2021-10-09T16:51:46Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T16:51:46Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T16:51:46Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-10-09T16:51:46Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-10-09T16:51:46Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-10-09T16:51:46Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-10-09T16:51:46Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-10-09T16:51:46Z* LCM timeout=5.00 sec 2021-10-09T16:51:46Z* TRN settings: 2021-10-09T16:51:46Z* period=3.00 sec 2021-10-09T16:51:46Z* coherence=2.00 sec 2021-10-09T16:51:46Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-10-09T16:51:46Z* maptype = 2 filtertype = 3 weighting = 0 2021-10-09T16:51:46Z* lowgrade_filter = 1 allow reinit = 1 2021-10-09T16:51:46Z* cmd_estimate = cmd_estimate cmd_reinit = cmd_reinit 2021-10-09T16:51:46Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T16:51:46Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-09T16:51:46Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-09T16:51:46Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-09T16:51:46Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-10-09T16:51:46Z* TerrainMapOctree::numTiles_ = 9. 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-10-09T16:51:46Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-10-09T16:51:46Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.590655 seconds. 2021-10-09T16:51:46Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.50 2021-10-09T16:51:46Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.50 OK 2021-10-09T16:51:46Z* parseSensorSpecs parsing sensor of type 1. 2021-10-09T16:51:46Z* Sensor 0 is of type 1. 2021-10-09T16:51:46Z* parseSensorSpecs parsing sensor of type 2. 2021-10-09T16:51:46Z* Sensor 1 is of type 2. 2021-10-09T16:51:46Z* parseSensorSpecs parsing sensor of type 5. 2021-10-09T16:51:46Z* Sensor 2 is of type 5. 2021-10-09T16:51:46Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x558a3348d0] 2021-10-09T16:51:46Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-10-09T16:51:46Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-09T16:51:46Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-09T16:51:46Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-09T16:51:46Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.50 2021-10-09T16:51:46Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-09T16:51:46Z- parseSensorSpecs parsing sensor of type 1. 2021-10-09T16:51:46Z- Sensor 0 is of type 1. 2021-10-09T16:51:46Z- parseSensorSpecs parsing sensor of type 2. 2021-10-09T16:51:46Z- Sensor 1 is of type 2. 2021-10-09T16:51:46Z- parseSensorSpecs parsing sensor of type 5. 2021-10-09T16:51:46Z- Sensor 2 is of type 5. 2021-10-09T16:51:46Z- Random noise maker initialized with 1633798306 2021-10-09T16:51:46Z- setDistribToSave(0) 2021-10-09T16:51:46Z- setDistribToSave set to 0 2021-10-09T16:51:46Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-09T16:51:46Z- Sensor #1: 2021-10-09T16:51:46Z- Sensor name: rdiDVL 2021-10-09T16:51:46Z- Sensor type: 1 2021-10-09T16:51:46Z- Number of beams per measurement: 4 2021-10-09T16:51:46Z- Sensor #1 to vehicle transformation information: 2021-10-09T16:51:46Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-09T16:51:46Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-09T16:51:46Z- 2021-10-09T16:51:46Z- Sensor #2: 2021-10-09T16:51:46Z- Sensor name: resonSeabat8101 2021-10-09T16:51:46Z- Sensor type: 2 2021-10-09T16:51:46Z- Number of beams per measurement: 11 2021-10-09T16:51:46Z- Sensor #2 to vehicle transformation information: 2021-10-09T16:51:46Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-09T16:51:46Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-09T16:51:46Z- 2021-10-09T16:51:46Z- Sensor #3: 2021-10-09T16:51:46Z- Sensor name: imagenexdeltat 2021-10-09T16:51:46Z- Sensor type: 5 2021-10-09T16:51:46Z- Number of beams per measurement: 120 2021-10-09T16:51:46Z- Sensor #3 to vehicle transformation information: 2021-10-09T16:51:46Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-09T16:51:46Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-09T16:51:46Z- 2021-10-09T16:51:46Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-09T16:51:46Z- TerrainNav::TNavFilter initialized with type 3 2021-10-09T16:51:46Z- TerrainNav::initVariables finished. 2021-10-09T16:51:46Z- TerrainNav::Constructor finished. 2021-10-09T16:51:46Z- TNavBF::setModifiedWeighting umw: 4 2021-10-09T16:51:46Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-09T16:51:46Z- TNavBF::numFilters: 1 2021-10-09T16:51:46Z- TerrainNav::modified weighting set to 0 2021-10-09T16:51:46Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-09T16:51:46Z- LcmTrn::run() 2021-10-09T16:51:47Z- AHRS_M2 msg: 1633798307.13 epoch sec; seqNo:7 2021-10-09T16:51:47Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 1.84 psi 2021-10-09T16:51:47Z- handleDepth()-Depth_Keller msg: 1633798307136 epoch sec; seqNo:7; depth 0.08 2021-10-09T16:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798307.14 epoch sec; seqNo:7; 4074197.25 north; 602219.00 east 2021-10-09T16:51:47Z- AHRS_M2 msg: 1633798307.56 epoch sec; seqNo:8 2021-10-09T16:51:47Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.82 psi 2021-10-09T16:51:47Z- handleDepth()-Depth_Keller msg: 1633798307571 epoch sec; seqNo:8; depth 0.08 2021-10-09T16:51:47Z- handleDvl() - RDI_Pathfinder msg: 1633798307.59 epoch sec; seqNo:2 2021-10-09T16:51:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:47Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798307.61 epoch sec; seqNo:8; 4074197.25 north; 602219.00 east 2021-10-09T16:51:47Z- AHRS_M2 msg: 1633798307.94 epoch sec; seqNo:9 2021-10-09T16:51:47Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 1.82 psi 2021-10-09T16:51:47Z- handleDepth()-Depth_Keller msg: 1633798307944 epoch sec; seqNo:9; depth 0.07 2021-10-09T16:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798307.96 epoch sec; seqNo:9; 4074197.25 north; 602219.00 east 2021-10-09T16:51:48Z- AHRS_M2 msg: 1633798308.34 epoch sec; seqNo:10 2021-10-09T16:51:48Z- AHRS_M2 msg: 0.10 phi; -0.03 theta; 1.84 psi 2021-10-09T16:51:48Z- handleDepth()-Depth_Keller msg: 1633798308357 epoch sec; seqNo:10; depth 0.06 2021-10-09T16:51:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798308.37 epoch sec; seqNo:10; 4074197.25 north; 602219.00 east 2021-10-09T16:51:48Z- AHRS_M2 msg: 1633798308.74 epoch sec; seqNo:11 2021-10-09T16:51:48Z- AHRS_M2 msg: 0.15 phi; -0.00 theta; 1.83 psi 2021-10-09T16:51:48Z- handleDepth()-Depth_Keller msg: 1633798308749 epoch sec; seqNo:11; depth 0.08 2021-10-09T16:51:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798308.76 epoch sec; seqNo:11; 4074197.25 north; 602219.00 east 2021-10-09T16:51:49Z- AHRS_M2 msg: 1633798309.15 epoch sec; seqNo:12 2021-10-09T16:51:49Z- AHRS_M2 msg: 0.09 phi; 0.01 theta; 1.81 psi 2021-10-09T16:51:49Z- handleDepth()-Depth_Keller msg: 1633798309154 epoch sec; seqNo:12; depth 0.08 2021-10-09T16:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798309.16 epoch sec; seqNo:12; 4074197.25 north; 602219.00 east 2021-10-09T16:51:49Z- AHRS_M2 msg: 1633798309.57 epoch sec; seqNo:13 2021-10-09T16:51:49Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.80 psi 2021-10-09T16:51:49Z- handleDepth()-Depth_Keller msg: 1633798309573 epoch sec; seqNo:13; depth 0.06 2021-10-09T16:51:49Z- handleDvl() - RDI_Pathfinder msg: 1633798309.59 epoch sec; seqNo:3 2021-10-09T16:51:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:49Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798309.62 epoch sec; seqNo:13; 4074197.25 north; 602219.00 east 2021-10-09T16:51:49Z- AHRS_M2 msg: 1633798309.96 epoch sec; seqNo:14 2021-10-09T16:51:49Z- AHRS_M2 msg: -0.13 phi; -0.05 theta; 1.82 psi 2021-10-09T16:51:49Z- handleDepth()-Depth_Keller msg: 1633798309973 epoch sec; seqNo:14; depth 0.06 2021-10-09T16:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798309.99 epoch sec; seqNo:14; 4074197.25 north; 602219.00 east 2021-10-09T16:51:50Z- AHRS_M2 msg: 1633798310.36 epoch sec; seqNo:15 2021-10-09T16:51:50Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 1.84 psi 2021-10-09T16:51:50Z- handleDepth()-Depth_Keller msg: 1633798310368 epoch sec; seqNo:15; depth 0.08 2021-10-09T16:51:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798310.38 epoch sec; seqNo:15; 4074197.25 north; 602219.00 east 2021-10-09T16:51:50Z- AHRS_M2 msg: 1633798310.77 epoch sec; seqNo:16 2021-10-09T16:51:50Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 1.85 psi 2021-10-09T16:51:50Z- handleDepth()-Depth_Keller msg: 1633798310774 epoch sec; seqNo:16; depth 0.07 2021-10-09T16:51:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798310.78 epoch sec; seqNo:16; 4074197.25 north; 602219.00 east 2021-10-09T16:51:51Z- AHRS_M2 msg: 1633798311.17 epoch sec; seqNo:17 2021-10-09T16:51:51Z- AHRS_M2 msg: -0.14 phi; -0.00 theta; 1.84 psi 2021-10-09T16:51:51Z- handleDepth()-Depth_Keller msg: 1633798311174 epoch sec; seqNo:17; depth 0.06 2021-10-09T16:51:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798311.18 epoch sec; seqNo:17; 4074197.25 north; 602219.00 east 2021-10-09T16:51:51Z- AHRS_M2 msg: 1633798311.57 epoch sec; seqNo:18 2021-10-09T16:51:51Z- AHRS_M2 msg: -0.07 phi; -0.04 theta; 1.85 psi 2021-10-09T16:51:51Z- handleDepth()-Depth_Keller msg: 1633798311590 epoch sec; seqNo:18; depth 0.05 2021-10-09T16:51:51Z- handleDvl() - RDI_Pathfinder msg: 1633798311.61 epoch sec; seqNo:4 2021-10-09T16:51:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798311.62 epoch sec; seqNo:18; 4074197.25 north; 602219.00 east 2021-10-09T16:51:51Z- LcmTrn::handleMessages() - handling 39 messages took 0.69 ms and 125 calls... 2021-10-09T16:51:51Z- waiting for 2.00, time is 1633798311.62 2021-10-09T16:51:51Z- LcmTrn::updateTrn() equating pose 1633798311.62 and meas times 1633798311.62 2021-10-09T16:51:51Z- LcmTrn::updateTrn() >>>> pose time 1633798311.62, meas time 1633798311.62 <<<< 2021-10-09T16:51:51Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798311.62, ping # 0. 2021-10-09T16:51:51Z- TerrainNav::Measurement type 1 from time = 1633798311.62 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:51:51Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.05) 2021-10-09T16:51:51Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:51:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:51:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:51:51Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:51:51Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:51:51Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:51:51Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:51:51Z- AHRS_M2 msg: 1633798311.98 epoch sec; seqNo:19 2021-10-09T16:51:51Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 1.83 psi 2021-10-09T16:51:51Z- handleDepth()-Depth_Keller msg: 1633798311987 epoch sec; seqNo:19; depth 0.07 2021-10-09T16:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798312.01 epoch sec; seqNo:19; 4074197.25 north; 602219.00 east 2021-10-09T16:51:52Z- AHRS_M2 msg: 1633798312.38 epoch sec; seqNo:20 2021-10-09T16:51:52Z- AHRS_M2 msg: -0.04 phi; 0.00 theta; 1.82 psi 2021-10-09T16:51:52Z- handleDepth()-Depth_Keller msg: 1633798312392 epoch sec; seqNo:20; depth 0.06 2021-10-09T16:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798312.40 epoch sec; seqNo:20; 4074197.25 north; 602219.00 east 2021-10-09T16:51:52Z- AHRS_M2 msg: 1633798312.79 epoch sec; seqNo:21 2021-10-09T16:51:52Z- AHRS_M2 msg: -0.03 phi; 0.03 theta; 1.82 psi 2021-10-09T16:51:52Z- handleDepth()-Depth_Keller msg: 1633798312799 epoch sec; seqNo:21; depth 0.05 2021-10-09T16:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798312.81 epoch sec; seqNo:21; 4074197.25 north; 602219.00 east 2021-10-09T16:51:53Z- AHRS_M2 msg: 1633798313.19 epoch sec; seqNo:22 2021-10-09T16:51:53Z- AHRS_M2 msg: -0.03 phi; 0.00 theta; 1.82 psi 2021-10-09T16:51:53Z- handleDepth()-Depth_Keller msg: 1633798313205 epoch sec; seqNo:22; depth 0.05 2021-10-09T16:51:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798313.21 epoch sec; seqNo:22; 4074197.25 north; 602219.00 east 2021-10-09T16:51:53Z- AHRS_M2 msg: 1633798313.59 epoch sec; seqNo:23 2021-10-09T16:51:53Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.84 psi 2021-10-09T16:51:53Z- handleDepth()-Depth_Keller msg: 1633798313603 epoch sec; seqNo:23; depth 0.06 2021-10-09T16:51:53Z- handleDvl() - RDI_Pathfinder msg: 1633798313.63 epoch sec; seqNo:5 2021-10-09T16:51:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798313.64 epoch sec; seqNo:23; 4074197.25 north; 602219.00 east 2021-10-09T16:51:54Z- AHRS_M2 msg: 1633798314.00 epoch sec; seqNo:24 2021-10-09T16:51:54Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.82 psi 2021-10-09T16:51:54Z- handleDepth()-Depth_Keller msg: 1633798314007 epoch sec; seqNo:24; depth 0.07 2021-10-09T16:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798314.02 epoch sec; seqNo:24; 4074197.25 north; 602219.00 east 2021-10-09T16:51:54Z- AHRS_M2 msg: 1633798314.40 epoch sec; seqNo:25 2021-10-09T16:51:54Z- AHRS_M2 msg: -0.09 phi; 0.01 theta; 1.82 psi 2021-10-09T16:51:54Z- handleDepth()-Depth_Keller msg: 1633798314407 epoch sec; seqNo:25; depth 0.08 2021-10-09T16:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798314.42 epoch sec; seqNo:25; 4074197.25 north; 602219.00 east 2021-10-09T16:51:54Z- AHRS_M2 msg: 1633798314.81 epoch sec; seqNo:26 2021-10-09T16:51:54Z- AHRS_M2 msg: -0.08 phi; -0.00 theta; 1.83 psi 2021-10-09T16:51:54Z- handleDepth()-Depth_Keller msg: 1633798314822 epoch sec; seqNo:26; depth 0.04 2021-10-09T16:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798314.83 epoch sec; seqNo:26; 4074197.25 north; 602219.00 east 2021-10-09T16:51:55Z- AHRS_M2 msg: 1633798315.21 epoch sec; seqNo:27 2021-10-09T16:51:55Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.83 psi 2021-10-09T16:51:55Z- handleDepth()-Depth_Keller msg: 1633798315213 epoch sec; seqNo:27; depth 0.05 2021-10-09T16:51:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798315.22 epoch sec; seqNo:27; 4074197.25 north; 602219.00 east 2021-10-09T16:51:55Z- AHRS_M2 msg: 1633798315.61 epoch sec; seqNo:28 2021-10-09T16:51:55Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.82 psi 2021-10-09T16:51:55Z- handleDepth()-Depth_Keller msg: 1633798315624 epoch sec; seqNo:28; depth 0.09 2021-10-09T16:51:55Z- handleDvl() - RDI_Pathfinder msg: 1633798315.65 epoch sec; seqNo:6 2021-10-09T16:51:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798315.67 epoch sec; seqNo:28; 4074197.25 north; 602219.00 east 2021-10-09T16:51:56Z- AHRS_M2 msg: 1633798316.02 epoch sec; seqNo:29 2021-10-09T16:51:56Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.82 psi 2021-10-09T16:51:56Z- handleDepth()-Depth_Keller msg: 1633798316028 epoch sec; seqNo:29; depth 0.09 2021-10-09T16:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798316.04 epoch sec; seqNo:29; 4074197.25 north; 602219.00 east 2021-10-09T16:51:56Z- AHRS_M2 msg: 1633798316.42 epoch sec; seqNo:30 2021-10-09T16:51:56Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.82 psi 2021-10-09T16:51:56Z- handleDepth()-Depth_Keller msg: 1633798316425 epoch sec; seqNo:30; depth 0.06 2021-10-09T16:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798316.44 epoch sec; seqNo:30; 4074197.25 north; 602219.00 east 2021-10-09T16:51:56Z- AHRS_M2 msg: 1633798316.83 epoch sec; seqNo:31 2021-10-09T16:51:56Z- AHRS_M2 msg: -0.15 phi; -0.06 theta; 1.82 psi 2021-10-09T16:51:56Z- handleDepth()-Depth_Keller msg: 1633798316831 epoch sec; seqNo:31; depth 0.05 2021-10-09T16:51:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:51:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:51:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:51:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:51:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:51:56Z- handleDvl() - RDI_Pathfinder msg: 1633798316.83 epoch sec; seqNo:7 2021-10-09T16:51:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:56Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798316.84 epoch sec; seqNo:31; 4074197.25 north; 602219.00 east 2021-10-09T16:51:56Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 128 calls... 2021-10-09T16:51:56Z- waiting for 1633798314.62, time is 1633798316.84 2021-10-09T16:51:56Z- LcmTrn::updateTrn() equating pose 1633798316.84 and meas times 1633798316.84 2021-10-09T16:51:56Z- LcmTrn::updateTrn() >>>> pose time 1633798316.84, meas time 1633798316.84 <<<< 2021-10-09T16:51:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798316.84, ping # 0. 2021-10-09T16:51:56Z- TerrainNav::Measurement type 1 from time = 1633798316.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:51:56Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.05) 2021-10-09T16:51:56Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:51:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:51:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:51:56Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:51:56Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:51:56Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:51:56Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:51:57Z- AHRS_M2 msg: 1633798317.23 epoch sec; seqNo:32 2021-10-09T16:51:57Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 1.81 psi 2021-10-09T16:51:57Z- handleDepth()-Depth_Keller msg: 1633798317233 epoch sec; seqNo:32; depth 0.06 2021-10-09T16:51:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798317.24 epoch sec; seqNo:32; 4074197.25 north; 602219.00 east 2021-10-09T16:51:57Z- AHRS_M2 msg: 1633798317.63 epoch sec; seqNo:33 2021-10-09T16:51:57Z- AHRS_M2 msg: -0.15 phi; 0.03 theta; 1.80 psi 2021-10-09T16:51:57Z- handleDepth()-Depth_Keller msg: 1633798317640 epoch sec; seqNo:33; depth 0.06 2021-10-09T16:51:57Z- handleDvl() - RDI_Pathfinder msg: 1633798317.66 epoch sec; seqNo:8 2021-10-09T16:51:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798317.67 epoch sec; seqNo:33; 4074197.25 north; 602219.00 east 2021-10-09T16:51:58Z- AHRS_M2 msg: 1633798318.04 epoch sec; seqNo:34 2021-10-09T16:51:58Z- AHRS_M2 msg: -0.07 phi; 0.03 theta; 1.82 psi 2021-10-09T16:51:58Z- handleDepth()-Depth_Keller msg: 1633798318041 epoch sec; seqNo:34; depth 0.05 2021-10-09T16:51:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:51:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:51:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:51:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:51:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:51:58Z- handleDvl() - RDI_Pathfinder msg: 1633798318.04 epoch sec; seqNo:9 2021-10-09T16:51:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:58Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798318.07 epoch sec; seqNo:34; 4074197.25 north; 602219.00 east 2021-10-09T16:51:58Z- AHRS_M2 msg: 1633798318.44 epoch sec; seqNo:35 2021-10-09T16:51:58Z- AHRS_M2 msg: 0.05 phi; 0.01 theta; 1.81 psi 2021-10-09T16:51:58Z- handleDepth()-Depth_Keller msg: 1633798318444 epoch sec; seqNo:35; depth 0.06 2021-10-09T16:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798318.45 epoch sec; seqNo:35; 4074197.25 north; 602219.00 east 2021-10-09T16:51:58Z- AHRS_M2 msg: 1633798318.85 epoch sec; seqNo:36 2021-10-09T16:51:58Z- AHRS_M2 msg: 0.08 phi; -0.03 theta; 1.80 psi 2021-10-09T16:51:58Z- handleDepth()-Depth_Keller msg: 1633798318852 epoch sec; seqNo:36; depth 0.08 2021-10-09T16:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798318.86 epoch sec; seqNo:36; 4074197.25 north; 602219.00 east 2021-10-09T16:51:59Z- AHRS_M2 msg: 1633798319.25 epoch sec; seqNo:37 2021-10-09T16:51:59Z- AHRS_M2 msg: 0.05 phi; -0.03 theta; 1.82 psi 2021-10-09T16:51:59Z- handleDepth()-Depth_Keller msg: 1633798319252 epoch sec; seqNo:37; depth 0.08 2021-10-09T16:51:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:51:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:51:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:51:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:51:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:51:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:51:59Z- handleDvl() - RDI_Pathfinder msg: 1633798319.26 epoch sec; seqNo:10 2021-10-09T16:51:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798319.27 epoch sec; seqNo:37; 4074197.25 north; 602219.00 east 2021-10-09T16:51:59Z- AHRS_M2 msg: 1633798319.65 epoch sec; seqNo:38 2021-10-09T16:51:59Z- AHRS_M2 msg: -0.02 phi; 0.01 theta; 1.81 psi 2021-10-09T16:51:59Z- handleDepth()-Depth_Keller msg: 1633798319663 epoch sec; seqNo:38; depth 0.08 2021-10-09T16:51:59Z- handleDvl() - RDI_Pathfinder msg: 1633798319.69 epoch sec; seqNo:11 2021-10-09T16:51:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:51:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:51:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798319.71 epoch sec; seqNo:38; 4074197.25 north; 602219.00 east 2021-10-09T16:52:00Z- AHRS_M2 msg: 1633798320.06 epoch sec; seqNo:39 2021-10-09T16:52:00Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 1.79 psi 2021-10-09T16:52:00Z- handleDepth()-Depth_Keller msg: 1633798320062 epoch sec; seqNo:39; depth 0.05 2021-10-09T16:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798320.08 epoch sec; seqNo:39; 4074197.25 north; 602219.00 east 2021-10-09T16:52:00Z- AHRS_M2 msg: 1633798320.46 epoch sec; seqNo:40 2021-10-09T16:52:00Z- AHRS_M2 msg: -0.19 phi; -0.08 theta; 1.79 psi 2021-10-09T16:52:00Z- handleDepth()-Depth_Keller msg: 1633798320472 epoch sec; seqNo:40; depth 0.08 2021-10-09T16:52:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:00Z- handleDvl() - RDI_Pathfinder msg: 1633798320.47 epoch sec; seqNo:12 2021-10-09T16:52:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:00Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798320.48 epoch sec; seqNo:40; 4074197.25 north; 602219.00 east 2021-10-09T16:52:00Z- AHRS_M2 msg: 1633798320.87 epoch sec; seqNo:41 2021-10-09T16:52:00Z- AHRS_M2 msg: -0.18 phi; -0.06 theta; 1.81 psi 2021-10-09T16:52:00Z- handleDepth()-Depth_Keller msg: 1633798320869 epoch sec; seqNo:41; depth 0.09 2021-10-09T16:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798320.89 epoch sec; seqNo:41; 4074197.25 north; 602219.00 east 2021-10-09T16:52:01Z- AHRS_M2 msg: 1633798321.27 epoch sec; seqNo:42 2021-10-09T16:52:01Z- AHRS_M2 msg: -0.12 phi; 0.02 theta; 1.85 psi 2021-10-09T16:52:01Z- handleDepth()-Depth_Keller msg: 1633798321273 epoch sec; seqNo:42; depth 0.08 2021-10-09T16:52:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798321.28 epoch sec; seqNo:42; 4074197.25 north; 602219.00 east 2021-10-09T16:52:01Z- AHRS_M2 msg: 1633798321.67 epoch sec; seqNo:43 2021-10-09T16:52:01Z- AHRS_M2 msg: 0.00 phi; 0.05 theta; 1.85 psi 2021-10-09T16:52:01Z- handleDepth()-Depth_Keller msg: 1633798321677 epoch sec; seqNo:43; depth 0.07 2021-10-09T16:52:01Z- handleDvl() - RDI_Pathfinder msg: 1633798321.70 epoch sec; seqNo:13 2021-10-09T16:52:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798321.74 epoch sec; seqNo:43; 4074197.25 north; 602219.00 east 2021-10-09T16:52:01Z- LcmTrn::handleMessages() - handling 42 messages took 0.74 ms and 127 calls... 2021-10-09T16:52:01Z- waiting for 1633798319.84, time is 1633798321.74 2021-10-09T16:52:01Z- LcmTrn::updateTrn() equating pose 1633798321.74 and meas times 1633798321.74 2021-10-09T16:52:01Z- LcmTrn::updateTrn() >>>> pose time 1633798321.74, meas time 1633798321.74 <<<< 2021-10-09T16:52:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798321.74, ping # 0. 2021-10-09T16:52:01Z- TerrainNav::Measurement type 1 from time = 1633798321.74 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:01Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.07) 2021-10-09T16:52:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:01Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:01Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:01Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:01Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:02Z- AHRS_M2 msg: 1633798322.08 epoch sec; seqNo:44 2021-10-09T16:52:02Z- AHRS_M2 msg: 0.07 phi; 0.00 theta; 1.82 psi 2021-10-09T16:52:02Z- handleDepth()-Depth_Keller msg: 1633798322089 epoch sec; seqNo:44; depth 0.08 2021-10-09T16:52:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798322.11 epoch sec; seqNo:44; 4074197.25 north; 602219.00 east 2021-10-09T16:52:02Z- AHRS_M2 msg: 1633798322.49 epoch sec; seqNo:45 2021-10-09T16:52:02Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.85 psi 2021-10-09T16:52:02Z- handleDepth()-Depth_Keller msg: 1633798322490 epoch sec; seqNo:45; depth 0.06 2021-10-09T16:52:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798322.51 epoch sec; seqNo:45; 4074197.25 north; 602219.00 east 2021-10-09T16:52:02Z- AHRS_M2 msg: 1633798322.88 epoch sec; seqNo:46 2021-10-09T16:52:02Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 1.82 psi 2021-10-09T16:52:02Z- handleDepth()-Depth_Keller msg: 1633798322892 epoch sec; seqNo:46; depth 0.06 2021-10-09T16:52:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:02Z- handleDvl() - RDI_Pathfinder msg: 1633798322.89 epoch sec; seqNo:14 2021-10-09T16:52:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:02Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798322.90 epoch sec; seqNo:46; 4074197.25 north; 602219.00 east 2021-10-09T16:52:03Z- AHRS_M2 msg: 1633798323.29 epoch sec; seqNo:47 2021-10-09T16:52:03Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 1.81 psi 2021-10-09T16:52:03Z- handleDepth()-Depth_Keller msg: 1633798323296 epoch sec; seqNo:47; depth 0.09 2021-10-09T16:52:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798323.31 epoch sec; seqNo:47; 4074197.25 north; 602219.00 east 2021-10-09T16:52:03Z- AHRS_M2 msg: 1633798323.69 epoch sec; seqNo:48 2021-10-09T16:52:03Z- AHRS_M2 msg: -0.15 phi; -0.02 theta; 1.82 psi 2021-10-09T16:52:03Z- handleDepth()-Depth_Keller msg: 1633798323703 epoch sec; seqNo:48; depth 0.07 2021-10-09T16:52:03Z- handleDvl() - RDI_Pathfinder msg: 1633798323.72 epoch sec; seqNo:15 2021-10-09T16:52:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798323.74 epoch sec; seqNo:48; 4074197.25 north; 602219.00 east 2021-10-09T16:52:04Z- AHRS_M2 msg: 1633798324.10 epoch sec; seqNo:49 2021-10-09T16:52:04Z- AHRS_M2 msg: -0.18 phi; -0.04 theta; 1.82 psi 2021-10-09T16:52:04Z- handleDepth()-Depth_Keller msg: 1633798324113 epoch sec; seqNo:49; depth 0.06 2021-10-09T16:52:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:04Z- handleDvl() - RDI_Pathfinder msg: 1633798324.12 epoch sec; seqNo:16 2021-10-09T16:52:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:04Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798324.13 epoch sec; seqNo:49; 4074197.25 north; 602219.00 east 2021-10-09T16:52:04Z- AHRS_M2 msg: 1633798324.50 epoch sec; seqNo:50 2021-10-09T16:52:04Z- AHRS_M2 msg: -0.15 phi; -0.05 theta; 1.80 psi 2021-10-09T16:52:04Z- handleDepth()-Depth_Keller msg: 1633798324511 epoch sec; seqNo:50; depth 0.06 2021-10-09T16:52:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798324.52 epoch sec; seqNo:50; 4074197.25 north; 602219.00 east 2021-10-09T16:52:04Z- AHRS_M2 msg: 1633798324.91 epoch sec; seqNo:51 2021-10-09T16:52:04Z- AHRS_M2 msg: -0.09 phi; -0.04 theta; 1.82 psi 2021-10-09T16:52:04Z- handleDepth()-Depth_Keller msg: 1633798324914 epoch sec; seqNo:51; depth 0.06 2021-10-09T16:52:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798324.92 epoch sec; seqNo:51; 4074197.25 north; 602219.00 east 2021-10-09T16:52:05Z- AHRS_M2 msg: 1633798325.31 epoch sec; seqNo:52 2021-10-09T16:52:05Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 1.82 psi 2021-10-09T16:52:05Z- handleDepth()-Depth_Keller msg: 1633798325352 epoch sec; seqNo:52; depth 0.05 2021-10-09T16:52:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:05Z- handleDvl() - RDI_Pathfinder msg: 1633798325.36 epoch sec; seqNo:17 2021-10-09T16:52:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798325.37 epoch sec; seqNo:52; 4074197.25 north; 602219.00 east 2021-10-09T16:52:05Z- AHRS_M2 msg: 1633798325.71 epoch sec; seqNo:53 2021-10-09T16:52:05Z- AHRS_M2 msg: 0.08 phi; 0.03 theta; 1.80 psi 2021-10-09T16:52:05Z- handleDepth()-Depth_Keller msg: 1633798325718 epoch sec; seqNo:53; depth 0.05 2021-10-09T16:52:05Z- handleDvl() - RDI_Pathfinder msg: 1633798325.75 epoch sec; seqNo:18 2021-10-09T16:52:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798325.77 epoch sec; seqNo:53; 4074197.25 north; 602219.00 east 2021-10-09T16:52:06Z- AHRS_M2 msg: 1633798326.12 epoch sec; seqNo:54 2021-10-09T16:52:06Z- AHRS_M2 msg: 0.06 phi; 0.02 theta; 1.79 psi 2021-10-09T16:52:06Z- handleDepth()-Depth_Keller msg: 1633798326121 epoch sec; seqNo:54; depth 0.07 2021-10-09T16:52:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798326.14 epoch sec; seqNo:54; 4074197.25 north; 602219.00 east 2021-10-09T16:52:06Z- AHRS_M2 msg: 1633798326.52 epoch sec; seqNo:55 2021-10-09T16:52:06Z- AHRS_M2 msg: -0.02 phi; 0.03 theta; 1.80 psi 2021-10-09T16:52:06Z- handleDepth()-Depth_Keller msg: 1633798326534 epoch sec; seqNo:55; depth 0.06 2021-10-09T16:52:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:06Z- handleDvl() - RDI_Pathfinder msg: 1633798326.54 epoch sec; seqNo:19 2021-10-09T16:52:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:06Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798326.55 epoch sec; seqNo:55; 4074197.25 north; 602219.00 east 2021-10-09T16:52:06Z- LcmTrn::handleMessages() - handling 42 messages took 0.69 ms and 128 calls... 2021-10-09T16:52:06Z- waiting for 1633798324.74, time is 1633798326.55 2021-10-09T16:52:06Z- LcmTrn::updateTrn() equating pose 1633798326.55 and meas times 1633798326.55 2021-10-09T16:52:06Z- LcmTrn::updateTrn() >>>> pose time 1633798326.55, meas time 1633798326.55 <<<< 2021-10-09T16:52:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798326.55, ping # 0. 2021-10-09T16:52:06Z- TerrainNav::Measurement type 1 from time = 1633798326.55 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:06Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.06) 2021-10-09T16:52:06Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:06Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:06Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:06Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:06Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:06Z- AHRS_M2 msg: 1633798326.93 epoch sec; seqNo:56 2021-10-09T16:52:06Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.81 psi 2021-10-09T16:52:06Z- handleDepth()-Depth_Keller msg: 1633798326937 epoch sec; seqNo:56; depth 0.05 2021-10-09T16:52:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798326.95 epoch sec; seqNo:56; 4074197.25 north; 602219.00 east 2021-10-09T16:52:07Z- AHRS_M2 msg: 1633798327.33 epoch sec; seqNo:57 2021-10-09T16:52:07Z- AHRS_M2 msg: -0.14 phi; -0.02 theta; 1.82 psi 2021-10-09T16:52:07Z- handleDepth()-Depth_Keller msg: 1633798327338 epoch sec; seqNo:57; depth 0.06 2021-10-09T16:52:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798327.36 epoch sec; seqNo:57; 4074197.25 north; 602219.00 east 2021-10-09T16:52:07Z- AHRS_M2 msg: 1633798327.73 epoch sec; seqNo:58 2021-10-09T16:52:07Z- AHRS_M2 msg: -0.16 phi; -0.03 theta; 1.80 psi 2021-10-09T16:52:07Z- handleDepth()-Depth_Keller msg: 1633798327740 epoch sec; seqNo:58; depth 0.05 2021-10-09T16:52:07Z- handleDvl() - RDI_Pathfinder msg: 1633798327.76 epoch sec; seqNo:20 2021-10-09T16:52:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798327.80 epoch sec; seqNo:58; 4074197.25 north; 602219.00 east 2021-10-09T16:52:08Z- AHRS_M2 msg: 1633798328.14 epoch sec; seqNo:59 2021-10-09T16:52:08Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 1.80 psi 2021-10-09T16:52:08Z- handleDepth()-Depth_Keller msg: 1633798328142 epoch sec; seqNo:59; depth 0.08 2021-10-09T16:52:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798328.16 epoch sec; seqNo:59; 4074197.25 north; 602219.00 east 2021-10-09T16:52:08Z- AHRS_M2 msg: 1633798328.54 epoch sec; seqNo:60 2021-10-09T16:52:08Z- AHRS_M2 msg: -0.15 phi; 0.00 theta; 1.81 psi 2021-10-09T16:52:08Z- handleDepth()-Depth_Keller msg: 1633798328549 epoch sec; seqNo:60; depth 0.06 2021-10-09T16:52:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798328.56 epoch sec; seqNo:60; 4074197.25 north; 602219.00 east 2021-10-09T16:52:08Z- AHRS_M2 msg: 1633798328.94 epoch sec; seqNo:61 2021-10-09T16:52:08Z- AHRS_M2 msg: -0.07 phi; -0.06 theta; 1.80 psi 2021-10-09T16:52:08Z- handleDepth()-Depth_Keller msg: 1633798328949 epoch sec; seqNo:61; depth 0.04 2021-10-09T16:52:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798328.96 epoch sec; seqNo:61; 4074197.25 north; 602219.00 east 2021-10-09T16:52:09Z- AHRS_M2 msg: 1633798329.35 epoch sec; seqNo:62 2021-10-09T16:52:09Z- AHRS_M2 msg: 0.02 phi; -0.06 theta; 1.83 psi 2021-10-09T16:52:09Z- handleDepth()-Depth_Keller msg: 1633798329356 epoch sec; seqNo:62; depth 0.06 2021-10-09T16:52:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798329.39 epoch sec; seqNo:62; 4074197.25 north; 602219.00 east 2021-10-09T16:52:09Z- AHRS_M2 msg: 1633798329.75 epoch sec; seqNo:63 2021-10-09T16:52:09Z- AHRS_M2 msg: 0.07 phi; 0.01 theta; 1.83 psi 2021-10-09T16:52:09Z- handleDepth()-Depth_Keller msg: 1633798329759 epoch sec; seqNo:63; depth 0.09 2021-10-09T16:52:09Z- handleDvl() - RDI_Pathfinder msg: 1633798329.82 epoch sec; seqNo:21 2021-10-09T16:52:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798329.84 epoch sec; seqNo:63; 4074197.25 north; 602219.00 east 2021-10-09T16:52:10Z- AHRS_M2 msg: 1633798330.16 epoch sec; seqNo:64 2021-10-09T16:52:10Z- AHRS_M2 msg: 0.02 phi; 0.03 theta; 1.83 psi 2021-10-09T16:52:10Z- handleDepth()-Depth_Keller msg: 1633798330168 epoch sec; seqNo:64; depth 0.08 2021-10-09T16:52:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798330.19 epoch sec; seqNo:64; 4074197.25 north; 602219.00 east 2021-10-09T16:52:10Z- AHRS_M2 msg: 1633798330.56 epoch sec; seqNo:65 2021-10-09T16:52:10Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 1.83 psi 2021-10-09T16:52:10Z- handleDepth()-Depth_Keller msg: 1633798330568 epoch sec; seqNo:65; depth 0.07 2021-10-09T16:52:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798330.60 epoch sec; seqNo:65; 4074197.25 north; 602219.00 east 2021-10-09T16:52:10Z- AHRS_M2 msg: 1633798330.96 epoch sec; seqNo:66 2021-10-09T16:52:10Z- AHRS_M2 msg: -0.13 phi; -0.03 theta; 1.83 psi 2021-10-09T16:52:10Z- handleDepth()-Depth_Keller msg: 1633798330972 epoch sec; seqNo:66; depth 0.08 2021-10-09T16:52:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798330.98 epoch sec; seqNo:66; 4074197.25 north; 602219.00 east 2021-10-09T16:52:11Z- AHRS_M2 msg: 1633798331.37 epoch sec; seqNo:67 2021-10-09T16:52:11Z- AHRS_M2 msg: -0.14 phi; -0.01 theta; 1.83 psi 2021-10-09T16:52:11Z- handleDepth()-Depth_Keller msg: 1633798331380 epoch sec; seqNo:67; depth 0.08 2021-10-09T16:52:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798331.40 epoch sec; seqNo:67; 4074197.25 north; 602219.00 east 2021-10-09T16:52:11Z- AHRS_M2 msg: 1633798331.77 epoch sec; seqNo:68 2021-10-09T16:52:11Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 1.81 psi 2021-10-09T16:52:11Z- handleDepth()-Depth_Keller msg: 1633798331791 epoch sec; seqNo:68; depth 0.07 2021-10-09T16:52:11Z- handleDvl() - RDI_Pathfinder msg: 1633798331.83 epoch sec; seqNo:22 2021-10-09T16:52:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798331.88 epoch sec; seqNo:68; 4074197.25 north; 602219.00 east 2021-10-09T16:52:11Z- LcmTrn::handleMessages() - handling 42 messages took 0.81 ms and 126 calls... 2021-10-09T16:52:11Z- waiting for 1633798329.55, time is 1633798331.88 2021-10-09T16:52:11Z- LcmTrn::updateTrn() equating pose 1633798331.88 and meas times 1633798331.88 2021-10-09T16:52:11Z- LcmTrn::updateTrn() >>>> pose time 1633798331.88, meas time 1633798331.88 <<<< 2021-10-09T16:52:11Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798331.88, ping # 0. 2021-10-09T16:52:11Z- TerrainNav::Measurement type 1 from time = 1633798331.88 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:11Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.07) 2021-10-09T16:52:11Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:11Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:11Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:11Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:12Z- AHRS_M2 msg: 1633798332.18 epoch sec; seqNo:69 2021-10-09T16:52:12Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 1.82 psi 2021-10-09T16:52:12Z- handleDepth()-Depth_Keller msg: 1633798332184 epoch sec; seqNo:69; depth 0.04 2021-10-09T16:52:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798332.21 epoch sec; seqNo:69; 4074197.25 north; 602219.00 east 2021-10-09T16:52:12Z- AHRS_M2 msg: 1633798332.58 epoch sec; seqNo:70 2021-10-09T16:52:12Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 1.81 psi 2021-10-09T16:52:12Z- handleDepth()-Depth_Keller msg: 1633798332591 epoch sec; seqNo:70; depth 0.04 2021-10-09T16:52:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798332.61 epoch sec; seqNo:70; 4074197.25 north; 602219.00 east 2021-10-09T16:52:12Z- AHRS_M2 msg: 1633798332.99 epoch sec; seqNo:71 2021-10-09T16:52:12Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 1.79 psi 2021-10-09T16:52:13Z- handleDepth()-Depth_Keller msg: 1633798333000 epoch sec; seqNo:71; depth 0.06 2021-10-09T16:52:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798333.02 epoch sec; seqNo:71; 4074197.25 north; 602219.00 east 2021-10-09T16:52:13Z- AHRS_M2 msg: 1633798333.39 epoch sec; seqNo:72 2021-10-09T16:52:13Z- AHRS_M2 msg: 0.06 phi; 0.02 theta; 1.80 psi 2021-10-09T16:52:13Z- handleDepth()-Depth_Keller msg: 1633798333402 epoch sec; seqNo:72; depth 0.08 2021-10-09T16:52:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798333.41 epoch sec; seqNo:72; 4074197.25 north; 602219.00 east 2021-10-09T16:52:13Z- AHRS_M2 msg: 1633798333.79 epoch sec; seqNo:73 2021-10-09T16:52:13Z- AHRS_M2 msg: -0.02 phi; 0.04 theta; 1.81 psi 2021-10-09T16:52:13Z- handleDepth()-Depth_Keller msg: 1633798333800 epoch sec; seqNo:73; depth 0.07 2021-10-09T16:52:13Z- handleDvl() - RDI_Pathfinder msg: 1633798333.83 epoch sec; seqNo:23 2021-10-09T16:52:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798333.85 epoch sec; seqNo:73; 4074197.25 north; 602219.00 east 2021-10-09T16:52:14Z- AHRS_M2 msg: 1633798334.20 epoch sec; seqNo:74 2021-10-09T16:52:14Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 1.80 psi 2021-10-09T16:52:14Z- handleDepth()-Depth_Keller msg: 1633798334207 epoch sec; seqNo:74; depth 0.07 2021-10-09T16:52:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798334.22 epoch sec; seqNo:74; 4074197.25 north; 602219.00 east 2021-10-09T16:52:14Z- AHRS_M2 msg: 1633798334.61 epoch