Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer : starting LC: layeredControlServer -plan 20140529_PortugueseLedge_CrossRoute_1v3.cfg -abort abortSimPlan.cfg Supervisor::createTask() - layeredControlServer -plan 20140529_PortugueseLedge_CrossRoute_1v3.cfg -abort abortSimPlan.cfg : Initializing worksiteServer : WorkSite::WorkSite -- Adding attributes : WorkSite::WorkSite -- Loading parameters from file /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/workSite.cfg : Using default vehicle config file "/mnt/host/auv-qnx/auv/altex/onboard/config/imaging/vehicle.cfg" Supervisor::createTask() - dynamicControlServer : Creating NavigationServer... S: *** NavigationServer::NavigationServer()... uperviso: WorkSite::WorkSite -- Finished loading parameters r: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ::: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 cr: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 e: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 at: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 e: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 Ta: WorkSite server: 0x231cc sk: *** NavigationServer::NavigationServer() - DONE (: Done creating NavigationServer... ) - simulator : layeredControlServer - creating non dynamic version Supervisor::createTask() - simDepthSensor : Supervisor: configDirPath = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging Supervisor::createTask() - simKearfott : Navigation::Navigation - Setting start depth to 0.0 meters. : Navigation::Navigation _logOnly = 1 : **** FastTime ctor [0007e6e8] **** : ****Time::gettime using FastTime instance [0007e6e8] : Navigation/Multibeam:: epoch = (1539962255,816788023) : Navigation/EchoSounder:: epoch = (1539962255,816788023) : Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - simAhrs Supervisor::createTask() - simTailCone S: Create simulator... upervisor::createTask() - simGps : **** FastTime ctor [0007f0ec] **** : ****Time::gettime using FastTime instance [0007f0ec] : Create VehicleConfigurationIF... : Okay... : Create attributes... : Simulator::Simulator() - msSimDelay = 0 : Simulator:: initPsi = 0.000000 : Done creating attributes. Parse 'em... Supervis: SimulatedDepthSensor - connecting... or::: SimulatedDepthSensor - connected OK createTask() - simDvl Supervi: SimulatedKearfott:: Constructor. sor::cr: SimulatedKearfott::Setting utm zone to 10 ea: Running SimulatedKearfott now teTask() - simDvlSide Supervisor::createTask() - simDeltaT Supervisor::createTask() - simCtd : **** FastTime ctor [000a4ca0] **** : ****Time::gettime using FastTime instance [000a4ca0] Superv: Simulator:: initPsi = 225.000000 iso: Simulator:: zMax = 210.000000 r::creat: The utm zone is 10 eTask: Simulator: The lat/long in workSite.cfg is 0.640466, -2.12836 () : Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06167e+006, 594172 - s: Simulator: _nydepths = 10 imB: Simulator: 0 _depth=100.0, _ydepth-_position0[2]=-450.0 lu: Simulator: 1 _depth=100.0, _ydepth-_position0[2]=-390.0 efi: Simulator: 2 _depth=100.0, _ydepth-_position0[2]=-312.0 nBa: Simulator: 3 _depth=100.0, _ydepth-_position0[2]=-310.0 tt: 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 = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles : Running SimDvl now : Simulator::tileDataName = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/tiles.csv : Simulator::numTiles_ = 9. : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . : Simulator:: Octree map = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles Supervisor::createTask() - simHydroscat Supervisor::createTask() - simIsus : Running SimDvlSide now Supervisor::creat: **** FastTime ctor [0002d5f8] **** eTas: ****Time::gettime using FastTime instance [0002d5f8] k(: SimulatedDeltaT::Constructor starting at t = 0 ) -: SimulatedDeltaT::minGrazing = 0.00 deg. simGulper Supervisor::createTask() - simReson Supervisor::createTask() - simModem Supervisor::createTask() - simUsbl S: Begin simGulper. upervisor:: Begin SimulatedGulperServer constructor. :createTask() - simTerrainAid : gulperLog:: Constructor completed. : End SimulatedGulperServer constructor. Supervisor::createTask() - simCathx Supervisor::createTask() - simCarl Supervi: SimulatedUsbl:: Initial beacon interrogation address is V7_7 sor::createTask() - simMbTrnRecv : 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::createTask: TerrainAidServer::TerrainAidServer - sim () - cameraServer -dev tcp:172.20.64.214:10002 -sim Supervisor::createTask() - simEchoSounder : Configuration file = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/terrainAid.cfg : cathxServer - initializing... : cathxServer - running... Supervisor::createTask() - sysDataDriver -f5 : **** FastTime ctor [0004507c] **** : ****Time::gettime using FastTime instance [0004507c] : SimulatedMbTrnRecv::Constructor starting at t = 0 : SimulatedMbTrnRecv::minGrazing = 0.00 deg. : SimulatedMbTrnRecv:: _nbeams = 11 : TerrainAid -- configuration: : mapFileName = PortTiles : map_type = 2 : particlesName = particles.cfg : vehicleCfgName = mappingAUV_specs.cfg : **** FastTime ctor [0003bfe0] **** : terrainNavServer = 134.89.10.232:27027 : ****Time::gettime using FastTime instance [0003bfe0] : forceLowGradeFilter = false : SimulatedEchoSounder::Constructor starting at t = 0 : allowFilterReinits = true : SimulatedEchoSounder::minGrazing = 0.00 deg. : useModifiedWeighting = 4 : samplePeriod = 3000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxDepthCov = -1.00 : maxPsiBergCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : useIDTData = false : useDVLSide = false : useMbTrnData = true : Using MbTrn. Need mbtrn, Good to go : Vehicle configuration file = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/mappingAUV_specs.cfg : Map file = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles : TerrainAidDriver:: RollOffset is 0.00 : TerrainAidDriver::TerrainAidDriver() - Utm zone = 10 : TerrainAidDriver: Using TerrainNavClient at 134.89.10.232 on port 27027 and map PortTiles : TerrainAidDriver - logs/latest is 2018.292.00-TRN/ : CameraDriver:: Before navigation IF. : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : sysDataDriver: Frequency is 5 : sysDataDriver - frequency = 5 : PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200 : TerrainAidDriver::Connected to server. : TerrainAidDriver::TerrainAidDriver - ctor complete : Running simTerrainAid now : Navigation: acommsIF = 0x8b568 : 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->Multibeam at t = 0. : Simulator::Octree Map /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles loaded successfully. : Simulator::Octree lower bounds ( 4061076.50 593749.50 72.75 ) : Simulator::Octree upper bounds ( 4062100.50 594773.50 1096.75 ) : Simulator::Octree number of branch nodes = 193480. : Simulator::Octree number of leaf nodes = 1354361. : Simulator::Octree size in RAM >= 13930565 bytes. : Simulator::Octree load duration = 960.0 milli-seconds. : **** FastTime ctor [00089380] **** : ****Simulator::init_simulation [0006efcc] using FastTime instance [00089380] : Invoke simulator->run()... : SimulatedDeltaT:: _verticalMount = 1, _fwdEnabled = 1 : SimulatedDeltaT:: _tbeams = 210, _nbeams = 120 : Simulator: Using tile 4. : Simulator: Distance to tile 4 = 113.57. : Simulator: Switching to tile 4. : Simulator::Now loading /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile4.bo. : WaypointBottom - Constructed behavior 1. : WaypointBottom - Constructed behavior 2. : WaypointBottom - Opened TerrainAidIFServer 0. : WaypointBottom - Opened DynamicControlIF. : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : Simulator::Octree Map /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile4.bo loaded successfully. : Simulator::Octree lower bounds ( 4061249.36 593749.91 72.68 ) : Simulator::Octree upper bounds ( 4062273.36 594773.91 1096.68 ) : Simulator::Octree number of branch nodes = 376845. : Simulator::Octree number of leaf nodes = 2637916. : Simulator::Octree size in RAM >= 27132845 bytes. : Simulator::Octree load duration = 930.0 milli-seconds. : SimulatedMbTrnRecv:: epoch = (1539962255,816788023) : SimulatedMbTrnRecv::Constructor finished at t = 0 : SimulatedMBTrnRecv::SimulatedMBTrnRecv() - Utm zone = 10 : SimulatedEchoSounder - sector = 30. : SimulatedEchoSounder:: epoch = (1539962255,816788023) : SimulatedEchoSounder::Constructor finished at t = 0 : Running SimEchoSounder now : SimulatedDeltaT:: epoch = (1539962255,816788023) : SimulatedDeltaT::Constructor finished at t = 0 : SimulatedDeltaT: Surface detected at simtime = 0.00. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 0. : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 0. : 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() - Error. The echo sounder IF isn't yet connected; can't read it's data. : Navigation::Navigation(). _es->valid() = 0 at t = 0. : PeriodicTask::run() (navigation) - sampleInterval=2000, maxInterval=0 : ============== Navigation giving simulation a push start in 2... : **** FastTime ctor [00021460] **** : ****Time::gettime using FastTime instance [00021460] : **** FastTime ctor [000201e0] **** : ****Time::gettime using FastTime instance [000201e0] : **** FastTime ctor [0003c818] **** : ****Time::gettime using FastTime instance [0003c818] : **** FastTime ctor [000313c0] **** : ****Time::gettime using FastTime instance [000313c0] : **** FastTime ctor [0004b0f8] **** : ****Time::gettime using FastTime instance [0004b0f8] : Navigation/Multibeam: Number of beams in the array = 210, beamOverlap=30 fwdCutover=15 : 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=1,0.000000,3.000000,200.000000,35.000000,0.000060,0.000000 | 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 35.000000 : Reson Behavior: Setting MB pulse width to 0.000060 : Reson Behavior: Setting MB Bottom detection filter 25.000000:200.000000:0.000000:200.000000 : 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 [0003afec] **** : ****Time::gettime using FastTime instance [0003afec] : **** EventTriggers::add() - attaching proxy : *** Mission started *** : !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl" : **** EventTriggers::add() - attaching proxy : Event received at _simTime=0.02 : TerrainAidDriver:: _navTime0 = 0.00 : Simulator::missionStatusCallback() - mission started : TerrainAidDriver:: _dvlTime0 = 0.00 : **** FastTime ctor [000fdc34] **** : ****Time::gettime using FastTime instance [000fdc34] : 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 : 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 : 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 : 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 : Behavior reson - Timed out! : LayeredControl::execute() -- (t = 6.200000) Behavior reson:-1 has changed to state Finished : 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 = 8.200000) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.200000) Behavior setpoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 1 at t = 8.20 sec. : DynamicControlServer::Begin vertical mode 1 at t = 8.20 sec. : Multibeam: Surface detected at depth 0.0 meters at 16.60 sec. : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 38.400000) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.400000) Behavior descend:-1 has changed to state Active : Multibeam: Surface lost at 51.60 sec. : Descend::execute() - Descend terminating on depth 3.054429 > 3.000000 at time 52.800000 : LayeredControl::execute() -- (t = 52.800000) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 52.800000) Behavior acousticUpdate:-1 has changed to state Finished : WaypointBottom Initialization: Begin waypoint control at t= 52.80 (wplog) The current location (N,E) = 4061640.3 , 594171.2 (wplog) The next waypoint = 4061661.7 , 594233.0 (wplog) The bearing to the next w.p. is 70.9 Degrees. : WaypointBottom:: Depth control. : WaypointBottom::execute - in 'first', avoidRange = -100000.00 : WaypointBottom - reinitFilter = 1. : WaypointBottom - Reinitialized Filter at t = 52.80. : WaypointBottom - Set map offsets and zeroed Trn biases in Dynamic Control at t = 52.80. : WaypointBottom - Offset the Trn filter by (0.0, 0.0) at t = 52.80 : LayeredControl::execute() -- (t = 52.800000) Behavior waypoint_bottom:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 3 at t = 52.80 sec. : DynamicControlServer::Begin vertical mode 2 at t = 52.80 sec. : TerrainAidDriver:: _msg->type = 1 : Multibeam: Surface detected at depth -0.4 meters at 55.40 sec. : DynamicControlServer:: TerrainNav has new data at 59.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 60.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 62.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 63.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 65.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 66.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 68.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 69.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 71.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 72.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 74.40. Valid = 0 : Multibeam: Surface lost at 74.60 sec. : DynamicControlServer:: TerrainNav has new data at 75.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 77.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 78.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 80.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 81.80. Valid = 0 : Multibeam: Surface detected at depth -0.6 meters at 83.40 sec. : DynamicControlServer:: TerrainNav has new data at 83.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 84.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 86.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 87.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 89.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 90.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 92.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 93.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 95.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 96.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 98.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 99.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 100.00, (simTime - realTime) = 0.00 Heading = 75.41 Depth = 17.08 Speed = 1.42 Pitch = -0.95 : DynamicControlServer:: TerrainNav has new data at 101.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 102.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 104.40. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 105.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 107.40. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061661.7, 594233.0), reached at t = 108.00 (wplog) : Vehicle Position is error is (-1.5, 0.2) : LayeredControl::execute() -- (t = 108.000000) Behavior waypoint_bottom:-1 has changed to state Finished : LayeredControl::execute() -- (t = 108.000000) Behavior descend:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 0 at t = 108.00 sec. : DynamicControlServer::Begin vertical mode 1 at t = 108.00 sec. : DynamicControlServer:: TerrainNav has new data at 109.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 112.60. Valid = 0 : Multibeam: Surface lost at 113.80 sec. : DynamicControlServer:: TerrainNav has new data at 115.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 118.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 121.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 124.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 127.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 130.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 133.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 136.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 139.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 142.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 145.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 148.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 151.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 154.60. Valid = 0 : SimulatedDeltaT: Surface lost at simtime = 155.60. : Descend::execute() - Descend terminating on depth 45.103328 > 45.000000 at time 157.000000 : LayeredControl::execute() -- (t = 157.000000) Behavior descend:-1 has changed to state Finished : WaypointBottom Initialization: Begin waypoint control at t= 157.00 (wplog) The current location (N,E) = 4061704.7 , 594257.4 (wplog) The next waypoint = 4061661.7 , 594233.0 (wplog) The bearing to the next w.p. is 209.5 Degrees. : WaypointBottom:: Depth control. : WaypointBottom::execute - in 'first', avoidRange = -100000.00 : WaypointBottom - reinitFilter = 0. : WaypointBottom - Offset the Trn filter by (0.0, 0.0) at t = 157.00 : LayeredControl::execute() -- (t = 157.000000) Behavior waypoint_bottom:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 3 at t = 157.00 sec. : DynamicControlServer::Begin vertical mode 2 at t = 157.00 sec. : DynamicControlServer:: TerrainNav has new data at 157.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 158.80. Valid = 0 : SimulatedDeltaT: Surface detected at simtime = 159.00. : DynamicControlServer:: TerrainNav has new data at 160.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 161.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 163.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 164.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 166.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 167.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 169.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 170.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 172.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 173.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 175.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 176.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 178.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 179.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 181.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 182.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 184.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 185.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 187.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 188.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 190.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 191.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 193.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 194.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 196.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 197.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 199.20. Valid = 0 : Simulator:: Before the call to motion(): simTime = 200.00, (simTime - realTime) = 0.00 Heading = -196.40 Depth = 51.24 Speed = 1.29 Pitch = -2.40 : DynamicControlServer:: TerrainNav has new data at 200.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 202.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 203.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 205.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 206.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 208.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 209.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 211.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 212.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 214.20. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 215.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 217.20. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061661.7, 594233.0), reached at t = 218.60 (wplog) : Vehicle Position is error is (0.3, -0.2) : LayeredControl::execute() -- (t = 218.600000) Behavior waypoint_bottom:-1 has changed to state Finished : Reson Behavior::log=0,sbp=1,100.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=1,100.000000,-1.000000,200.000000 | mb=-1,218.000000,3.000000,200.000000,35.000000,0.000060,0.000000 | pulse="","" : Reson Behavior: Setting SBP power to 100.000000 : Reson Behavior: Starting subbottom profiler : Reson Behavior: Setting SBP gain to 128.000000 : Reson Behavior: Setting SBP duration to 300.000000 : Reson Behavior: Setting SSLo power to 100.000000 : Reson Behavior: Setting SSLo range to 200.000000 : Reson Behavior: Starting lo-freq SS : 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 35.000000 : Reson Behavior: Setting MB pulse width to 0.000060 : Reson Behavior: Setting MB Bottom detection filter 25.970000:200.000000:0.000000:200.000000 : 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 = 218.600000) Behavior reson:-1 has changed to state Active : 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 = 218.600000) Behavior reson:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 218.600000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=1,100.000000 | hiss=-1,-1.000000,-1.000000,200.000000 | loss=-1,-1.000000,-1.000000,200.000000 | mb=-1,-1.000000,3.000000,160.090000,35.000000,0.000060,0.000000 | pulse="","" : Reson Behavior: Setting SBP power to 100.000000 : Reson Behavior: Starting subbottom profiler : Reson Behavior: Setting SBP duration to 300.000000 : Reson Behavior: Setting SSLo range to 200.000000 : Reson Behavior: Setting SSHi range to 200.000000 : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 160.090000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 35.000000 : Reson Behavior: Setting MB pulse width to 0.000060 : Reson Behavior: Setting MB Bottom detection filter 13.720000:160.090000:0.000000:160.090000 : Reson Behavior: Turning on bottom detection modes: 0, 1 : LayeredControl::execute() -- (t = 218.600000) Behavior reson:-1 has changed to state Active : WaypointDepth initialization: Begin waypoint control at t= 218.60 (wplog) The current location (N,E) = 4061661.4 , 594233.3 (wplog) The next waypoint = 4061734.9 , 594909.1 (wplog) The bearing to the next w.p. is 83.8 Degrees. The distance to the next w.p. is 679.8 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 50.0 meters. The final commanded depth is 50.0 meters. : LayeredControl::execute() -- (t = 218.600000) Behavior waypoint_depth:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 4 at t = 218.60 sec. : 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,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : LayeredControl::execute() -- (t = 218.800000) Behavior reson:-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,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : LayeredControl::execute() -- (t = 218.800000) Behavior reson:-1 has changed to state Finished : DynamicControlServer:: TerrainNav has new data at 218.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 221.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 224.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 227.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 230.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 233.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 236.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 239.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 242.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 245.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 248.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 251.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 254.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 257.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 260.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 263.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 266.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 269.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 272.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 275.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 278.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 281.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 284.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 287.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 290.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 293.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 296.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 299.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 300.00, (simTime - realTime) = 0.00 Heading = -274.68 Depth = 50.32 Speed = 1.49 Pitch = -0.76 : DynamicControlServer:: TerrainNav has new data at 302.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 305.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 308.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 311.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 314.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 317.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 320.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 323.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 326.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 329.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 332.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 335.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 338.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 341.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 344.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 347.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 350.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 353.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 356.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 359.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 362.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 365.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 368.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 371.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 374.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 377.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 380.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 383.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 386.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 389.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 392.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 395.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 398.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 400.00, (simTime - realTime) = 0.00 Heading = -276.17 Depth = 50.04 Speed = 1.55 Pitch = -0.98 : DynamicControlServer:: TerrainNav has new data at 401.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 404.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 407.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 410.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 413.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 416.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 419.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 422.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 425.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 428.80. Valid = 0 : Simulator: Using tile 5. : Simulator: Distance to tile 5 = 256.79. : Simulator: Switching to tile 5. : Simulator::Now loading /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile5.bo. : Simulator::Octree Map /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile5.bo loaded successfully. : Simulator::Octree lower bounds ( 4061249.36 594249.91 72.68 ) : Simulator::Octree upper bounds ( 4062273.36 595273.91 1096.68 ) : Simulator::Octree number of branch nodes = 375587. : Simulator::Octree number of leaf nodes = 2629110. : Simulator::Octree size in RAM >= 27042269 bytes. : Simulator::Octree load duration = 530.0 milli-seconds. : DynamicControlServer:: TerrainNav has new data at 431.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 434.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 437.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 440.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 443.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 446.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 449.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 452.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 455.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 458.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 461.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 464.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 467.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 470.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 473.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 476.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 479.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 482.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 485.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 488.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 491.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 494.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 497.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 500.00, (simTime - realTime) = 0.00 Heading = -276.21 Depth = 50.01 Speed = 1.55 Pitch = -1.00 : DynamicControlServer:: TerrainNav has new data at 500.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 503.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 506.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 509.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 512.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 515.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 518.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 521.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 524.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 527.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 530.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 533.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 536.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 539.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 542.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 545.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 548.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 551.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 554.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 557.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 560.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 563.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 566.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 569.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 572.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 575.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 578.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 581.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 584.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 587.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 590.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 593.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 596.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 599.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 600.00, (simTime - realTime) = 0.00 Heading = -276.21 Depth = 50.00 Speed = 1.55 Pitch = -1.01 : DynamicControlServer:: TerrainNav has new data at 602.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 605.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 608.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 611.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 614.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 617.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 620.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 623.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 626.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 629.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 632.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 635.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 638.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 641.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 644.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 647.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 650.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 653.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 656.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 659.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 662.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 665.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 668.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 671.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 674.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 677.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 680.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 683.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 686.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 689.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 692.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 695.80. Valid = 0 : WaypointDepth has set the state to finished. : Waypoint (4061734.9, 594909.1), reached at t = 696.40 (wplog) : Vehicle Position error is (0.0, -0.3) : LayeredControl::execute() -- (t = 696.400000) Behavior waypoint_depth:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 696.400000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=1,100.000000 | hiss=-1,-1.000000,-1.000000,200.000000 | loss=-1,-1.000000,-1.000000,200.000000 | mb=-1,-1.000000,3.000000,152.960000,35.000000,0.000060,0.000000 | pulse="","" : Reson Behavior: Setting SBP power to 100.000000 : Reson Behavior: Starting subbottom profiler : Reson Behavior: Setting SBP duration to 300.000000 : Reson Behavior: Setting SSLo range to 200.000000 : Reson Behavior: Setting SSHi range to 200.000000 : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 152.960000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 35.000000 : Reson Behavior: Setting MB pulse width to 0.000060 : Reson Behavior: Setting MB Bottom detection filter 13.110000:152.960000:0.000000:152.960000 : Reson Behavior: Turning on bottom detection modes: 0, 1 : LayeredControl::execute() -- (t = 696.400000) Behavior reson:-1 has changed to state Active : WaypointDepth initialization: Begin waypoint control at t= 696.40 (wplog) The current location (N,E) = 4061734.9 , 594909.4 (wplog) The next waypoint = 4061425.8 , 594814.0 (wplog) The bearing to the next w.p. is 197.2 Degrees. The distance to the next w.p. is 323.5 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 50.0 meters. The final commanded depth is 50.0 meters. : LayeredControl::execute() -- (t = 696.400000) Behavior waypoint_depth:-1 has changed to state Active : 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,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : LayeredControl::execute() -- (t = 696.600000) Behavior reson:-1 has changed to state Finished : DynamicControlServer:: TerrainNav has new data at 698.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 700.00, (simTime - realTime) = 0.00 Heading = -269.90 Depth = 50.00 Speed = 1.53 Pitch = -1.02 : DynamicControlServer:: TerrainNav has new data at 701.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 704.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 707.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 710.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 713.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 716.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 719.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 722.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 725.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 728.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 731.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 734.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 737.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 740.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 743.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 746.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 749.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 752.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 755.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 758.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 761.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 764.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 767.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 770.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 773.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 776.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 779.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 782.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 785.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 788.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 791.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 794.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 797.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 800.00, (simTime - realTime) = 0.00 Heading = -163.45 Depth = 49.99 Speed = 1.53 Pitch = -1.00 : DynamicControlServer:: TerrainNav has new data at 800.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 803.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 806.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 809.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 812.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 815.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 818.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 821.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 824.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 827.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 830.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 833.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 836.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 839.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 842.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 845.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 848.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 851.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 854.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 857.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 860.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 863.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 866.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 869.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 872.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 875.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 878.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 881.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 884.80. Valid = 0 : Simulator: Using tile 2. : Simulator: Distance to tile 2 = 264.62. : Simulator: Switching to tile 2. : Simulator::Now loading /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile2.bo. : Simulator::Octree Map /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile2.bo loaded successfully. : Simulator::Octree lower bounds ( 4060905.50 594249.50 72.75 ) : Simulator::Octree upper bounds ( 4061929.50 595273.50 1096.75 ) : Simulator::Octree number of branch nodes = 277787. : Simulator::Octree number of leaf nodes = 1944510. : Simulator::Octree size in RAM >= 20000669 bytes. : Simulator::Octree load duration = 400.0 milli-seconds. : DynamicControlServer:: TerrainNav has new data at 887.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 890.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 893.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 896.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 899.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 900.00, (simTime - realTime) = 0.00 Heading = -162.82 Depth = 49.99 Speed = 1.55 Pitch = -1.01 : DynamicControlServer:: TerrainNav has new data at 902.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 905.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 908.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 911.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 914.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 917.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 920.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 923.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 926.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 929.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 932.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 935.80. Valid = 0 : WaypointDepth has set the state to finished. : Waypoint (4061425.8, 594814.0), reached at t = 938.00 (wplog) : Vehicle Position error is (0.1, 0.0) : LayeredControl::execute() -- (t = 938.000000) Behavior waypoint_depth:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 938.000000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=1,100.000000 | hiss=-1,-1.000000,-1.000000,200.000000 | loss=-1,-1.000000,-1.000000,200.000000 | mb=-1,-1.000000,3.000000,144.710000,35.000000,0.000060,0.000000 | pulse="","" : Reson Behavior: Setting SBP power to 100.000000 : Reson Behavior: Starting subbottom profiler : Reson Behavior: Setting SBP duration to 300.000000 : Reson Behavior: Setting SSLo range to 200.000000 : Reson Behavior: Setting SSHi range to 200.000000 : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 144.710000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 35.000000 : Reson Behavior: Setting MB pulse width to 0.000060 : Reson Behavior: Setting MB Bottom detection filter 12.400000:144.710000:0.000000:144.710000 : Reson Behavior: Turning on bottom detection modes: 0, 1 : LayeredControl::execute() -- (t = 938.000000) Behavior reson:-1 has changed to state Active : WaypointDepth initialization: Begin waypoint control at t= 938.00 (wplog) The current location (N,E) = 4061425.7 , 594813.9 (wplog) The next waypoint = 4061904.8 , 594647.6 (wplog) The bearing to the next w.p. is 340.9 Degrees. The distance to the next w.p. is 507.1 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 50.0 meters. The final commanded depth is 50.0 meters. : LayeredControl::execute() -- (t = 938.000000) Behavior waypoint_depth:-1 has changed to state Active : 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,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : LayeredControl::execute() -- (t = 938.200000) Behavior reson:-1 has changed to state Finished : DynamicControlServer:: TerrainNav has new data at 938.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 941.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 944.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 947.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 950.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 953.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 956.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 959.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 962.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 965.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 968.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 971.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 974.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 977.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 980.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 983.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 986.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 989.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 992.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 995.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 998.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1000.00, (simTime - realTime) = 0.00 Heading = -0.11 Depth = 50.08 Speed = 1.34 Pitch = -1.18 : DynamicControlServer:: TerrainNav has new data at 1001.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1004.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1007.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1010.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1013.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1016.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1019.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1022.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1025.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1028.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1031.80. Valid = 0 : Simulator: Using tile 5. : Simulator: Distance to tile 5 = 252.84. : Simulator: Switching to tile 5. : Simulator::Now loading /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile5.bo. : Simulator::Octree Map /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile5.bo loaded successfully. : Simulator::Octree lower bounds ( 4061249.36 594249.91 72.68 ) : Simulator::Octree upper bounds ( 4062273.36 595273.91 1096.68 ) : Simulator::Octree number of branch nodes = 375587. : Simulator::Octree number of leaf nodes = 2629110. : Simulator::Octree size in RAM >= 27042269 bytes. : Simulator::Octree load duration = 540.0 milli-seconds. : DynamicControlServer:: TerrainNav has new data at 1034.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1037.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1040.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1043.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1046.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1049.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1052.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1055.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1058.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1061.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1064.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1067.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1070.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1073.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1076.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1079.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1082.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1085.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1088.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1091.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1094.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1097.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1100.00, (simTime - realTime) = 0.00 Heading = -19.24 Depth = 49.99 Speed = 1.55 Pitch = -1.01 : DynamicControlServer:: TerrainNav has new data at 1100.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1103.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1106.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1109.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1112.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1115.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1118.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1121.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1124.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1127.80. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1130.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1133.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1136.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1139.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1142.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1145.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1148.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1151.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1154.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1157.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1160.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1163.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1166.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1169.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1172.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1175.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1178.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1181.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1184.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1187.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1190.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1193.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1196.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1199.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1200.00, (simTime - realTime) = 0.00 Heading = -19.15 Depth = 50.00 Speed = 1.55 Pitch = -1.01 : DynamicControlServer:: TerrainNav has new data at 1202.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1205.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1208.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1211.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1214.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1217.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1220.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1223.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1226.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1229.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1232.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1235.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1238.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1241.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1244.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1247.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1250.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1253.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1256.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1259.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1262.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1265.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1268.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1271.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1274.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1277.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1280.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1283.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1286.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1289.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1292.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1295.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1298.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1300.00, (simTime - realTime) = 0.00 Heading = -19.15 Depth = 50.00 Speed = 1.55 Pitch = -1.01 : DynamicControlServer:: TerrainNav has new data at 1301.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1304.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1307.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1310.60. Valid = 0 : WaypointDepth has set the state to finished. : Waypoint (4061904.8, 594647.6), reached at t = 1311.40 (wplog) : Vehicle Position error is (0.0, 0.0) : LayeredControl::execute() -- (t = 1311.400000) Behavior waypoint_depth:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1311.400000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=1,100.000000 | hiss=-1,-1.000000,-1.000000,200.000000 | loss=-1,-1.000000,-1.000000,200.000000 | mb=-1,-1.000000,3.000000,144.710000,35.000000,0.000060,0.000000 | pulse="","" : Reson Behavior: Setting SBP power to 100.000000 : Reson Behavior: Starting subbottom profiler : Reson Behavior: Setting SBP duration to 300.000000 : Reson Behavior: Setting SSLo range to 200.000000 : Reson Behavior: Setting SSHi range to 200.000000 : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 144.710000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 35.000000 : Reson Behavior: Setting MB pulse width to 0.000060 : Reson Behavior: Setting MB Bottom detection filter 12.400000:144.710000:0.000000:144.710000 : Reson Behavior: Turning on bottom detection modes: 0, 1 : LayeredControl::execute() -- (t = 1311.400000) Behavior reson:-1 has changed to state Active : WaypointDepth initialization: Begin waypoint control at t= 1311.40 (wplog) The current location (N,E) = 4061904.9 , 594647.5 (wplog) The next waypoint = 4061661.7 , 594233.0 (wplog) The bearing to the next w.p. is 239.6 Degrees. The distance to the next w.p. is 480.6 Meters. The slope to the next w.p. is 0.0000. The initial commanded depth is 50.0 meters. The final commanded depth is 50.0 meters. : LayeredControl::execute() -- (t = 1311.400000) Behavior waypoint_depth:-1 has changed to state Active : 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,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : LayeredControl::execute() -- (t = 1311.600000) Behavior reson:-1 has changed to state Finished : DynamicControlServer:: TerrainNav has new data at 1313.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1316.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1319.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1322.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1325.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1328.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1331.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1334.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1337.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1340.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1343.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1346.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1349.