218.000000,3.000000,200.000000,33.000000,0.000030,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB power to 218.000000 : 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: Stopping logging : Reson Behavior: Stopping 7k Center Logging : LayeredControl::execute() -- (t = 296.800000) Behavior reson:-1 has changed to state Finished : Reson Behavior::log=2,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : Reson Behavior: Stopping logging : Reson Behavior: Starting 7k Center Logging : LayeredControl::execute() -- (t = 296.800000) Behavior reson:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 296.800000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 296.800000) Behavior reson:-1 has changed to state Finished : WaypointDepth initialization: Begin waypoint control at t= 296.80 (wplog) The current location (N,E) = 4073031.8 , 591706.4 (wplog) The next waypoint = 4071994.6 , 591781.7 (wplog) The bearing to the next w.p. is 175.8 Degrees. The distance to the next w.p. is 1039.9 Meters. The slope to the next w.p. is -0.2359. The initial commanded depth is 56.1 meters. The final commanded depth is 301.5 meters. : LayeredControl::execute() -- (t = 296.800000) Behavior waypoint_depth:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 4 at t = 296.80 sec. : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : Simulator:: Before the call to motion(): simTime = 300.00, (simTime - realTime) = 0.00 Heading = 16.04 Depth = 61.01 Speed = 1.41 Pitch = 0.29 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : Simulator:: Before the call to motion(): simTime = 400.00, (simTime - realTime) = 0.00 Heading = 173.63 Depth = 69.41 Speed = 1.16 Pitch = -20.39 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : Simulator:: Before the call to motion(): simTime = 500.00, (simTime - realTime) = 0.00 Heading = 175.43 Depth = 95.40 Speed = 1.20 Pitch = -18.19 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TerrainAidDriver::readData() - IDT[45] = 0.00, IDT[75] = 0.00 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : 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 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0007d144]] : TaskServer::signalHandler() for task SimulatorIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0002145c]] : ****Time::cleanup FastTime instance[0003b1f4]] : ****Time::cleanup FastTime instance[000201dc]] : ****Time::cleanup FastTime instance[0004ad24]] : ****Time::cleanup FastTime instance[000313bc]] : ****Time::cleanup FastTime instance[0003bfdc]] : **** FastTime dtor [0007d144] **** : ****Time::cleanup FastTime instance[0007b608]] : **** FastTime dtor [0002145c] **** : **** FastTime dtor [0003b1f4] **** : **** FastTime dtor [000201dc] **** : **** FastTime dtor [0004ad24] **** : **** FastTime dtor [000313bc] **** : **** FastTime dtor [0003bfdc] **** : **** SharedData destructor for object FastTime **** : **** FastTime dtor [0007b608] **** : **** 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 **** : **** 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 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 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 : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : 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 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[000a30e8]] : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0002a7b4]] : ****Time::cleanup FastTime instance[0002d5f4]] : ****Time::cleanup FastTime instance[000de1cc]] : NavigationOutput::~NavigationOutput() : **** FastTime dtor [000a30e8] **** : ****Time::cleanup FastTime instance[0003af88]] : **** FastTime dtor [0002a7b4] **** : **** FastTime dtor [0002d5f4] **** : **** FastTime dtor [000de1cc] **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object FastTime **** : **** FastTime dtor [0003af88] **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment navigationOutput : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying segment FastTime : destroying prot sem navigationOutput_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 navigationOutput_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : destroying segment navigationOutput : destroying prot sem navigationOutput_prot : destroying notify sem navigationOutput_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TerrainAidDestructor Executing. : **** FastTime dtor [00084b80] **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is 0.00, at t=517.80. : destroying segment LayeredControlOutput_ShmemName : TaskServer::signalHandler() for task CathxIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : CameraDestructor Executing. : TaskServer::signalHandler() for task LayeredControlIFServer - 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 CARL_IFServer - exit() on signal 2 : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem FastTime_notify : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object CameraOutput **** : destroying notify sem LayeredControlOutput_ShmemName_notify : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment TerrainAidOutput : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying prot sem TerrainAidOutput_prot : destroying segment LayeredControlInput_ShmemName : destroying notify sem TerrainAidOutput_notify : destroying segment CameraOutput : destroying prot sem LayeredControlInput_ShmemName_prot : failed to unlink queue TerrainAidMsgs : destroying segment LayeredControlInput_ShmemName : **** SharedData destructor for object CameraOutput **** : destroying prot sem CameraOutput_prot : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object GulperOutput **** : Supervisor::signalHandler - setting exit flag [1] : SysData Destructor Executing. : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object TerrainAidOutput **** : destroying prot sem LayeredControlInput_ShmemName_prot : destroying segment TerrainAidOutput : destroying notify sem CameraOutput_notify : destroying prot sem TerrainAidOutput_prot //1/home/henthorn/AUV/auv-qnx/auv/altex/onboard/bin/layeredControl: destroying segment CameraOutput terminated (SIG: destroying notify sem TerrainAidOutput_notify SEGV: Supervisor::run - caught stop signal - exiting run loop ) at 0007:0005C518. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : destroying prot sem CameraOutput_prot : destroying notify sem CameraOutput_notify : destroying segment GulperOutput : Supervisor::run - calling shutdown/exit : destroying prot sem GulperOutput_prot : Supervisor::shutdown - signaling processes : destroying notify sem GulperOutput_notify : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler possible duplicate signal[2] : Supervisor::signalHandler - setting exit flag [2] : Supervisor::shutdown - cleaning up : Supervisor::shutdown - deleting FastTime [0001d1d8] : **** FastTime dtor [0001d1d8] **** : **** 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 SupervisorOutout **** : destroying segment SupervisorOutout : destroying prot sem SupervisorOutout_prot : destroying notify sem SupervisorOutout_notify : Supervisor::shutdown - done : Supervisor::~Supervisor - dtor : Supervisor::~Supervisor - deleting FastTime [0001d1d8] : **** FastTime dtor [0001d1d8] **** : **** SharedData destructor for object  **** : destroying segment  : destroying prot sem $ : destroying notify sem FastTime_notify : ****Time::cleanup FastTime instance[0001d2c8]] : **** FastTime dtor [0001d2c8] **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify