Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer Supervisor::createTask() - navigationServer : Initializing worksiteServer : starting LC: layeredControlServer -plan PortTrapezoid_1v5.cfg.pp -abort abortSimPlanFast.cfg Superviso: WorkSite::WorkSite -- Adding attributes r:: WorkSite::WorkSite -- Loading parameters from file /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/workSite.cfg :createTask() - layeredControlServer -plan PortTrapezoid_1v5.cfg.pp -abort abortSimPlanFast.cfg S: Using default vehicle config file "/mnt/host/auv-qnx/auv/altex/onboard/config/imaging/vehicle.cfg" upervisor::createTask() - dynamicControlServer Supervisor::createTask() - simulator Supervisor::createTask() - simDepthSensor : Supervisor: configDirPath = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging Supervisor::createTask() - simKearfott : Creating NavigationServer... : *** NavigationServer::NavigationServer()... : layeredControlServer - creating non dynamic version Supervisor::crea: WorkSite::WorkSite -- Finished loading parameters t: WorkSite::WorkSite -- Starting Depth is 0.000000 meters eT: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 a: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 sk: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 (: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 ) : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 - : WorkSite server: 0x231cc s: *** NavigationServer::NavigationServer() - DONE im: Done creating NavigationServer... Ahrs Supervisor::createTask() - simTailCone : Navigation::Navigation - Setting start depth to 0.0 meters. Supervisor::createTask(: Navigation::Navigation _logOnly = 0 ): Navigation - Using the Imagenex multibeam to compute altitude. -: **** FastTime ctor [0007f990] **** : ****Time::gettime using FastTime instance [0007f990] si: Navigation/Multibeam:: epoch = (1589991041,679631671) mG: Navigation/EchoSounder:: epoch = (1589991041,679631671) p: Navigation: Opening Acoustic Modem Interface: s S: Create simulator... upervisor::createTask() - simDvl : **** FastTime ctor [0007f0ec] **** : ****Time::gettime using FastTime instance [0007f0ec] : Create VehicleConfigurationIF... : Okay... : SimulatedDepthSensor - connecting... : SimulatedDepthSensor - connected OK : Create attributes... : Simulator::Simulator() - msSimDelay = 0 : Simulator:: initPsi = 0.000000 : Done creating attributes. Parse 'em... : **** FastTime ctor [000a5338] **** : ****Time::gettime using FastTime instance [000a5338] Supervi: SimulatedKearfott:: Constructor. sor::cr: SimulatedKearfott::Setting utm zone to 10 ea: Running SimulatedKearfott now teTask() - simDvlSide Supervisor::createTask() - simDeltaT Supervisor::createTask() - simCtd Supervisor::createTask() - simBluefinBatt : Running SimDvl now Su: Simulator:: initPsi = 225.000000 per: Simulator:: zMax = 210.000000 visor::cr: The utm zone is 10 eate: Simulator: The lat/long in workSite.cfg is 0.640466, -2.12836 Tas: Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06167e+006, 594172 k(): Simulator: _nydepths = 10 -: Simulator: 0 _depth=100.0, _ydepth-_position0[2]=-450.0 si: Simulator: 1 _depth=100.0, _ydepth-_position0[2]=-390.0 m: Running SimDvlSide now H: Simulator: 2 _depth=100.0, _ydepth-_position0[2]=-312.0 ydro: Simulator: 3 _depth=100.0, _ydepth-_position0[2]=-310.0 sca: Simulator: 4 _depth=100.0, _ydepth-_position0[2]=-230.0 t : 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 : Simulator::tileDataName = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/tiles.csv : Simulator::numTiles_ = 9. Sup: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . erv: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . iso: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . r:: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . :cr: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . ea: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . te: **** FastTime ctor [0002e988] **** T: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . ask: ****Time::gettime using FastTime instance [0002e988] (: Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . ) : SimulatedDeltaT::Constructor starting at t = 0 - : Simulator::reading tile data: /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . si: SimulatedDeltaT::minGrazing = 0.00 deg. mIsus: Simulator:: Octree map = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles Supervisor::createTask() - simGulper Supervisor::createTask() - simReson Supervisor::createTask() - simModem Supervisor::createTask() - simUsbl Supervisor::createTask() - simTerrainAid Supervisor::createTask() - simCathx Supervisor::createTask() - simCarl : Begin simGulper. : Begin SimulatedGulperServer constructor. : gulperLog:: Constructor completed. : End SimulatedGulperServer constructor. Supervi: SimulatedUsbl:: Initial beacon interrogation address is V7_7 sor::createTask() - simMbTr: SimulatedUsbl:: There are 5 beacons in the table. nRe: SimulatedUsbl:: beacon 27 V11_2 lat=36.81249 lon=-121.97346 SimulatedUsbl:: northing = 4074563.1 easting=591562.4 cv: 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:: Configuration file = /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/terrainAid.cfg 1000: cathxServer - initializing... 2: cathxServer - running... -sim Supervisor::createTask() - simEchoSounder Super: SimulatedCarl - Interface opened to DVL OK visor::createTask() - sysDataDriver -f5 Supervisor::creat: **** FastTime ctor [00046e00] **** eTa: ****Time::gettime using FastTime instance [00046e00] sk(: SimulatedMbTrnRecv::Constructor starting at t = 0 ) -: SimulatedMbTrnRecv::minGrazing = 0.00 deg. simE: SimulatedMbTrnRecv:: _nbeams = 11 dgetechFSDW Supervisor::createTask() - sysDataDriver -f5 : TerrainAid -- configuration: : mapFileName = PortTiles : map_type = 2 : particlesName = particles.cfg : vehicleCfgName = mappingAUV_specs.cfg : terrainNavServer = 192.168.1.129:27027 : forceLowGradeFilter = false : allowFilterReinits = true : filterType = 2 : 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 : useMbTrnServer = false : mbTrnUpdater = false : Using mbtrnpp. 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 192.168.1.129 on port 27027 and map PortTiles : CameraDriver:: Before navigation IF. : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : TerrainAidDriver - logs/latest is 2020.141.00/ : **** FastTime ctor [0003bfe0] **** : ****Time::gettime using FastTime instance [0003bfe0] : SimulatedEchoSounder::Constructor starting at t = 0 : SimulatedEchoSounder::minGrazing = 0.00 deg. : TerrainAidDriver::Connected to server. : Navigation: acommsIF = 0x7fb48 : 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. : TerrainAidDriver::TerrainAidDriver - ctor complete : Running simTerrainAid now : sysDataDriver: Frequency is 5 : sysDataDriver: Frequency is 5 : sysDataDriver - frequency = 5 : sysDataDriver - frequency = 5 : PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200 : PeriodicTask::run() (sysdata) - sampleInterval=200, maxInterval=200 : 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 = 2550.0 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. : 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 = 500.0 milli-seconds. : SimulatedMbTrnRecv:: epoch = (1589991041,679631671) : SimulatedMbTrnRecv::Constructor finished at t = 0 : SimulatedMBTrnRecv::SimulatedMBTrnRecv() - Utm zone = 10 : SimulatedDeltaT:: epoch = (1589991041,679631671) : SimulatedDeltaT::Constructor finished at t = 0 : Multibeam:: inside createTaskIF : SimulatedEchoSounder - sector = 30. : Navigation::connectSensors aux - connecting to Nav->Gps at t = 0. : SimulatedEchoSounder:: epoch = (1589991041,679631671) : Navigation::connectSensors aux - connecting to Nav->EchoSounder at t = 0. : SimulatedEchoSounder::Constructor finished at t = 0 : Running SimEchoSounder now : Navigation::connectSensors aux - connecting to Nav->Velocimeter at t = 0. : Navigation: Server for aux sensor "Nav->Velocimeter" not found : Navigation::connectSensors aux - connecting to Nav->Usbl at t = 0. : Navigation: Setting simulator callback : Navigation::Navigation() - 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... : Behavior edgetech: Finished Constructor : WaypointBottom - Constructed behavior 1. : WaypointBottom::Converted lastLatitude = 36.69511400 degrees to 4061577.61 m : WaypointBottom::Converted lastLongitude = -121.93704500 degrees to 594955.40 m : WaypointBottom - Constructed behavior 2. : WaypointBottom::Converted lastLatitude = 36.69578300 degrees to 4061649.73 m : WaypointBottom::Converted lastLongitude = -121.93916900 degrees to 594764.83 m : WaypointBottom - Constructed behavior 3. : WaypointBottom::Converted lastLatitude = 36.69582800 degrees to 4061649.50 m : WaypointBottom::Converted lastLongitude = -121.94446300 degrees to 594291.85 m : WaypointBottom - Constructed behavior 4. : WaypointBottom::Converted lastLatitude = 36.69550100 degrees to 4061611.81 m : WaypointBottom::Converted lastLongitude = -121.94590000 degrees to 594163.87 m : WaypointBottom - Opened TerrainAidIFServer 0. : WaypointBottom - Opened DynamicControlIF. : Behavior edgetech: Finished Constructor : Behavior edgetech: Finished Constructor : PeriodicTask::run() (layeredControl) - sampleInterval=2000, maxInterval=0 : **** FastTime ctor [00021460] **** : ****Time::gettime using FastTime instance [00021460] : **** FastTime ctor [000201e0] **** : ****Time::gettime using FastTime instance [000201e0] : **** FastTime ctor [0003c828] **** : ****Time::gettime using FastTime instance [0003c828] : **** FastTime ctor [000313c0] **** : ****Time::gettime using FastTime instance [000313c0] : SimulatedDeltaT: Surface detected at simtime = 0.00. : **** 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. : TerrainAidDriver:: _navTime0 = 0.00 : TerrainAidDriver:: _dvlTime0 = 0.02 : **** FastTime ctor [001001b0] **** : ****Time::gettime using FastTime instance [001001b0] : **** EventTriggers::add() - attaching proxy : Reson Behavior::log=0,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=1,0.000000,3.000000,150.000000,34.000000,0.000033,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB power to 0.000000 : Reson Behavior: Setting MB range to 150.000000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 34.000000 : Reson Behavior: Setting MB pulse width to 0.000033 : Reson Behavior: Setting MB Bottom detection filter 12.000000:150.000000:0.000000:150.000000 : 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 Finished : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=0,0.000000,"" | hiss=0,0.000000,-1.000000,200.000000,"" | loss=0,0.000000,-1.000000,200.000000,"" : Edgetech Behavior: Setting SBP power to 0.000000 : Edgetech Behavior: Stopping subbottom profiler : Edgetech Behavior: Setting SBP gain to 128.000000 : Edgetech Behavior: Setting SBP duration to 300.000000 : Edgetech Behavior: Setting SSLo power to 0.000000 : Edgetech Behavior: Setting SSLo range to 200.000000 : Edgetech Behavior: Stopping lo-freq SS : Edgetech Behavior: Setting SSHi power to 0.000000 : Edgetech Behavior: Setting SSHi range to 200.000000 : Edgetech Behavior: Stopping hi-freq SS : LayeredControl::execute() -- (t = 0.000000) Behavior edgetech:-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 [0003af6c] **** : ****Time::gettime using FastTime instance [0003af6c] : **** EventTriggers::add() - attaching proxy : *** Mission started *** : !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl" : **** EventTriggers::add() - attaching proxy : Event received at _simTime=0.02 : Simulator::missionStatusCallback() - mission started : 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 : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=-1,-1.000000,"" | hiss=-1,-1.000000,-1.000000,-1.000000,"" | loss=-1,-1.000000,-1.000000,-1.000000,"" : LayeredControl::execute() -- (t = 0.200000) Behavior edgetech:-1 has changed to state Finished : GetGPS: fix.quality = 1 : 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 : 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 : 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 : 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 = 8.400000) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.400000) Behavior setpoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 1 at t = 8.40 sec. : DynamicControlServer::Begin vertical mode 1 at t = 8.40 sec. : Multibeam: Surface detected at depth 0.0 meters at 17.20 sec. : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 38.600000) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.600000) Behavior descend:-1 has changed to state Active : Multibeam: Surface lost at 48.40 sec. : Descend::execute() - Descend terminating on depth 3.073084 > 3.000000 at time 52.200000 : LayeredControl::execute() -- (t = 52.200000) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 52.200000) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 52.20 (wplog) The current location (N,E) = 4061660.8 , 594130.3 (wplog) The next waypoint = 4061611.8 , 594163.9 (wplog) The bearing to the next w.p. is 145.6 Degrees. : LayeredControl::execute() -- (t = 52.200000) Behavior waypoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 3 at t = 52.20 sec. : DynamicControlServer::Begin vertical mode 2 at t = 52.20 sec. : Multibeam: Surface detected at depth -0.5 meters at 57.60 sec. : Multibeam: Surface lost at 68.00 sec. : Navigation:: TerrainNav has new data at 69.00. Valid = 0 : Multibeam: Surface detected at depth -0.9 meters at 69.60 sec. : Navigation:: TerrainNav has new data at 72.00. Valid = 0 : Navigation:: TerrainNav has new data at 75.00. Valid = 0 : Navigation:: TerrainNav has new data at 78.00. Valid = 0 : Navigation:: TerrainNav has new data at 81.00. Valid = 0 : Navigation:: TerrainNav has new data at 84.00. Valid = 0 : Navigation:: TerrainNav has new data at 87.00. Valid = 0 : Navigation:: TerrainNav has new data at 90.00. Valid = 0 : Navigation:: TerrainNav has new data at 93.00. Valid = 0 : Navigation:: TerrainNav has new data at 96.00. Valid = 0 : Navigation:: TerrainNav has new data at 99.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 100.00, (simTime - realTime) = 0.00 Heading = 152.08 Depth = 16.94 Speed = 1.40 Pitch = -1.51 : Navigation:: TerrainNav has new data at 102.00. Valid = 0 : Navigation:: TerrainNav has new data at 105.00. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061611.8, 594163.9), reached at t = 107.60 (wplog) : Vehicle Position is error is (-0.4, -0.9) : LayeredControl::execute() -- (t = 107.600000) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 107.600000) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 107.600000) Behavior descend:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 0 at t = 107.60 sec. : DynamicControlServer::Begin vertical mode 1 at t = 107.60 sec. : Navigation:: TerrainNav has new data at 108.00. Valid = 0 : Navigation:: TerrainNav has new data at 111.00. Valid = 0 : Multibeam: Surface lost at 112.80 sec. : Navigation:: TerrainNav has new data at 114.00. Valid = 0 : Navigation:: TerrainNav has new data at 117.00. Valid = 0 : Navigation:: TerrainNav has new data at 120.00. Valid = 0 : Navigation:: TerrainNav has new data at 123.00. Valid = 0 : Navigation:: TerrainNav has new data at 126.00. Valid = 0 : SimulatedDeltaT: Surface lost at simtime = 127.20. : Navigation:: TerrainNav has new data at 129.00. Valid = 0 : Navigation:: TerrainNav has new data at 132.00. Valid = 0 : Navigation:: TerrainNav has new data at 135.00. Valid = 0 : Navigation:: TerrainNav has new data at 138.00. Valid = 0 : Navigation:: TerrainNav has new data at 141.00. Valid = 0 : Navigation:: TerrainNav has new data at 144.00. Valid = 0 : Navigation:: TerrainNav has new data at 147.00. Valid = 0 : Navigation:: TerrainNav has new data at 150.00. Valid = 0 : Descend::execute() - Descend terminating on depth 46.656076 > 46.540180 at time 151.000000 : LayeredControl::execute() -- (t = 151.000000) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 151.000000) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 151.00 (wplog) The current location (N,E) = 4061589.9 , 594202.1 (wplog) The next waypoint = 4061611.8 , 594163.9 (wplog) The bearing to the next w.p. is 299.8 Degrees. : LayeredControl::execute() -- (t = 151.000000) Behavior waypoint:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 3 at t = 151.00 sec. : DynamicControlServer::Begin vertical mode 2 at t = 151.00 sec. : Navigation:: TerrainNav has new data at 153.00. Valid = 0 : SimulatedDeltaT: Surface detected at simtime = 155.60. : Navigation:: TerrainNav has new data at 156.00. Valid = 0 : Navigation:: TerrainNav has new data at 159.00. Valid = 0 : Navigation:: TerrainNav has new data at 162.00. Valid = 0 : Navigation:: TerrainNav has new data at 165.00. Valid = 0 : Navigation:: TerrainNav has new data at 168.00. Valid = 0 : Navigation:: TerrainNav has new data at 171.00. Valid = 0 : Navigation:: TerrainNav has new data at 174.00. Valid = 0 : Navigation:: TerrainNav has new data at 177.00. Valid = 0 : Navigation:: TerrainNav has new data at 180.00. Valid = 0 : Navigation:: TerrainNav has new data at 183.00. Valid = 0 : Navigation:: TerrainNav has new data at 186.00. Valid = 0 : Navigation:: TerrainNav has new data at 189.00. Valid = 0 : Navigation:: TerrainNav has new data at 192.00. Valid = 0 : Navigation:: TerrainNav has new data at 195.00. Valid = 0 : Navigation:: TerrainNav has new data at 198.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 200.00, (simTime - realTime) = 0.00 Heading = -100.61 Depth = 62.46 Speed = 1.28 Pitch = -3.48 : Navigation:: TerrainNav has new data at 201.00. Valid = 0 : Navigation:: TerrainNav has new data at 204.00. Valid = 0 : Navigation:: TerrainNav has new data at 207.00. Valid = 0 : Navigation:: TerrainNav has new data at 210.00. Valid = 0 : Navigation:: TerrainNav has new data at 213.00. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061611.8, 594163.9), reached at t = 215.80 (wplog) : Vehicle Position is error is (0.9, 0.6) : LayeredControl::execute() -- (t = 215.800000) Behavior waypoint:-1 has changed to state Finished : Reson Behavior::log=0,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,218.000000,3.000000,200.000000,34.000000,0.000033,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB power to 218.000000 : Reson Behavior: Setting MB range to 200.000000 : Reson Behavior: Setting MB rate to 3.000000 : Reson Behavior: Setting MB gain to 34.000000 : Reson Behavior: Setting MB pulse width to 0.000033 : Reson Behavior: Setting MB Bottom detection filter 32.620000:200.000000:0.000000:200.000000 : 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 = 215.800000) Behavior reson:-1 has changed to state Finished : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=1,100.000000,"" | hiss=-1,-1.000000,-1.000000,-1.000000,"" | loss=1,100.000000,-1.000000,200.000000,"" : Edgetech Behavior: Setting SBP power to 100.000000 : Edgetech Behavior: Starting subbottom profiler : Edgetech Behavior: Setting SBP gain to 128.000000 : Edgetech Behavior: Setting SBP duration to 300.000000 : Edgetech Behavior: Setting SSLo power to 100.000000 : Edgetech Behavior: Setting SSLo range to 200.000000 : Edgetech Behavior: Starting lo-freq SS : LayeredControl::execute() -- (t = 215.800000) Behavior edgetech:-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 = 215.800000) Behavior reson:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 215.800000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,200.000000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 200.000000 : LayeredControl::execute() -- (t = 215.800000) Behavior reson:-1 has changed to state Finished : WaypointBottom Initialization: Begin waypoint control at t= 215.80 (wplog) The current location (N,E) = 4061610.9 , 594163.3 (wplog) The next waypoint = 4061649.5 , 594291.8 (wplog) The bearing to the next w.p. is 73.6 Degrees. : WaypointBottom:: Depth-Based Altitude control. : WaypointBottom::execute - in 'first', avoidRange = 40.00 : WaypointBottom: Initializing obstacle altitude filter: gain = 6.45e-002, tau = 3.00 seconds, pole=9.36e-001. : WaypointBottom::execute - using thetaB. : WaypointBottom - reinitFilter = 1. : WaypointBottom - Reinitialized Filter at t = 215.80. : WaypointBottom - Set map offsets and zeroed Trn biases in Dynamic Control at t = 215.80. : WaypointBottom - Offset the Trn filter by (0.0, 0.0) at t = 215.80 : WaypointBottom: Initializing _x to 479.77 at t = 215.80. : LayeredControl::execute() -- (t = 215.800000) Behavior waypoint_bottom:-1 has changed to state Active : Navigation::Set avoidRange to 40.0m t = 1589991257.68 sec. : Navigation:: TerrainNav has new data at 216.00. Valid = 0 : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=-1,-1.000000,"" | hiss=-1,-1.000000,-1.000000,-1.000000,"" | loss=-1,-1.000000,-1.000000,-1.000000,"" : LayeredControl::execute() -- (t = 216.000000) Behavior edgetech:-1 has changed to state Finished : TerrainAidDriver:: _msg->type = 1 : Navigation:: TerrainNav has new data at 217.40. Valid = 0 : Navigation:: TerrainNav has new data at 219.00. Valid = 0 : Navigation:: TerrainNav has new data at 220.40. Valid = 0 : Navigation:: TerrainNav has new data at 222.00. Valid = 0 : Navigation:: TerrainNav has new data at 223.40. Valid = 0 : Navigation:: TerrainNav has new data at 225.00. Valid = 0 : Navigation:: TerrainNav has new data at 226.40. Valid = 0 : Navigation:: TerrainNav has new data at 228.00. Valid = 0 : Navigation:: TerrainNav has new data at 229.40. Valid = 0 : Navigation:: TerrainNav has new data at 231.00. Valid = 0 : Navigation:: TerrainNav has new data at 232.40. Valid = 0 : Navigation:: TerrainNav has new data at 234.00. Valid = 0 : Navigation:: TerrainNav has new data at 235.40. Valid = 0 : Navigation:: TerrainNav has new data at 237.00. Valid = 0 : Navigation:: TerrainNav has new data at 238.40. Valid = 0 : Navigation:: TerrainNav has new data at 240.00. Valid = 0 : Navigation:: TerrainNav has new data at 241.40. Valid = 0 : Navigation:: TerrainNav has new data at 243.00. Valid = 0 : Navigation:: TerrainNav has new data at 244.40. Valid = 0 : Navigation:: TerrainNav has new data at 246.00. Valid = 0 : Navigation:: TerrainNav has new data at 247.40. Valid = 0 : Navigation:: TerrainNav has new data at 249.00. Valid = 0 : Navigation:: TerrainNav has new data at 250.40. Valid = 0 : Navigation:: TerrainNav has new data at 252.00. Valid = 0 : Navigation:: TerrainNav has new data at 253.40. Valid = 0 : Navigation:: TerrainNav has new data at 255.00. Valid = 0 : Navigation:: TerrainNav has new data at 256.40. Valid = 0 : Navigation:: TerrainNav has new data at 258.00. Valid = 0 : Navigation:: TerrainNav has new data at 259.40. Valid = 0 : Navigation:: TerrainNav has new data at 261.00. Valid = 0 : Navigation:: TerrainNav has new data at 262.40. Valid = 0 : Navigation:: TerrainNav has new data at 264.00. Valid = 0 : Navigation:: TerrainNav has new data at 265.40. Valid = 0 : Navigation:: TerrainNav has new data at 267.00. Valid = 0 : Navigation:: TerrainNav has new data at 268.40. Valid = 0 : Navigation:: TerrainNav has new data at 270.00. Valid = 0 : Navigation:: TerrainNav has new data at 271.40. Valid = 0 : Navigation:: TerrainNav has new data at 273.00. Valid = 0 : Navigation:: TerrainNav has new data at 274.40. Valid = 0 : Navigation:: TerrainNav has new data at 276.00. Valid = 0 : Navigation:: TerrainNav has new data at 277.40. Valid = 0 : Navigation:: TerrainNav has new data at 279.00. Valid = 0 : Navigation:: TerrainNav has new data at 280.40. Valid = 0 : Navigation:: TerrainNav has new data at 282.00. Valid = 0 : Navigation:: TerrainNav has new data at 283.40. Valid = 0 : Navigation:: TerrainNav has new data at 285.00. Valid = 0 : Navigation:: TerrainNav has new data at 286.40. Valid = 0 : Navigation:: TerrainNav has new data at 288.00. Valid = 0 : Navigation:: TerrainNav has new data at 289.40. Valid = 0 : Navigation:: TerrainNav has new data at 291.00. Valid = 0 : Navigation:: TerrainNav has new data at 292.40. Valid = 0 : Navigation:: TerrainNav has new data at 294.00. Valid = 0 : Navigation:: TerrainNav has new data at 295.40. Valid = 0 : Navigation:: TerrainNav has new data at 297.00. Valid = 0 : Navigation:: TerrainNav has new data at 298.40. Valid = 0 : Navigation:: TerrainNav has new data at 300.00. Valid = 0 : Simulator:: Before the call to motion(): simTime = 300.00, (simTime - realTime) = 0.00 Heading = 78.63 Depth = 60.02 Speed = 1.50 Pitch = -0.02 : Navigation:: TerrainNav has new data at 301.40. Valid = 0 : Navigation:: TerrainNav has new data at 303.00. Valid = 0 : Navigation:: TerrainNav has new data at 304.40. Valid = 0 : Navigation:: TerrainNav has new data at 306.00. Valid = 0 : Navigation:: TerrainNav has new data at 307.40. Valid = 0 : Navigation:: TerrainNav has new data at 309.00. Valid = 0 : Navigation:: TerrainNav has new data at 310.40. Valid = 0 : Navigation:: TerrainNav has new data at 312.00. Valid = 0 : Navigation:: TerrainNav has new data at 313.40. Valid = 0 : Navigation:: TerrainNav has new data at 315.00. Valid = 0 : Navigation:: TerrainNav has new data at 316.40. Valid = 0 : Navigation:: TerrainNav has new data at 318.00. Valid = 0 : Navigation:: TerrainNav has new data at 319.40. Valid = 0 : Navigation:: TerrainNav has new data at 321.00. Valid = 0 : Navigation:: TerrainNav has new data at 322.40. Valid = 0 : Navigation:: TerrainNav has new data at 324.00. Valid = 0 : Navigation:: TerrainNav has new data at 325.40. Valid = 0 : Navigation:: TerrainNav has new data at 327.00. Valid = 0 : Navigation:: TerrainNav has new data at 328.40. Valid = 0 : Navigation:: TerrainNav has new data at 330.00. Valid = 0 : Navigation:: TerrainNav has new data at 331.40. Valid = 0 : WaypointBottom::Obstacle detected 35.9 meters ahead. avoidRange activated at t = 331.80. Climb! : Navigation:: TerrainNav has new data at 333.00. Valid = 0 : Multibeam: Surface detected at depth 0.4 meters at 334.40 sec. : Navigation:: TerrainNav has new data at 334.40. Valid = 0 : Navigation:: TerrainNav has new data at 336.00. Valid = 0 : Navigation:: TerrainNav has new data at 337.40. Valid = 0 : Navigation:: TerrainNav has new data at 339.00. Valid = 0 : Navigation:: TerrainNav has new data at 340.40. Valid = 0 : Navigation:: TerrainNav has new data at 342.00. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061649.5, 594291.8), reached at t = 343.20 (wplog) : Vehicle Position is error is (0.0, 0.0) : LayeredControl::execute() -- (t = 343.200000) Behavior waypoint_bottom:-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,-1.000000,186.980000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 186.980000 : LayeredControl::execute() -- (t = 343.200000) Behavior reson:-1 has changed to state Finished : WaypointBottom Initialization: Begin waypoint control at t= 343.20 (wplog) The current location (N,E) = 4061649.5 , 594291.9 (wplog) The next waypoint = 4061649.7 , 594764.8 (wplog) The bearing to the next w.p. is 90.0 Degrees. : WaypointBottom:: Depth-Based Altitude control. : WaypointBottom::execute - in 'first', avoidRange = 40.00 : WaypointBottom: Initializing obstacle altitude filter: gain = 6.45e-002, tau = 3.00 seconds, pole=9.36e-001. : WaypointBottom::execute - using thetaB. : WaypointBottom - reinitFilter = 0. : WaypointBottom - Offset the Trn filter by (0.0, 0.0) at t = 343.20 : WaypointBottom: Initializing _x to 470.17 at t = 343.20. : WaypointBottom::Obstacle detected 17.8 meters ahead. avoidRange activated at t = 343.20. Climb! : LayeredControl::execute() -- (t = 343.200000) Behavior waypoint_bottom:-1 has changed to state Active : Navigation::Set avoidRange to 40.0m t = 1589991385.08 sec. : Navigation:: TerrainNav has new data at 343.40. Valid = 0 : Navigation:: TerrainNav has new data at 344.80. Valid = 0 : Navigation:: TerrainNav has new data at 346.40. Valid = 0 : Navigation:: TerrainNav has new data at 347.80. Valid = 0 : Navigation:: TerrainNav has new data at 349.40. Valid = 0 : Navigation:: TerrainNav has new data at 350.80. Valid = 0 : Navigation:: TerrainNav has new data at 352.40. Valid = 0 : Navigation:: TerrainNav has new data at 353.80. Valid = 0 : Navigation:: TerrainNav has new data at 355.40. Valid = 0 : Multibeam: Surface lost at 356.40 sec. : Navigation:: TerrainNav has new data at 356.80. Valid = 0 : Navigation:: TerrainNav has new data at 358.40. Valid = 0 : Navigation:: TerrainNav has new data at 359.80. Valid = 0 : Navigation:: TerrainNav has new data at 361.40. Valid = 0 : Navigation:: TerrainNav has new data at 362.80. Valid = 0 : Navigation:: TerrainNav has new data at 364.40. Valid = 0 : Navigation:: TerrainNav has new data at 365.80. Valid = 0 : Navigation:: TerrainNav has new data at 367.40. Valid = 0 : Navigation:: TerrainNav has new data at 368.80. Valid = 0 : Navigation:: TerrainNav has new data at 370.40. Valid = 0 : Navigation:: TerrainNav has new data at 371.80. Valid = 0 : Navigation:: TerrainNav has new data at 373.40. Valid = 0 : Navigation:: TerrainNav has new data at 374.80. Valid = 0 : Navigation:: TerrainNav has new data at 376.40. Valid = 0 : Navigation:: TerrainNav has new data at 377.80. Valid = 0 : Navigation:: TerrainNav has new data at 379.40. Valid = 0 : Navigation:: TerrainNav has new data at 380.80. Valid = 0 : Navigation:: TerrainNav has new data at 382.40. Valid = 0 : Navigation:: TerrainNav has new data at 383.80. Valid = 0 : Navigation:: TerrainNav has new data at 385.40. Valid = 0 : Navigation:: TerrainNav has new data at 386.80. Valid = 0 : Navigation:: TerrainNav has new data at 388.40. Valid = 0 : Navigation:: TerrainNav has new data at 389.80. Valid = 0 : Navigation:: TerrainNav has new data at 391.40. Valid = 0 : Navigation:: TerrainNav has new data at 392.80. Valid = 0 : Navigation:: TerrainNav has new data at 394.40. Valid = 0 : Navigation:: TerrainNav has new data at 395.80. Valid = 0 : Navigation:: TerrainNav has new data at 397.40. Valid = 0 : Multibeam: Surface detected at depth 0.2 meters at 398.40 sec. : Navigation:: TerrainNav has new data at 398.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 400.00, (simTime - realTime) = 0.00 Heading = 88.69 Depth = 51.17 Speed = 1.56 Pitch = 2.30 : Navigation:: TerrainNav has new data at 400.40. Valid = 0 : Navigation:: TerrainNav has new data at 401.80. Valid = 0 : Navigation:: TerrainNav has new data at 403.40. Valid = 0 : Navigation:: TerrainNav has new data at 404.80. Valid = 0 : Navigation:: TerrainNav has new data at 406.40. Valid = 0 : Navigation:: TerrainNav has new data at 407.80. Valid = 0 : Multibeam: Surface lost at 409.20 sec. : Navigation:: TerrainNav has new data at 409.40. Valid = 0 : Navigation:: TerrainNav has new data at 410.80. Valid = 0 : Navigation:: TerrainNav has new data at 412.40. Valid = 0 : Navigation:: TerrainNav has new data at 413.80. Valid = 0 : Navigation:: TerrainNav has new data at 415.40. Valid = 0 : Navigation:: TerrainNav has new data at 416.80. Valid = 0 : Navigation:: TerrainNav has new data at 418.40. Valid = 0 : Navigation:: TerrainNav has new data at 419.80. Valid = 0 : Navigation:: TerrainNav has new data at 421.40. Valid = 0 : Navigation:: TerrainNav has new data at 422.80. Valid = 0 : Navigation:: TerrainNav has new data at 424.40. Valid = 0 : Navigation:: TerrainNav has new data at 425.80. Valid = 0 : Navigation:: TerrainNav has new data at 427.40. Valid = 0 : Navigation:: TerrainNav has new data at 428.80. Valid = 0 : Navigation:: TerrainNav has new data at 430.40. Valid = 0 : Navigation:: TerrainNav has new data at 431.80. Valid = 0 : Navigation:: TerrainNav has new data at 433.40. Valid = 0 : Navigation:: TerrainNav has new data at 434.80. Valid = 0 : Navigation:: TerrainNav has new data at 436.40. Valid = 0 : Navigation:: TerrainNav has new data at 437.80. Valid = 0 : Navigation:: TerrainNav has new data at 439.40. Valid = 0 : Navigation:: TerrainNav has new data at 440.80. Valid = 0 : Navigation:: TerrainNav has new data at 442.40. Valid = 0 : Navigation:: TerrainNav has new data at 443.80. Valid = 0 : Navigation:: TerrainNav has new data at 445.40. Valid = 0 : Navigation:: TerrainNav has new data at 446.80. Valid = 0 : Navigation:: TerrainNav has new data at 448.40. Valid = 0 : Navigation:: TerrainNav has new data at 449.80. Valid = 0 : Navigation:: TerrainNav has new data at 451.40. Valid = 0 : Navigation:: TerrainNav has new data at 452.80. Valid = 0 : Simulator: Using tile 5. : Simulator: Distance to tile 5 = 277.45. : 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 = 460.0 milli-seconds. : Navigation:: TerrainNav has new data at 454.40. Valid = 0 : Navigation:: TerrainNav has new data at 455.80. Valid = 0 : Navigation:: TerrainNav has new data at 457.40. Valid = 0 : Navigation:: TerrainNav has new data at 458.80. Valid = 0 : Navigation:: TerrainNav has new data at 460.40. Valid = 0 : Navigation:: TerrainNav has new data at 461.80. Valid = 0 : Navigation:: TerrainNav has new data at 463.40. Valid = 0 : Navigation:: TerrainNav has new data at 464.80. Valid = 0 : Navigation:: TerrainNav has new data at 466.40. Valid = 0 : Navigation:: TerrainNav has new data at 467.80. Valid = 0 : Navigation:: TerrainNav has new data at 469.40. Valid = 0 : Navigation:: TerrainNav has new data at 470.80. Valid = 0 : Navigation:: TerrainNav has new data at 472.40. Valid = 0 : Navigation:: TerrainNav has new data at 473.80. Valid = 0 : Navigation:: TerrainNav has new data at 475.40. Valid = 0 : Navigation:: TerrainNav has new data at 476.80. Valid = 0 : Navigation:: TerrainNav has new data at 478.40. Valid = 0 : Navigation:: TerrainNav has new data at 479.80. Valid = 0 : Navigation:: TerrainNav has new data at 481.40. Valid = 0 : Navigation:: TerrainNav has new data at 482.80. Valid = 0 : Navigation:: TerrainNav has new data at 484.40. Valid = 0 : Navigation:: TerrainNav has new data at 485.80. Valid = 0 : Navigation:: TerrainNav has new data at 487.40. Valid = 0 : Navigation:: TerrainNav has new data at 488.80. Valid = 0 : Navigation:: TerrainNav has new data at 490.40. Valid = 0 : Navigation:: TerrainNav has new data at 491.80. Valid = 0 : Navigation:: TerrainNav has new data at 493.40. Valid = 0 : Navigation:: TerrainNav has new data at 494.80. Valid = 0 : Navigation:: TerrainNav has new data at 496.40. Valid = 0 : Navigation:: TerrainNav has new data at 497.80. Valid = 0 : Navigation:: TerrainNav has new data at 499.40. Valid = 0 : Simulator:: Before the call to motion(): simTime = 500.00, (simTime - realTime) = 0.00 Heading = 89.98 Depth = 55.35 Speed = 1.55 Pitch = 0.79 : Navigation:: TerrainNav has new data at 500.80. Valid = 0 : Navigation:: TerrainNav has new data at 502.40. Valid = 0 : Navigation:: TerrainNav has new data at 503.80. Valid = 0 : Navigation:: TerrainNav has new data at 505.40. Valid = 0 : Navigation:: TerrainNav has new data at 506.80. Valid = 0 : Navigation:: TerrainNav has new data at 508.40. Valid = 0 : Navigation:: TerrainNav has new data at 509.80. Valid = 0 : Navigation:: TerrainNav has new data at 511.40. Valid = 0 : Navigation:: TerrainNav has new data at 512.80. Valid = 0 : Navigation:: TerrainNav has new data at 514.40. Valid = 0 : Navigation:: TerrainNav has new data at 515.80. Valid = 0 : Navigation:: TerrainNav has new data at 517.40. Valid = 0 : Navigation:: TerrainNav has new data at 518.80. Valid = 0 : Navigation:: TerrainNav has new data at 520.40. Valid = 0 : Navigation:: TerrainNav has new data at 521.80. Valid = 0 : Navigation:: TerrainNav has new data at 523.40. Valid = 0 : Navigation:: TerrainNav has new data at 524.80. Valid = 0 : Navigation:: TerrainNav has new data at 526.40. Valid = 0 : Navigation:: TerrainNav has new data at 527.80. Valid = 0 : Navigation:: TerrainNav has new data at 529.40. Valid = 0 : Navigation:: TerrainNav has new data at 530.80. Valid = 0 : Navigation:: TerrainNav has new data at 532.40. Valid = 0 : Navigation:: TerrainNav has new data at 533.80. Valid = 0 : Navigation:: TerrainNav has new data at 535.40. Valid = 0 : Navigation:: TerrainNav has new data at 536.80. Valid = 0 : Navigation:: TerrainNav has new data at 538.40. Valid = 0 : Navigation:: TerrainNav has new data at 539.80. Valid = 0 : Navigation:: TerrainNav has new data at 541.40. Valid = 0 : Navigation:: TerrainNav has new data at 542.80. Valid = 0 : Multibeam: Surface detected at depth 0.1 meters at 543.20 sec. : Navigation:: TerrainNav has new data at 544.40. Valid = 0 : Navigation:: TerrainNav has new data at 545.80. Valid = 0 : Navigation:: TerrainNav has new data at 547.40. Valid = 0 : Navigation:: TerrainNav has new data at 548.80. Valid = 0 : Navigation:: TerrainNav has new data at 550.40. Valid = 0 : Navigation:: TerrainNav has new data at 551.80. Valid = 0 : Navigation:: TerrainNav has new data at 553.40. Valid = 0 : Navigation:: TerrainNav has new data at 554.80. Valid = 0 : Navigation:: TerrainNav has new data at 556.40. Valid = 0 : Navigation:: TerrainNav has new data at 557.80. Valid = 0 : Navigation:: TerrainNav has new data at 559.40. Valid = 0 : Navigation:: TerrainNav has new data at 560.80. Valid = 0 : Navigation:: TerrainNav has new data at 562.40. Valid = 0 : Multibeam: Surface lost at 562.80 sec. : Navigation:: TerrainNav has new data at 563.80. Valid = 0 : Navigation:: TerrainNav has new data at 565.40. Valid = 0 : Navigation:: TerrainNav has new data at 566.80. Valid = 0 : Navigation:: TerrainNav has new data at 568.40. Valid = 0 : Navigation:: TerrainNav has new data at 569.80. Valid = 0 : Navigation:: TerrainNav has new data at 571.40. Valid = 0 : Navigation:: TerrainNav has new data at 572.80. Valid = 0 : Navigation:: TerrainNav has new data at 574.40. Valid = 0 : Navigation:: TerrainNav has new data at 575.80. Valid = 0 : Navigation:: TerrainNav has new data at 577.40. Valid = 0 : Navigation:: TerrainNav has new data at 578.80. Valid = 0 : Navigation:: TerrainNav has new data at 580.40. Valid = 0 : Navigation:: TerrainNav has new data at 581.80. Valid = 0 : Navigation:: TerrainNav has new data at 583.40. Valid = 0 : Navigation:: TerrainNav has new data at 584.80. Valid = 0 : Navigation:: TerrainNav has new data at 586.40. Valid = 0 : Navigation:: TerrainNav has new data at 587.80. Valid = 0 : Navigation:: TerrainNav has new data at 589.40. Valid = 0 : Navigation:: TerrainNav has new data at 590.80. Valid = 0 : Navigation:: TerrainNav has new data at 592.40. Valid = 0 : Navigation:: TerrainNav has new data at 593.80. Valid = 0 : Navigation:: TerrainNav has new data at 595.40. Valid = 0 : Navigation:: TerrainNav has new data at 596.80. Valid = 0 : Navigation:: TerrainNav has new data at 598.40. Valid = 0 : Navigation:: TerrainNav has new data at 599.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 600.00, (simTime - realTime) = 0.00 Heading = 89.97 Depth = 51.89 Speed = 1.54 Pitch = -3.96 : Navigation:: TerrainNav has new data at 601.40. Valid = 0 : Navigation:: TerrainNav has new data at 602.80. Valid = 0 : Navigation:: TerrainNav has new data at 604.40. Valid = 0 : Navigation:: TerrainNav has new data at 605.80. Valid = 0 : Navigation:: TerrainNav has new data at 607.40. Valid = 0 : Navigation:: TerrainNav has new data at 608.80. Valid = 0 : Navigation:: TerrainNav has new data at 610.40. Valid = 0 : Navigation:: TerrainNav has new data at 611.80. Valid = 0 : Navigation:: TerrainNav has new data at 613.40. Valid = 0 : Navigation:: TerrainNav has new data at 614.80. Valid = 0 : Navigation:: TerrainNav has new data at 616.40. Valid = 0 : Navigation:: TerrainNav has new data at 617.80. Valid = 0 : Navigation:: TerrainNav has new data at 619.40. Valid = 0 : Navigation:: TerrainNav has new data at 620.80. Valid = 0 : Navigation:: TerrainNav has new data at 622.40. Valid = 0 : Navigation:: TerrainNav has new data at 623.80. Valid = 0 : Navigation:: TerrainNav has new data at 625.40. Valid = 0 : Navigation:: TerrainNav has new data at 626.80. Valid = 0 : Navigation:: TerrainNav has new data at 628.40. Valid = 0 : Navigation:: TerrainNav has new data at 629.80. Valid = 0 : Navigation:: TerrainNav has new data at 631.40. Valid = 0 : Navigation:: TerrainNav has new data at 632.80. Valid = 0 : Navigation:: TerrainNav has new data at 634.40. Valid = 0 : Navigation:: TerrainNav has new data at 635.80. Valid = 0 : Navigation:: TerrainNav has new data at 637.40. Valid = 0 : Navigation:: TerrainNav has new data at 638.80. Valid = 0 : Navigation:: TerrainNav has new data at 640.40. Valid = 0 : Navigation:: TerrainNav has new data at 641.80. Valid = 0 : Navigation:: TerrainNav has new data at 643.40. Valid = 0 : Navigation:: TerrainNav has new data at 644.80. Valid = 0 : Navigation:: TerrainNav has new data at 646.40. Valid = 0 : Navigation:: TerrainNav has new data at 647.80. Valid = 0 : Navigation:: TerrainNav has new data at 649.40. Valid = 0 : Navigation:: TerrainNav has new data at 650.80. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061649.7, 594764.8), reached at t = 650.80 (wplog) : Vehicle Position is error is (0.0, -0.3) : LayeredControl::execute() -- (t = 650.800000) Behavior waypoint_bottom:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 650.800000) Behavior acousticUpdate:-1 has changed to state Finished : Reson Behavior::log=-1,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,-1.000000,-1.000000,186.980000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 186.980000 : LayeredControl::execute() -- (t = 650.800000) Behavior reson:-1 has changed to state Finished : WaypointBottom Initialization: Begin waypoint control at t= 650.80 (wplog) The current location (N,E) = 4061649.7 , 594765.1 (wplog) The next waypoint = 4061577.6 , 594955.4 (wplog) The bearing to the next w.p. is 110.7 Degrees. : WaypointBottom:: Depth-Based Altitude control. : WaypointBottom::execute - in 'first', avoidRange = 40.00 : WaypointBottom: Initializing obstacle altitude filter: gain = 6.45e-002, tau = 3.00 seconds, pole=9.36e-001. : WaypointBottom::execute - using thetaB. : WaypointBottom - reinitFilter = 0. : WaypointBottom - Offset the Trn filter by (0.0, 0.0) at t = 650.80 : WaypointBottom: Initializing _x to 470.50 at t = 650.80. : WaypointBottom::Obstacle detected 20.1 meters ahead. avoidRange activated at t = 650.80. Climb! : LayeredControl::execute() -- (t = 650.800000) Behavior waypoint_bottom:-1 has changed to state Active : Navigation::Set avoidRange to 40.0m t = 1589991692.68 sec. : Navigation:: TerrainNav has new data at 652.20. Valid = 0 : Navigation:: TerrainNav has new data at 653.80. Valid = 0 : Navigation:: TerrainNav has new data at 655.20. Valid = 0 : Navigation:: TerrainNav has new data at 656.80. Valid = 0 : Navigation:: TerrainNav has new data at 658.20. Valid = 0 : Navigation:: TerrainNav has new data at 659.80. Valid = 0 : Navigation:: TerrainNav has new data at 661.20. Valid = 0 : Navigation:: TerrainNav has new data at 662.80. Valid = 0 : Navigation:: TerrainNav has new data at 664.20. Valid = 0 : Navigation:: TerrainNav has new data at 665.80. Valid = 0 : Navigation:: TerrainNav has new data at 667.20. Valid = 0 : Navigation:: TerrainNav has new data at 668.80. Valid = 0 : Navigation:: TerrainNav has new data at 670.20. Valid = 0 : Navigation:: TerrainNav has new data at 671.80. Valid = 0 : Navigation:: TerrainNav has new data at 673.20. Valid = 0 : Navigation:: TerrainNav has new data at 674.80. Valid = 0 : Navigation:: TerrainNav has new data at 676.20. Valid = 0 : Navigation:: TerrainNav has new data at 677.80. Valid = 0 : Navigation:: TerrainNav has new data at 679.20. Valid = 0 : Navigation:: TerrainNav has new data at 680.80. Valid = 0 : Navigation:: TerrainNav has new data at 682.20. Valid = 0 : Navigation:: TerrainNav has new data at 683.80. Valid = 0 : Navigation:: TerrainNav has new data at 685.20. Valid = 0 : Navigation:: TerrainNav has new data at 686.80. Valid = 0 : Navigation:: TerrainNav has new data at 688.20. Valid = 0 : Navigation:: TerrainNav has new data at 689.80. Valid = 0 : Navigation:: TerrainNav has new data at 691.20. Valid = 0 : Navigation:: TerrainNav has new data at 692.80. Valid = 0 : Navigation:: TerrainNav has new data at 694.20. Valid = 0 : Navigation:: TerrainNav has new data at 695.80. Valid = 0 : Navigation:: TerrainNav has new data at 697.20. Valid = 0 : Navigation:: TerrainNav has new data at 698.80. Valid = 0 : Simulator:: Before the call to motion(): simTime = 700.00, (simTime - realTime) = 0.00 Heading = 108.67 Depth = 59.94 Speed = 1.54 Pitch = 0.48 : Navigation:: TerrainNav has new data at 700.20. Valid = 0 : Navigation:: TerrainNav has new data at 701.80. Valid = 0 : Navigation:: TerrainNav has new data at 703.20. Valid = 0 : Navigation:: TerrainNav has new data at 704.80. Valid = 0 : Navigation:: TerrainNav has new data at 706.20. Valid = 0 : Navigation:: TerrainNav has new data at 707.80. Valid = 0 : Navigation:: TerrainNav has new data at 709.20. Valid = 0 : Navigation:: TerrainNav has new data at 710.80. Valid = 0 : Navigation:: TerrainNav has new data at 712.20. Valid = 0 : Navigation:: TerrainNav has new data at 713.80. Valid = 0 : Navigation:: TerrainNav has new data at 715.20. Valid = 0 : Navigation:: TerrainNav has new data at 716.80. Valid = 0 : Navigation:: TerrainNav has new data at 718.20. Valid = 0 : Navigation:: TerrainNav has new data at 719.80. Valid = 0 : Navigation:: TerrainNav has new data at 721.20. Valid = 0 : Navigation:: TerrainNav has new data at 722.80. Valid = 0 : Navigation:: TerrainNav has new data at 724.20. Valid = 0 : Navigation:: TerrainNav has new data at 725.80. Valid = 0 : Navigation:: TerrainNav has new data at 727.20. Valid = 0 : Navigation:: TerrainNav has new data at 728.80. Valid = 0 : Navigation:: TerrainNav has new data at 730.20. Valid = 0 : Navigation:: TerrainNav has new data at 731.80. Valid = 0 : Navigation:: TerrainNav has new data at 733.20. Valid = 0 : Navigation:: TerrainNav has new data at 734.80. Valid = 0 : Navigation:: TerrainNav has new data at 736.20. Valid = 0 : Navigation:: TerrainNav has new data at 737.80. Valid = 0 : Navigation:: TerrainNav has new data at 739.20. Valid = 0 : Navigation:: TerrainNav has new data at 740.80. Valid = 0 : Navigation:: TerrainNav has new data at 742.20. Valid = 0 : Navigation:: TerrainNav has new data at 743.80. Valid = 0 : Navigation:: TerrainNav has new data at 745.20. Valid = 0 : Navigation:: TerrainNav has new data at 746.80. Valid = 0 : Navigation:: TerrainNav has new data at 748.20. Valid = 0 : Navigation:: TerrainNav has new data at 749.80. Valid = 0 : Navigation:: TerrainNav has new data at 751.20. Valid = 0 : Navigation:: TerrainNav has new data at 752.80. Valid = 0 : Navigation:: TerrainNav has new data at 754.20. Valid = 0 : Navigation:: TerrainNav has new data at 755.80. Valid = 0 : Navigation:: TerrainNav has new data at 757.20. Valid = 0 : Navigation:: TerrainNav has new data at 758.80. Valid = 0 : Navigation:: TerrainNav has new data at 760.20. Valid = 0 : Navigation:: TerrainNav has new data at 761.80. Valid = 0 : Navigation:: TerrainNav has new data at 763.20. Valid = 0 : Navigation:: TerrainNav has new data at 764.80. Valid = 0 : Navigation:: TerrainNav has new data at 766.20. Valid = 0 : Navigation:: TerrainNav has new data at 767.80. Valid = 0 : Navigation:: TerrainNav has new data at 769.20. Valid = 0 : Navigation:: TerrainNav has new data at 770.80. Valid = 0 : Navigation:: TerrainNav has new data at 772.20. Valid = 0 : Navigation:: TerrainNav has new data at 773.80. Valid = 0 : Navigation:: TerrainNav has new data at 775.20. Valid = 0 : Navigation:: TerrainNav has new data at 776.80. Valid = 0 : Navigation:: TerrainNav has new data at 778.20. Valid = 0 : Navigation:: TerrainNav has new data at 779.80. Valid = 0 : Navigation:: TerrainNav has new data at 781.20. Valid = 0 : Navigation:: TerrainNav has new data at 782.80. Valid = 0 : Navigation:: TerrainNav has new data at 784.20. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061577.6, 594955.4), reached at t = 785.00 (wplog) : Vehicle Position is error is (0.0, -0.1) : LayeredControl::execute() -- (t = 785.000000) Behavior waypoint_bottom:-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,-1.000000,177.450000,-1.000000,-1.000000,0.000000 | pulse="","" : Reson Behavior: Tell Multibeam to set MB sound velocity : Reson Behavior: Setting MB range to 177.450000 : LayeredControl::execute() -- (t = 785.000000) Behavior reson:-1 has changed to state Finished : WaypointBottom Initialization: Begin waypoint control at t= 785.00 (wplog) The current location (N,E) = 4061577.6 , 594955.5 (wplog) The next waypoint = 4061577.9 , 594163.3 (wplog) The bearing to the next w.p. is 270.0 Degrees. : WaypointBottom:: Depth-Based Altitude control. : WaypointBottom::execute - in 'first', avoidRange = 40.00 : WaypointBottom: Initializing obstacle altitude filter: gain = 6.45e-002, tau = 3.00 seconds, pole=9.36e-001. : WaypointBottom::execute - using thetaB. : WaypointBottom - reinitFilter = 0. : WaypointBottom - Offset the Trn filter by (0.0, 0.0) at t = 785.00 : WaypointBottom: Initializing _x to 533.14 at t = 785.00. : LayeredControl::execute() -- (t = 785.000000) Behavior waypoint_bottom:-1 has changed to state Active : Navigation::Set avoidRange to 40.0m t = 1589991826.88 sec. : Navigation:: TerrainNav has new data at 785.60. Valid = 0 : Navigation:: TerrainNav has new data at 787.20. Valid = 0 : Simulator: Using tile 6. : Simulator: Distance to tile 6 = 316.50. : Simulator: Switching to tile 6. : Simulator::Now loading /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile6.bo. : Simulator::Octree Map /mnt/host/auv-qnx/auv/altex/onboard/config/imaging/PortTiles/PortugueseLedgeTile6.bo loaded successfully. : Simulator::Octree lower bounds ( 4061249.50 594749.50 74.65 ) : Simulator::Octree upper bounds ( 4062273.50 595773.50 1098.65 ) : Simulator::Octree number of branch nodes = 253592. : Simulator::Octree number of leaf nodes = 1775145. : Simulator::Octree size in RAM >= 18258629 bytes. : Simulator::Octree load duration = 290.0 milli-seconds. : Navigation:: TerrainNav has new data at 788.60. Valid = 0 : Navigation:: TerrainNav has new data at 790.20. Valid = 0 : Navigation:: TerrainNav has new data at 791.60. Valid = 0 : Navigation:: TerrainNav has new data at 793.20. Valid = 0 : Navigation:: TerrainNav has new data at 794.60. Valid = 0 : Navigation:: TerrainNav has new data at 796.20. Valid = 0 : Navigation:: TerrainNav has new data at 797.60. Valid = 0 : Navigation:: TerrainNav has new data at 799.20. Valid = 0 : Simulator:: Before the call to motion(): simTime = 800.00, (simTime - realTime) = 0.00 Heading = 184.65 Depth = 59.89 Speed = 1.28 Pitch = -1.33 : Navigation:: TerrainNav has new data at 800.60. Valid = 0 : Navigation:: TerrainNav has new data at 802.20. Valid = 0 : Navigation:: TerrainNav has new data at 803.60. Valid = 0 : Navigation:: TerrainNav has new data at 805.20. Valid = 0 : Navigation:: TerrainNav has new data at 806.60. Valid = 0 : Navigation:: TerrainNav has new data at 808.20. Valid = 0 : Navigation:: TerrainNav has new data at 809.60. Valid = 0 : Navigation:: TerrainNav has new data at 811.20. Valid = 0 : Navigation:: TerrainNav has new data at 812.60. Valid = 0 : Navigation:: TerrainNav has new data at 814.20. Valid = 0 : Simulator: Using tile 5. : Simulator: Distance to tile 5 = 333.23. : 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 = 460.0 milli-seconds. : Navigation:: TerrainNav has new data at 815.60. Valid = 0 : Navigation:: TerrainNav has new data at 817.20. Valid = 0 : Navigation:: TerrainNav has new data at 818.60. Valid = 0 : Navigation:: TerrainNav has new data at 820.20. Valid = 0 : Navigation:: TerrainNav has new data at 821.60. Valid = 0 : Navigation:: TerrainNav has new data at 823.20. Valid = 0 : Navigation:: TerrainNav has new data at 824.60. Valid = 0 : Navigation:: TerrainNav has new data at 826.20. Valid = 0 : Navigation:: TerrainNav has new data at 827.60. Valid = 0 : Navigation:: TerrainNav has new data at 829.20. Valid = 0 : Navigation:: TerrainNav has new data at 830.60. Valid = 0 : Navigation:: TerrainNav has new data at 832.20. Valid = 0 : Navigation:: TerrainNav has new data at 833.60. Valid = 0 : Navigation:: TerrainNav has new data at 835.20. Valid = 0 : Navigation:: TerrainNav has new data at 836.60. Valid = 0 : Navigation:: TerrainNav has new data at 838.20. Valid = 0 : Navigation:: TerrainNav has new data at 839.60. Valid = 0 : Navigation:: TerrainNav has new data at 841.20. Valid = 0 : Navigation:: TerrainNav has new data at 842.60. Valid = 0 : Navigation:: TerrainNav has new data at 844.20. Valid = 0 : Navigation:: TerrainNav has new data at 845.60. Valid = 0 : Navigation:: TerrainNav has new data at 847.20. Valid = 0 : Navigation:: TerrainNav has new data at 848.60. Valid = 0 : Navigation:: TerrainNav has new data at 850.20. Valid = 0 : Navigation:: TerrainNav has new data at 851.60. Valid = 0 : Navigation:: TerrainNav has new data at 853.20. Valid = 0 : Navigation:: TerrainNav has new data at 854.60. Valid = 0 : Navigation:: TerrainNav has new data at 856.20. Valid = 0 : Navigation:: TerrainNav has new data at 857.60. Valid = 0 : Navigation:: TerrainNav has new data at 859.20. Valid = 0 : Navigation:: TerrainNav has new data at 860.60. Valid = 0 : Navigation:: TerrainNav has new data at 862.20. Valid = 0 : Navigation:: TerrainNav has new data at 863.60. Valid = 0 : Navigation:: TerrainNav has new data at 865.20. Valid = 0 : Navigation:: TerrainNav has new data at 866.60. Valid = 0 : Navigation:: TerrainNav has new data at 868.20. Valid = 0 : Navigation:: TerrainNav has new data at 869.60. Valid = 0 : Navigation:: TerrainNav has new data at 871.20. Valid = 0 : Navigation:: TerrainNav has new data at 872.60. Valid = 0 : Navigation:: TerrainNav has new data at 874.20. Valid = 0 : Navigation:: TerrainNav has new data at 875.60. Valid = 0 : Navigation:: TerrainNav has new data at 877.20. Valid = 0 : Navigation:: TerrainNav has new data at 878.60. Valid = 0 : Navigation:: TerrainNav has new data at 880.20. Valid = 0 : Navigation:: TerrainNav has new data at 881.60. Valid = 0 : Navigation:: TerrainNav has new data at 883.20. Valid = 0 : Navigation:: TerrainNav has new data at 884.60. Valid = 0 : Navigation:: TerrainNav has new data at 886.20. Valid = 0 : Navigation:: TerrainNav has new data at 887.60. Valid = 0 : Navigation:: TerrainNav has new data at 889.20. Valid = 0 : Navigation:: TerrainNav has new data at 890.60. Valid = 0 : Navigation:: TerrainNav has new data at 892.20. Valid = 0 : Navigation:: TerrainNav has new data at 893.60. Valid = 0 : Navigation:: TerrainNav has new data at 895.20. Valid = 0 : Navigation:: TerrainNav has new data at 896.60. Valid = 0 : Navigation:: TerrainNav has new data at 898.20. Valid = 0 : Navigation:: TerrainNav has new data at 899.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 900.00, (simTime - realTime) = 0.00 Heading = 268.28 Depth = 59.70 Speed = 1.54 Pitch = 0.75 : Navigation:: TerrainNav has new data at 901.20. Valid = 0 : Navigation:: TerrainNav has new data at 902.60. Valid = 0 : Navigation:: TerrainNav has new data at 904.20. Valid = 0 : Navigation:: TerrainNav has new data at 905.60. Valid = 0 : Navigation:: TerrainNav has new data at 907.20. Valid = 0 : Navigation:: TerrainNav has new data at 908.60. Valid = 0 : Navigation:: TerrainNav has new data at 910.20. Valid = 0 : Navigation:: TerrainNav has new data at 911.60. Valid = 0 : Navigation:: TerrainNav has new data at 913.20. Valid = 0 : Navigation:: TerrainNav has new data at 914.60. Valid = 0 : Navigation:: TerrainNav has new data at 916.20. Valid = 0 : Navigation:: TerrainNav has new data at 917.60. Valid = 0 : Navigation:: TerrainNav has new data at 919.20. Valid = 0 : Navigation:: TerrainNav has new data at 920.60. Valid = 0 : Navigation:: TerrainNav has new data at 922.20. Valid = 0 : Navigation:: TerrainNav has new data at 923.60. Valid = 0 : Navigation:: TerrainNav has new data at 925.20. Valid = 0 : Navigation:: TerrainNav has new data at 926.60. Valid = 0 : Navigation:: TerrainNav has new data at 928.20. Valid = 0 : Navigation:: TerrainNav has new data at 929.60. Valid = 0 : Navigation:: TerrainNav has new data at 931.20. Valid = 0 : WaypointBottom::Obstacle detected 14.6 meters ahead. avoidRange activated at t = 932.00. Climb! : Navigation:: TerrainNav has new data at 932.60. Valid = 0 : Navigation:: TerrainNav has new data at 934.20. Valid = 0 : Navigation:: TerrainNav has new data at 935.60. Valid = 0 : Navigation:: TerrainNav has new data at 937.20. Valid = 0 : Navigation:: TerrainNav has new data at 938.60. Valid = 0 : Navigation:: TerrainNav has new data at 940.20. Valid = 0 : Navigation:: TerrainNav has new data at 941.60. Valid = 0 : Navigation:: TerrainNav has new data at 943.20. Valid = 0 : Navigation:: TerrainNav has new data at 944.60. Valid = 0 : Navigation:: TerrainNav has new data at 946.20. Valid = 0 : Navigation:: TerrainNav has new data at 947.60. Valid = 0 : Navigation:: TerrainNav has new data at 949.20. Valid = 0 : Navigation:: TerrainNav has new data at 950.60. Valid = 0 : Navigation:: TerrainNav has new data at 952.20. Valid = 0 : Navigation:: TerrainNav has new data at 953.60. Valid = 0 : Navigation:: TerrainNav has new data at 955.20. Valid = 0 : Navigation:: TerrainNav has new data at 956.60. Valid = 0 : Multibeam: Surface detected at depth 0.3 meters at 957.60 sec. : Navigation:: TerrainNav has new data at 958.20. Valid = 0 : Navigation:: TerrainNav has new data at 959.60. Valid = 0 : Navigation:: TerrainNav has new data at 961.20. Valid = 0 : Navigation:: TerrainNav has new data at 962.60. Valid = 0 : Navigation:: TerrainNav has new data at 964.20. Valid = 0 : Navigation:: TerrainNav has new data at 965.60. Valid = 0 : Navigation:: TerrainNav has new data at 967.20. Valid = 0 : Navigation:: TerrainNav has new data at 968.60. Valid = 0 : Navigation:: TerrainNav has new data at 970.20. Valid = 0 : Navigation:: TerrainNav has new data at 971.60. Valid = 0 : Navigation:: TerrainNav has new data at 973.20. Valid = 0 : Navigation:: TerrainNav has new data at 974.60. Valid = 0 : Navigation:: TerrainNav has new data at 976.20. Valid = 0 : Navigation:: TerrainNav has new data at 977.60. Valid = 0 : Navigation:: TerrainNav has new data at 979.20. Valid = 0 : Navigation:: TerrainNav has new data at 980.60. Valid = 0 : Navigation:: TerrainNav has new data at 982.20. Valid = 0 : Navigation:: TerrainNav has new data at 983.60. Valid = 0 : Navigation:: TerrainNav has new data at 985.20. Valid = 0 : Navigation:: TerrainNav has new data at 986.60. Valid = 0 : Navigation:: TerrainNav has new data at 988.20. Valid = 0 : Navigation:: TerrainNav has new data at 989.60. Valid = 0 : Navigation:: TerrainNav has new data at 991.20. Valid = 0 : Navigation:: TerrainNav has new data at 992.60. Valid = 0 : Navigation:: TerrainNav has new data at 994.20. Valid = 0 : Navigation:: TerrainNav has new data at 995.60. Valid = 0 : Navigation:: TerrainNav has new data at 997.20. Valid = 0 : Navigation:: TerrainNav has new data at 998.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1000.00, (simTime - realTime) = 0.00 Heading = 270.01 Depth = 47.44 Speed = 1.58 Pitch = 3.20 : Navigation:: TerrainNav has new data at 1000.20. Valid = 0 : Navigation:: TerrainNav has new data at 1001.60. Valid = 0 : Navigation:: TerrainNav has new data at 1003.20. Valid = 0 : Navigation:: TerrainNav has new data at 1004.60. Valid = 0 : Navigation:: TerrainNav has new data at 1006.20. Valid = 0 : Multibeam: Surface lost at 1006.80 sec. : Navigation:: TerrainNav has new data at 1007.60. Valid = 0 : Navigation:: TerrainNav has new data at 1009.20. Valid = 0 : Navigation:: TerrainNav has new data at 1010.60. Valid = 0 : Navigation:: TerrainNav has new data at 1012.20. Valid = 0 : Navigation:: TerrainNav has new data at 1013.60. Valid = 0 : Navigation:: TerrainNav has new data at 1015.20. Valid = 0 : Navigation:: TerrainNav has new data at 1016.60. Valid = 0 : Navigation:: TerrainNav has new data at 1018.20. Valid = 0 : Navigation:: TerrainNav has new data at 1019.60. Valid = 0 : Navigation:: TerrainNav has new data at 1021.20. Valid = 0 : Navigation:: TerrainNav has new data at 1022.60. Valid = 0 : Navigation:: TerrainNav has new data at 1024.20. Valid = 0 : Navigation:: TerrainNav has new data at 1025.60. Valid = 0 : Navigation:: TerrainNav has new data at 1027.20. Valid = 0 : Navigation:: TerrainNav has new data at 1028.60. Valid = 0 : Navigation:: TerrainNav has new data at 1030.20. Valid = 0 : Navigation:: TerrainNav has new data at 1031.60. Valid = 0 : Navigation:: TerrainNav has new data at 1033.20. Valid = 0 : Navigation:: TerrainNav has new data at 1034.60. Valid = 0 : Navigation:: TerrainNav has new data at 1036.20. Valid = 0 : Navigation:: TerrainNav has new data at 1037.60. Valid = 0 : Navigation:: TerrainNav has new data at 1039.20. Valid = 0 : Navigation:: TerrainNav has new data at 1040.60. Valid = 0 : Navigation:: TerrainNav has new data at 1042.20. Valid = 0 : Navigation:: TerrainNav has new data at 1043.60. Valid = 0 : Navigation:: TerrainNav has new data at 1045.20. Valid = 0 : Navigation:: TerrainNav has new data at 1046.60. Valid = 0 : Navigation:: TerrainNav has new data at 1048.20. Valid = 0 : Navigation:: TerrainNav has new data at 1049.60. Valid = 0 : Navigation:: TerrainNav has new data at 1051.20. Valid = 0 : Navigation:: TerrainNav has new data at 1052.60. Valid = 0 : Navigation:: TerrainNav has new data at 1054.20. Valid = 0 : Navigation:: TerrainNav has new data at 1055.60. Valid = 0 : Navigation:: TerrainNav has new data at 1057.20. Valid = 0 : Navigation:: TerrainNav has new data at 1058.60. Valid = 0 : Navigation:: TerrainNav has new data at 1060.20. Valid = 0 : Navigation:: TerrainNav has new data at 1061.60. Valid = 0 : Navigation:: TerrainNav has new data at 1063.20. Valid = 0 : Navigation:: TerrainNav has new data at 1064.60. Valid = 0 : Navigation:: TerrainNav has new data at 1066.20. Valid = 0 : Navigation:: TerrainNav has new data at 1067.60. Valid = 0 : Navigation:: TerrainNav has new data at 1069.20. Valid = 0 : Navigation:: TerrainNav has new data at 1070.60. Valid = 0 : Navigation:: TerrainNav has new data at 1072.20. Valid = 0 : Navigation:: TerrainNav has new data at 1073.60. Valid = 0 : Navigation:: TerrainNav has new data at 1075.20. Valid = 0 : Navigation:: TerrainNav has new data at 1076.60. Valid = 0 : Navigation:: TerrainNav has new data at 1078.20. Valid = 0 : Navigation:: TerrainNav has new data at 1079.60. Valid = 0 : Navigation:: TerrainNav has new data at 1081.20. Valid = 0 : Navigation:: TerrainNav has new data at 1082.60. Valid = 0 : Navigation:: TerrainNav has new data at 1084.20. Valid = 0 : Navigation:: TerrainNav has new data at 1085.60. Valid = 0 : Navigation:: TerrainNav has new data at 1087.20. Valid = 0 : Navigation:: TerrainNav has new data at 1088.60. Valid = 0 : Navigation:: TerrainNav has new data at 1090.20. Valid = 0 : Navigation:: TerrainNav has new data at 1091.60. Valid = 0 : Navigation:: TerrainNav has new data at 1093.20. Valid = 0 : Navigation:: TerrainNav has new data at 1094.60. Valid = 0 : Navigation:: TerrainNav has new data at 1096.20. Valid = 0 : Navigation:: TerrainNav has new data at 1097.60. Valid = 0 : Navigation:: TerrainNav has new data at 1099.20. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1100.00, (simTime - realTime) = 0.00 Heading = 270.03 Depth = 50.85 Speed = 1.54 Pitch = -2.65 : Navigation:: TerrainNav has new data at 1100.60. Valid = 0 : Navigation:: TerrainNav has new data at 1102.20. Valid = 0 : Navigation:: TerrainNav has new data at 1103.60. Valid = 0 : Navigation:: TerrainNav has new data at 1105.20. Valid = 0 : Navigation:: TerrainNav has new data at 1106.60. Valid = 0 : Navigation:: TerrainNav has new data at 1108.20. Valid = 0 : Navigation:: TerrainNav has new data at 1109.60. Valid = 0 : Navigation:: TerrainNav has new data at 1111.20. Valid = 0 : Navigation:: TerrainNav has new data at 1112.60. Valid = 0 : Navigation:: TerrainNav has new data at 1114.20. Valid = 0 : Navigation:: TerrainNav has new data at 1115.60. Valid = 0 : Navigation:: TerrainNav has new data at 1117.20. Valid = 0 : Navigation:: TerrainNav has new data at 1118.60. Valid = 0 : Navigation:: TerrainNav has new data at 1120.20. Valid = 0 : Navigation:: TerrainNav has new data at 1121.60. Valid = 0 : Navigation:: TerrainNav has new data at 1123.20. Valid = 0 : Navigation:: TerrainNav has new data at 1124.60. Valid = 0 : Navigation:: TerrainNav has new data at 1126.20. Valid = 0 : Navigation:: TerrainNav has new data at 1127.60. Valid = 0 : Navigation:: TerrainNav has new data at 1129.20. Valid = 0 : Navigation:: TerrainNav has new data at 1130.60. Valid = 0 : Navigation:: TerrainNav has new data at 1132.20. Valid = 0 : Navigation:: TerrainNav has new data at 1133.60. Valid = 0 : Navigation:: TerrainNav has new data at 1135.20. Valid = 0 : Navigation:: TerrainNav has new data at 1136.60. Valid = 0 : Navigation:: TerrainNav has new data at 1138.20. Valid = 0 : Navigation:: TerrainNav has new data at 1139.60. Valid = 0 : Navigation:: TerrainNav has new data at 1141.20. Valid = 0 : Navigation:: TerrainNav has new data at 1142.60. Valid = 0 : Navigation:: TerrainNav has new data at 1144.20. Valid = 0 : Navigation:: TerrainNav has new data at 1145.60. Valid = 0 : Navigation:: TerrainNav has new data at 1147.20. Valid = 0 : Navigation:: TerrainNav has new data at 1148.60. Valid = 0 : Navigation:: TerrainNav has new data at 1150.20. Valid = 0 : Navigation:: TerrainNav has new data at 1151.60. Valid = 0 : Navigation:: TerrainNav has new data at 1153.20. Valid = 0 : Simulator: Using tile 4. : Simulator: Distance to tile 4 = 315.21. : 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 = 460.0 milli-seconds. : Navigation:: TerrainNav has new data at 1154.60. Valid = 0 : Navigation:: TerrainNav has new data at 1156.20. Valid = 0 : Navigation:: TerrainNav has new data at 1157.60. Valid = 0 : Navigation:: TerrainNav has new data at 1159.20. Valid = 0 : Navigation:: TerrainNav has new data at 1160.60. Valid = 0 : Navigation:: TerrainNav has new data at 1162.20. Valid = 0 : Navigation:: TerrainNav has new data at 1163.60. Valid = 0 : Navigation:: TerrainNav has new data at 1165.20. Valid = 0 : Navigation:: TerrainNav has new data at 1166.60. Valid = 0 : Navigation:: TerrainNav has new data at 1168.20. Valid = 0 : Navigation:: TerrainNav has new data at 1169.60. Valid = 0 : Navigation:: TerrainNav has new data at 1171.20. Valid = 0 : Navigation:: TerrainNav has new data at 1172.60. Valid = 0 : Navigation:: TerrainNav has new data at 1174.20. Valid = 0 : Navigation:: TerrainNav has new data at 1175.60. Valid = 0 : Navigation:: TerrainNav has new data at 1177.20. Valid = 0 : Navigation:: TerrainNav has new data at 1178.60. Valid = 0 : Navigation:: TerrainNav has new data at 1180.20. Valid = 0 : Navigation:: TerrainNav has new data at 1181.60. Valid = 0 : Navigation:: TerrainNav has new data at 1183.20. Valid = 0 : Navigation:: TerrainNav has new data at 1184.60. Valid = 0 : Navigation:: TerrainNav has new data at 1186.20. Valid = 0 : Multibeam: Surface detected at depth 0.3 meters at 1186.40 sec. : Navigation:: TerrainNav has new data at 1187.60. Valid = 0 : Navigation:: TerrainNav has new data at 1189.20. Valid = 0 : Navigation:: TerrainNav has new data at 1190.60. Valid = 0 : Navigation:: TerrainNav has new data at 1192.20. Valid = 0 : Navigation:: TerrainNav has new data at 1193.60. Valid = 0 : Navigation:: TerrainNav has new data at 1195.20. Valid = 0 : Navigation:: TerrainNav has new data at 1196.60. Valid = 0 : Navigation:: TerrainNav has new data at 1198.20. Valid = 0 : Navigation:: TerrainNav has new data at 1199.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1200.00, (simTime - realTime) = 0.00 Heading = 270.01 Depth = 51.87 Speed = 1.56 Pitch = 2.78 : Multibeam: Surface lost at 1200.80 sec. : Navigation:: TerrainNav has new data at 1201.20. Valid = 0 : Navigation:: TerrainNav has new data at 1202.60. Valid = 0 : Navigation:: TerrainNav has new data at 1204.20. Valid = 0 : Navigation:: TerrainNav has new data at 1205.60. Valid = 0 : Navigation:: TerrainNav has new data at 1207.20. Valid = 0 : Navigation:: TerrainNav has new data at 1208.60. Valid = 0 : Navigation:: TerrainNav has new data at 1210.20. Valid = 0 : Navigation:: TerrainNav has new data at 1211.60. Valid = 0 : Navigation:: TerrainNav has new data at 1213.20. Valid = 0 : Navigation:: TerrainNav has new data at 1214.60. Valid = 0 : Navigation:: TerrainNav has new data at 1216.20. Valid = 0 : Navigation:: TerrainNav has new data at 1217.60. Valid = 0 : Navigation:: TerrainNav has new data at 1219.20. Valid = 0 : Navigation:: TerrainNav has new data at 1220.60. Valid = 0 : Navigation:: TerrainNav has new data at 1222.20. Valid = 0 : Navigation:: TerrainNav has new data at 1223.60. Valid = 0 : Navigation:: TerrainNav has new data at 1225.20. Valid = 0 : Navigation:: TerrainNav has new data at 1226.60. Valid = 0 : Navigation:: TerrainNav has new data at 1228.20. Valid = 0 : Navigation:: TerrainNav has new data at 1229.60. Valid = 0 : Navigation:: TerrainNav has new data at 1231.20. Valid = 0 : Navigation:: TerrainNav has new data at 1232.60. Valid = 0 : Navigation:: TerrainNav has new data at 1234.20. Valid = 0 : Navigation:: TerrainNav has new data at 1235.60. Valid = 0 : Navigation:: TerrainNav has new data at 1237.20. Valid = 0 : Navigation:: TerrainNav has new data at 1238.60. Valid = 0 : Navigation:: TerrainNav has new data at 1240.20. Valid = 0 : Navigation:: TerrainNav has new data at 1241.60. Valid = 0 : Navigation:: TerrainNav has new data at 1243.20. Valid = 0 : Navigation:: TerrainNav has new data at 1244.60. Valid = 0 : Navigation:: TerrainNav has new data at 1246.20. Valid = 0 : Navigation:: TerrainNav has new data at 1247.60. Valid = 0 : Navigation:: TerrainNav has new data at 1249.20. Valid = 0 : Navigation:: TerrainNav has new data at 1250.60. Valid = 0 : Navigation:: TerrainNav has new data at 1252.20. Valid = 0 : Navigation:: TerrainNav has new data at 1253.60. Valid = 0 : Navigation:: TerrainNav has new data at 1255.20. Valid = 0 : Navigation:: TerrainNav has new data at 1256.60. Valid = 0 : Navigation:: TerrainNav has new data at 1258.20. Valid = 0 : Navigation:: TerrainNav has new data at 1259.60. Valid = 0 : Navigation:: TerrainNav has new data at 1261.20. Valid = 0 : Navigation:: TerrainNav has new data at 1262.60. Valid = 0 : Navigation:: TerrainNav has new data at 1264.20. Valid = 0 : Navigation:: TerrainNav has new data at 1265.60. Valid = 0 : Navigation:: TerrainNav has new data at 1267.20. Valid = 0 : Navigation:: TerrainNav has new data at 1268.60. Valid = 0 : Navigation:: TerrainNav has new data at 1270.20. Valid = 0 : Navigation:: TerrainNav has new data at 1271.60. Valid = 0 : Navigation:: TerrainNav has new data at 1273.20. Valid = 0 : Navigation:: TerrainNav has new data at 1274.60. Valid = 0 : Navigation:: TerrainNav has new data at 1276.20. Valid = 0 : Navigation:: TerrainNav has new data at 1277.60. Valid = 0 : Navigation:: TerrainNav has new data at 1279.20. Valid = 0 : Navigation:: TerrainNav has new data at 1280.60. Valid = 0 : Navigation:: TerrainNav has new data at 1282.20. Valid = 0 : Navigation:: TerrainNav has new data at 1283.60. Valid = 0 : Navigation:: TerrainNav has new data at 1285.20. Valid = 0 : Navigation:: TerrainNav has new data at 1286.60. Valid = 0 : Navigation:: TerrainNav has new data at 1288.20. Valid = 0 : Navigation:: TerrainNav has new data at 1289.60. Valid = 0 : Navigation:: TerrainNav has new data at 1291.20. Valid = 0 : Navigation:: TerrainNav has new data at 1292.60. Valid = 0 : Navigation:: TerrainNav has new data at 1294.20. Valid = 0 : Navigation:: TerrainNav has new data at 1295.60. Valid = 0 : Navigation:: TerrainNav has new data at 1297.20. Valid = 0 : Navigation:: TerrainNav has new data at 1298.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1300.00, (simTime - realTime) = 0.00 Heading = 270.03 Depth = 60.11 Speed = 1.55 Pitch = -1.83 : Navigation:: TerrainNav has new data at 1300.20. Valid = 0 : Navigation:: TerrainNav has new data at 1301.60. Valid = 0 : Navigation:: TerrainNav has new data at 1303.20. Valid = 0 : Navigation:: TerrainNav has new data at 1304.60. Valid = 0 : Navigation:: TerrainNav has new data at 1306.20. Valid = 0 : Navigation:: TerrainNav has new data at 1307.60. Valid = 0 : Navigation:: TerrainNav has new data at 1309.20. Valid = 0 : Navigation:: TerrainNav has new data at 1310.60. Valid = 0 : Navigation:: TerrainNav has new data at 1312.20. Valid = 0 : Navigation:: TerrainNav has new data at 1313.60. Valid = 0 : Navigation:: TerrainNav has new data at 1315.20. Valid = 0 : Navigation:: TerrainNav has new data at 1316.60. Valid = 0 : Navigation:: TerrainNav has new data at 1318.20. Valid = 0 : Navigation:: TerrainNav has new data at 1319.60. Valid = 0 : Navigation:: TerrainNav has new data at 1321.20. Valid = 0 : Navigation:: TerrainNav has new data at 1322.60. Valid = 0 : Navigation:: TerrainNav has new data at 1324.20. Valid = 0 : Navigation:: TerrainNav has new data at 1325.60. Valid = 0 : Navigation:: TerrainNav has new data at 1327.20. Valid = 0 : Navigation:: TerrainNav has new data at 1328.60. Valid = 0 : Navigation:: TerrainNav has new data at 1330.20. Valid = 0 : Navigation:: TerrainNav has new data at 1331.60. Valid = 0 : Navigation:: TerrainNav has new data at 1333.20. Valid = 0 : Navigation:: TerrainNav has new data at 1334.60. Valid = 0 : Navigation:: TerrainNav has new data at 1336.20. Valid = 0 : Navigation:: TerrainNav has new data at 1337.60. Valid = 0 : Navigation:: TerrainNav has new data at 1339.20. Valid = 0 : Navigation:: TerrainNav has new data at 1340.60. Valid = 0 : Navigation:: TerrainNav has new data at 1342.20. Valid = 0 : Navigation:: TerrainNav has new data at 1343.60. Valid = 0 : Navigation:: TerrainNav has new data at 1345.20. Valid = 0 : Navigation:: TerrainNav has new data at 1346.60. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4061577.9, 594163.3), reached at t = 1347.40 (wplog) : Vehicle Position is error is (0.0, 0.1) : LayeredControl::execute() -- (t = 1347.400000) Behavior waypoint_bottom:-1 has changed to state Finished : Reson Behavior::log=0,sbp=-1,-1.000000 | hiss=-1,-1.000000,-1.000000,-1.000000 | loss=-1,-1.000000,-1.000000,-1.000000 | mb=-1,0.000000,-1.000000,-1.000000,-1.000000,-1.000000,-1.000000 | pulse="","" : Reson Behavior: Setting MB power to 0.000000 : Reson Behavior: Stopping logging : Reson Behavior: Stopping 7k Center Logging : LayeredControl::execute() -- (t = 1347.400000) Behavior reson:-1 has changed to state Finished : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=0,-1.000000,"" | hiss=0,-1.000000,-1.000000,-1.000000,"" | loss=0,-1.000000,-1.000000,-1.000000,"" : Edgetech Behavior: Stopping subbottom profiler : Edgetech Behavior: Stopping lo-freq SS : Edgetech Behavior: Stopping hi-freq SS : LayeredControl::execute() -- (t = 1347.400000) Behavior edgetech:-1 has changed to state Active : sending status via acoustic modem : LayeredControl::execute() -- (t = 1347.400000) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1347.400000) Behavior ascend:-1 has changed to state Active : DynamicControlServer::Begin horizontal mode 0 at t = 1347.40 sec. : DynamicControlServer::Begin vertical mode 1 at t = 1347.40 sec. : Edgetech Behavior::log=-1,storage=-1, updates=0 | sbp=-1,-1.000000,"" | hiss=-1,-1.000000,-1.000000,-1.000000,"" | loss=-1,-1.000000,-1.000000,-1.000000,"" : LayeredControl::execute() -- (t = 1347.600000) Behavior edgetech:-1 has changed to state Finished : Navigation:: TerrainNav has new data at 1348.60. Valid = 0 : Multibeam: Surface detected at depth 1.8 meters at 1351.20 sec. : Navigation:: TerrainNav has new data at 1351.60. Valid = 0 : Navigation:: TerrainNav has new data at 1354.60. Valid = 0 : Navigation:: TerrainNav has new data at 1357.60. Valid = 0 : Navigation:: TerrainNav has new data at 1360.60. Valid = 0 : Navigation:: TerrainNav has new data at 1363.60. Valid = 0 : Navigation:: TerrainNav has new data at 1366.60. Valid = 0 : Navigation:: TerrainNav has new data at 1369.60. Valid = 0 : Navigation:: TerrainNav has new data at 1372.60. Valid = 0 : Navigation:: TerrainNav has new data at 1375.60. Valid = 0 : Navigation:: TerrainNav has new data at 1378.60. Valid = 0 : Navigation:: TerrainNav has new data at 1381.60. Valid = 0 : Navigation:: TerrainNav has new data at 1384.60. Valid = 0 : Navigation:: TerrainNav has new data at 1387.60. Valid = 0 : Navigation:: TerrainNav has new data at 1390.60. Valid = 0 : Navigation:: TerrainNav has new data at 1393.60. Valid = 0 : Navigation:: TerrainNav has new data at 1396.60. Valid = 0 : Multibeam: Surface lost at 1398.40 sec. : Navigation:: TerrainNav has new data at 1399.60. Valid = 0 : Simulator:: Before the call to motion(): simTime = 1400.00, (simTime - realTime) = 0.00 Heading = 108.84 Depth = 14.87 Speed = 1.61 Pitch = 39.26 : Navigation:: TerrainNav has new data at 1402.60. Valid = 0 : Navigation:: TerrainNav has new data at 1405.60. Valid = 0 : Navigation:: TerrainNav has new data at 1408.60. Valid = 0 : Navigation:: TerrainNav has new data at 1411.60. Valid = 0 : LayeredControl::execute() -- (t = 1412.600000) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1412.600000) Behavior getgps:-1 has changed to state Active : DynamicControlServer::Begin vertical mode 2 at t = 1412.60 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 : Navigation:: TerrainNav has new data at 1414.60. Valid = 0 : 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: 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 : Navigation:: TerrainNav has new data at 1417.60. Valid = 0 : 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: 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 : Navigation:: TerrainNav has new data at 1420.60. Valid = 0 : 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 = 1422.400000) Behavior getgps:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 1422.600000) Behavior ascend:-1 has changed to state Finished : 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 = 1422.600000) Behavior CARL:108 has changed to state Active : LayeredControl::execute() -- (t = 1422.600000) 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[000a5338]] : **** FastTime dtor [000a5338] **** : **** 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 4 - Destroying dynamicControl interface: Behavior::_dynamicControl. : WaypointBottom - Destroying behavior 4. : WaypointBottom - Destroying behavior 3. : 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 PortTrapezoid_1v5.cfg.pp -abort abortSimPlanFast.cfg : Supervisor::run - task(s) died - exiting run loop : Supervisor::run - calling shutdown/exit : Supervisor::shutdown - signaling processes : 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 TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task MbTrnRecvIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : 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 : ****Time::cleanup FastTime instance[0007f990]] : TaskServer::signalHandler() for task TailConeIFServer - 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 CARL_IFServer - exit() on signal 2 : TaskServer::signalHandler() for task EdgetechFSDWIFServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - 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 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 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : ****Time::cleanup FastTime instance[0004b0f8]] : ****Time::cleanup FastTime instance[000313c0]] : ****Time::cleanup FastTime instance[0002e988]] : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : ****Time::cleanup FastTime instance[001001b0]] : ****Time::cleanup FastTime instance[00046e00]] : ****Time::cleanup FastTime instance[0003bfe0]] : ****Time::cleanup FastTime instance[0007f0ec]] : ****Time::cleanup FastTime instance[00021460]] : ****Time::cleanup FastTime instance[0003c828]] : **** FastTime dtor [0007f990] **** : ****Time::cleanup FastTime instance[000201e0]] : ****Time::cleanup FastTime instance[0003af6c]] : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object CameraOutput **** : SerialDeviceExt::closeSD() - closed : **** FastTime dtor [0004b0f8] **** : Supervisor::signalHandler - setting exit flag [1] : Supervisor::signalHandler - setting exit flag [1] : **** SharedData destructor for object GulperOutput **** : **** FastTime dtor [000313c0] **** : **** FastTime dtor [0002e988] **** : **** FastTime dtor [001001b0] **** : **** FastTime dtor [00046e00] **** : **** FastTime dtor [0003bfe0] **** : **** FastTime dtor [0007f0ec] **** : **** FastTime dtor [00021460] **** : **** FastTime dtor [0003c828] **** : **** SharedData destructor for object FastTime **** : **** FastTime dtor [000201e0] **** : **** FastTime dtor [0003af6c] **** : **** SharedData destructor for object navigationOutput **** : destroying segment CameraOutput : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object FastTime **** : 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 **** : destroying segment FastTime : **** SharedData destructor for object FastTime **** : **** SharedData destructor for object FastTime **** : destroying segment navigationOutput : destroying prot sem CameraOutput_prot : destroying segment CameraOutput : destroying segment FastTime : Supervisor::shutdown - deleting FastTime [0001d2a0] : 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 prot sem FastTime_prot : destroying segment FastTime : destroying segment FastTime : destroying prot sem navigationOutput_prot : destroying notify sem CameraOutput_notify : destroying prot sem CameraOutput_prot : destroying prot sem FastTime_prot : destroying prot sem FastTime_prot : **** FastTime dtor [0001d2a0] **** : 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 notify sem FastTime_notify : 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 : TerrainAidDestructor Executing. : destroying segment FastTime : DynamicControlServer::Destructor. Difference between clock time and accumulated sample periods is -0.20, at t=1422.40. : 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 [0001d2a0] : **** FastTime dtor [0001d2a0] **** : **** SharedData destructor for object  **** : destroying segment  : SysData Destructor Executing. : SysData Destructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : failed to unlink queue NavigationInput : destroying segment TerrainAidOutput : NavigationOutput::~NavigationOutput() : destroying prot sem TerrainAidOutput_prot : **** SharedData destructor for object navigationOutput **** : destroying notify sem TerrainAidOutput_notify : destroying segment navigationOutput : failed to unlink queue TerrainAidMsgs : destroying prot sem navigationOutput_prot : **** SharedData destructor for object TerrainAidOutput **** : destroying notify sem navigationOutput_notify : destroying segment TerrainAidOutput : destroying prot sem TerrainAidOutput_prot : destroying notify sem TerrainAidOutput_notify : **** FastTime dtor [00089380] **** : **** SharedData destructor for object FastTime **** : destroying segment FastTime : destroying prot sem FastTime_prot : destroying notify sem FastTime_notify //1/mnt/host/auv-qnx/auv/altex/onboard/bin/supervisor terminated (SIGSEGV) at 0007:00011EA9. : 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