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1352.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1355.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1358.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1361.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1364.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1367.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1370.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1373.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1376.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1379.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1382.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1385.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1388.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1391.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1394.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1397.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1400.00, (simTime - realTime) = 0.00 Heading = -118.53 Depth = 50.02 Speed = 1.52 Pitch = -0.97 : DynamicControlServer:: TerrainNav has new data at 1400.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1403.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1406.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1409.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1412.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1415.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1418.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1421.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1424.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1427.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1430.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1433.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1436.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1439.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1442.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1445.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1448.60. Valid = 0 : Simulator: Using tile 4. : Simulator: Distance to tile 4 = 259.15. : Simulator: Switching to tile 4. : Simulator::Now loading /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile4.bo. : Simulator::Octree Map /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile4.bo loaded successfully. : Simulator::Octree lower bounds ( 4061249.36 593749.91 72.68 ) : Simulator::Octree upper bounds ( 4062273.36 594773.91 1096.68 ) : Simulator::Octree number of branch nodes = 376845. : Simulator::Octree number of leaf nodes = 2637916. : Simulator::Octree size in RAM >= 27132845 bytes. : Simulator::Octree load duration = 530.0 milli-seconds. : DynamicControlServer:: TerrainNav has new data at 1451.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1454.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1457.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1460.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1463.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1466.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1469.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1472.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1475.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1478.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1481.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1484.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1487.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1490.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1493.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1496.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1499.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1500.00, (simTime - realTime) = 0.00 Heading = -120.42 Depth = 50.00 Speed = 1.55 Pitch = -1.01 : DynamicControlServer:: TerrainNav has new data at 1502.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1505.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1508.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1511.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1514.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1517.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1520.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1523.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1526.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1529.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1532.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1535.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1538.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1541.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1544.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1547.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1550.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1553.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1556.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1559.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1562.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1565.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1568.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1571.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1574.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1577.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1580.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1583.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1586.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1589.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1592.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1595.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1598.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1600.00, (simTime - realTime) = 0.00 Heading = -120.40 Depth = 50.00 Speed = 1.55 Pitch = -1.01 : DynamicControlServer:: TerrainNav has new data at 1601.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1604.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1607.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1610.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1613.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1616.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1619.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1622.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1625.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1628.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1631.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1634.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1637.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1640.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1643.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1646.60. Valid = 0 : WaypointDepth has set the state to finished. : Waypoint (4061661.7, 594233.0), reached at t = 1649.20 (wplog) : Vehicle Position error is (0.1, 0.2) : LayeredControl::execute() -- (t = 1649.200000) Behavior waypoint_depth:-1 has changed to state Finished : Reson Behavior::log=0,sbp=0,-1.000000 | hiss=0,-1.000000,-1.000000,-1.000000 | loss=0,-1.000000,-1.000000,-1.000000 | mb=-1,0.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : Reson Behavior: Stopping subbottom profiler : Reson Behavior: Stopping lo-freq SS : Reson Behavior: Stopping hi-freq SS : Reson Behavior: Setting MB power to 0.000000 : Reson Behavior: Stopping logging : Reson Behavior: Stopping 7k Center Logging : LayeredControl::execute() -- (t = 1649.200000) Behavior reson:-1 has changed to state Active : sending status via acoustic modem : LayeredControl::execute() -- (t = 1649.200000) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1649.200000) Behavior ascend:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 0 at t = 1649.20 sec. : DynamicControlServer::Begin vertical mode 1 at t = 1649.20 sec. : 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,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : LayeredControl::execute() -- (t = 1649.400000) Behavior reson:-1 has changed to state Finished : DynamicControlServer:: TerrainNav has new data at 1649.60. Valid = 0 : Multibeam: Surface detected at depth 1.0 meters at 1651.20 sec. : DynamicControlServer:: TerrainNav has new data at 1652.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1655.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1658.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1661.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1664.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1667.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1670.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1673.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1676.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1679.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1682.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1685.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1688.60. Valid = 0 : Multibeam: Surface lost at 1690.40 sec. : DynamicControlServer:: TerrainNav has new data at 1691.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1694.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1697.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1700.00, (simTime - realTime) = 0.00 Heading = -275.55 Depth = 6.60 Speed = 1.61 Pitch = 39.26 : DynamicControlServer:: TerrainNav has new data at 1700.60. Valid = 0 : DynamicControlServer:: TerrainNav has new data at 1703.60. Valid = 0 : LayeredControl::execute() -- (t = 1704.600000) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1704.600000) Behavior getgps:-1 has changed to state Active : DynamicControlServer::Begin vertical mode 2 at t = 1704.60 sec. : 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 : 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 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : DynamicControlServer:: TerrainNav has new data at 1706.60. Valid = 0 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : 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 : 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: 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 : 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: 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 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : DynamicControlServer:: TerrainNav has new data at 1709.60. Valid = 0 : GetGPS: fix.quality = 1 : GetGPS: fix.quality = 1 : 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 : 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: 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 : 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: 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 : DynamicControlServer:: TerrainNav has new data at 1712.60. Valid = 0 : 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 = 1714.200000) Behavior getgps:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : CARL - Id:108, Duration:1.000000, cameraSwitch:-1, recorderSwitch:-1, lightSwitch:0, brightness:-1, record:0, homeIris:1, fstop:-1, auto-iris:-1.00 : CARL Behavior 108: Home the iris motor : CARL Behavior 108: Turning lights off : CARL Behavior 108: cut! : SimulatedCarl::stop_recording()... : CARL Behavior 108: resetting record : LayeredControl::execute() -- (t = 1714.400000) Behavior CARL:108 has changed to state Active : LayeredControl::execute() -- (t = 1714.400000) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1714.400000) Behavior missionTimer:-1 has changed to state Active : Stack empty after processing. Aborting. : *** LayeredControl - initiating vehicle shutdown... *** : ****LayeredControl::initiateShutdown - enter : ****LayeredControl::initiateShutdown - exit to system : ****Time::cleanup FastTime instance[000a4ca0]] : **** FastTime dtor [000a4ca0] **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : 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 : WaypointBottom - Destructing Behavior::_terrainAid. 1 interfaces open. : WaypointBottom number 2 - Destroying dynamicControl interface: Behavior::_dynamicControl. : WaypointBottom - Destroying behavior 2. : WaypointBottom - Destroying behavior 1. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer -plan 20140529_PortugueseLedge_CrossRoute_1v3.cfg -abort abortSimPlan.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : ****Time::cleanup FastTime instance[0007e6e8]] : TaskServer::signalHandler() for task SimulatorIFServer - exit() on signal 2 : 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 DeltaTIFServer - 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 : TaskServer::signalHandler() for task DynamicControlIFServer - 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 CARL_IFServer - exit() on signal 2 : TaskServer::signalHandler() for task MbTrnRecvIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CathxIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : CameraDestructor Executing. : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : Supervisor::signalHandler - caught signal 2 : Supervisor::signalHandler - caught signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlSideIFServer - 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 EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** FastTime dtor [0007e6e8] **** : ****Time::cleanup FastTime instance[0007f0ec]] : ****Time::cleanup FastTime instance[00021460]] : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : ****Time::cleanup FastTime instance[0003c818]] : ****Time::cleanup FastTime instance[000201e0]] : ****Time::cleanup FastTime instance[0004b0f8]] : ****Time::cleanup FastTime instance[000313c0]] : ****Time::cleanup FastTime instance[0002d5f8]] : ****Time::cleanup FastTime instance[0003bfe0]] : ****Time::cleanup FastTime instance[0003afec]] : ****Time::cleanup FastTime instance[000fdc34]] : ****Time::cleanup FastTime instance[0004507c]] : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object FastTime **** : Supervisor::signalHandler - setting exit flag [1] : SerialDeviceExt::closeSD() - closed : Supervisor::signalHandler - setting exit flag [1] : **** SharedData destructor for object GulperOutput **** : **** FastTime dtor [0007f0ec] **** : **** FastTime dtor [00021460] **** : **** FastTime dtor [0003c818] **** : **** FastTime dtor [000201e0] **** : **** FastTime dtor [0004b0f8] **** : **** FastTime dtor [000313c0] **** : **** FastTime dtor [0002d5f8] **** : **** FastTime dtor [0003bfe0] **** : **** FastTime dtor [0003afec] **** : **** FastTime dtor [000fdc34] **** : **** FastTime dtor [0004507c] **** : **** SharedData destructor for object navigationOutput **** : destroying segment CameraOutput : destroying segment FastTime : **** SharedData destructor for object CameraOutput **** : Supervisor::shutdown - cleaning up : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment GulperOutput : **** 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 **** : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment navigationOutput : destroying prot sem CameraOutput_prot : destroying prot sem FastTime_prot : destroying segment CameraOutput : Supervisor::shutdown - deleting FastTime [0001d250] : destroying segment FastTime : destroying segment FastTime : destroying prot sem GulperOutput_prot : 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 segment FastTime : destroying prot sem navigationOutput_prot : destroying notify sem CameraOutput_notify : destroying notify sem FastTime_notify : destroying prot sem CameraOutput_prot : destroying prot sem FastTime_prot : **** FastTime dtor [0001d250] **** : destroying prot sem FastTime_prot : destroying notify sem GulperOutput_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 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 CameraOutput_notify : destroying notify sem FastTime_notify : destroying notify sem FastTime_notify : **** SharedData destructor for object FastTime **** : 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 : destroying notify sem FastTime_notify : destroying segment FastTime : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.20, at t=1714.20. : TerrainAidDestructor Executing. : 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 [0001d250] : **** FastTime dtor [0001d250] **** : **** SharedData destructor for object  **** : destroying segment  : destroying prot sem € : destroying notify sem FastTime_notify : ****Time::cleanup FastTime instance[0001d350]] : **** FastTime dtor [0001d350] **** : **** 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 NavigationInput : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object navigationOutput **** : destroying segment navigationOutput : destroying prot sem navigationOutput_prot : destroying notify sem navigationOutput_notify : **** FastTime dtor [00089380] **** : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object FastTime **** : destroying segment TerrainAidOutput : destroying segment FastTime : destroying prot sem TerrainAidOutput_prot : destroying prot sem FastTime_prot : destroying notify sem TerrainAidOutput_notify : destroying notify sem FastTime_notify : failed to unlink queue TerrainAidMsgs : **** SharedData destructor for object TerrainAidOutput **** : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : layeredControlServer - creating non dynamic version : Illegal option: -restart : usage: layeredControl [-plan file][-abort file] : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlInput_ShmemName **** : destroying segment LayeredControlInput_ShmemName : destroying prot sem LayeredControlInput_ShmemName_prot : destroying notify sem LayeredControlInput_ShmemName_notify : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : destroying segment LayeredControlOutput_ShmemName : destroying prot sem LayeredControlOutput_ShmemName_prot : destroying notify sem LayeredControlOutput_ShmemName_notify