sec; seqNo:75 2021-10-09T16:52:14Z- AHRS_M2 msg: -0.14 phi; -0.05 theta; 1.82 psi 2021-10-09T16:52:14Z- handleDepth()-Depth_Keller msg: 1633798334612 epoch sec; seqNo:75; depth 0.10 2021-10-09T16:52:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798334.62 epoch sec; seqNo:75; 4074197.25 north; 602219.00 east 2021-10-09T16:52:15Z- AHRS_M2 msg: 1633798335.00 epoch sec; seqNo:76 2021-10-09T16:52:15Z- AHRS_M2 msg: -0.16 phi; 0.03 theta; 1.84 psi 2021-10-09T16:52:15Z- handleDepth()-Depth_Keller msg: 1633798335019 epoch sec; seqNo:76; depth 0.09 2021-10-09T16:52:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798335.03 epoch sec; seqNo:76; 4074197.25 north; 602219.00 east 2021-10-09T16:52:15Z- AHRS_M2 msg: 1633798335.41 epoch sec; seqNo:77 2021-10-09T16:52:15Z- AHRS_M2 msg: -0.13 phi; 0.05 theta; 1.84 psi 2021-10-09T16:52:15Z- handleDepth()-Depth_Keller msg: 1633798335444 epoch sec; seqNo:77; depth 0.06 2021-10-09T16:52:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798335.46 epoch sec; seqNo:77; 4074197.25 north; 602219.00 east 2021-10-09T16:52:15Z- AHRS_M2 msg: 1633798335.82 epoch sec; seqNo:78 2021-10-09T16:52:15Z- AHRS_M2 msg: -0.11 phi; -0.06 theta; 1.83 psi 2021-10-09T16:52:15Z- handleDepth()-Depth_Keller msg: 1633798335821 epoch sec; seqNo:78; depth 0.07 2021-10-09T16:52:15Z- handleDvl() - RDI_Pathfinder msg: 1633798335.84 epoch sec; seqNo:24 2021-10-09T16:52:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798335.88 epoch sec; seqNo:78; 4074197.25 north; 602219.00 east 2021-10-09T16:52:16Z- AHRS_M2 msg: 1633798336.22 epoch sec; seqNo:79 2021-10-09T16:52:16Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 1.85 psi 2021-10-09T16:52:16Z- handleDepth()-Depth_Keller msg: 1633798336224 epoch sec; seqNo:79; depth 0.11 2021-10-09T16:52:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798336.24 epoch sec; seqNo:79; 4074197.25 north; 602219.00 east 2021-10-09T16:52:16Z- AHRS_M2 msg: 1633798336.62 epoch sec; seqNo:80 2021-10-09T16:52:16Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 1.88 psi 2021-10-09T16:52:16Z- handleDepth()-Depth_Keller msg: 1633798336630 epoch sec; seqNo:80; depth 0.09 2021-10-09T16:52:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798336.64 epoch sec; seqNo:80; 4074197.25 north; 602219.00 east 2021-10-09T16:52:16Z- LcmTrn::handleMessages() - handling 38 messages took 0.75 ms and 122 calls... 2021-10-09T16:52:16Z- waiting for 1633798334.88, time is 1633798336.64 2021-10-09T16:52:16Z- LcmTrn::updateTrn() >>>> pose time 1633798336.64, meas time 1633798335.84 <<<< 2021-10-09T16:52:16Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798335.84, ping # 0. 2021-10-09T16:52:16Z- TerrainNav::Measurement type 1 from time = 1633798335.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:16Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.09) 2021-10-09T16:52:16Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:16Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:16Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:16Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:17Z- AHRS_M2 msg: 1633798337.03 epoch sec; seqNo:81 2021-10-09T16:52:17Z- AHRS_M2 msg: 0.09 phi; 0.01 theta; 1.88 psi 2021-10-09T16:52:17Z- handleDepth()-Depth_Keller msg: 1633798337035 epoch sec; seqNo:81; depth 0.09 2021-10-09T16:52:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798337.06 epoch sec; seqNo:81; 4074197.25 north; 602219.00 east 2021-10-09T16:52:17Z- AHRS_M2 msg: 1633798337.43 epoch sec; seqNo:82 2021-10-09T16:52:17Z- AHRS_M2 msg: 0.07 phi; -0.07 theta; 1.86 psi 2021-10-09T16:52:17Z- handleDepth()-Depth_Keller msg: 1633798337439 epoch sec; seqNo:82; depth 0.09 2021-10-09T16:52:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798337.45 epoch sec; seqNo:82; 4074197.25 north; 602219.00 east 2021-10-09T16:52:17Z- AHRS_M2 msg: 1633798337.84 epoch sec; seqNo:83 2021-10-09T16:52:17Z- AHRS_M2 msg: -0.00 phi; -0.07 theta; 1.86 psi 2021-10-09T16:52:17Z- handleDepth()-Depth_Keller msg: 1633798337843 epoch sec; seqNo:83; depth 0.10 2021-10-09T16:52:17Z- handleDvl() - RDI_Pathfinder msg: 1633798337.87 epoch sec; seqNo:25 2021-10-09T16:52:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798337.88 epoch sec; seqNo:83; 4074197.25 north; 602219.00 east 2021-10-09T16:52:18Z- AHRS_M2 msg: 1633798338.24 epoch sec; seqNo:84 2021-10-09T16:52:18Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.90 psi 2021-10-09T16:52:18Z- handleDepth()-Depth_Keller msg: 1633798338241 epoch sec; seqNo:84; depth 0.08 2021-10-09T16:52:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798338.27 epoch sec; seqNo:84; 4074197.25 north; 602219.00 east 2021-10-09T16:52:18Z- AHRS_M2 msg: 1633798338.64 epoch sec; seqNo:85 2021-10-09T16:52:18Z- AHRS_M2 msg: -0.06 phi; 0.04 theta; 1.92 psi 2021-10-09T16:52:18Z- handleDepth()-Depth_Keller msg: 1633798338645 epoch sec; seqNo:85; depth 0.06 2021-10-09T16:52:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798338.66 epoch sec; seqNo:85; 4074197.25 north; 602219.00 east 2021-10-09T16:52:19Z- AHRS_M2 msg: 1633798339.04 epoch sec; seqNo:86 2021-10-09T16:52:19Z- AHRS_M2 msg: -0.08 phi; 0.02 theta; 1.88 psi 2021-10-09T16:52:19Z- handleDepth()-Depth_Keller msg: 1633798339059 epoch sec; seqNo:86; depth 0.05 2021-10-09T16:52:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798339.07 epoch sec; seqNo:86; 4074197.25 north; 602219.00 east 2021-10-09T16:52:19Z- AHRS_M2 msg: 1633798339.45 epoch sec; seqNo:87 2021-10-09T16:52:19Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 1.94 psi 2021-10-09T16:52:19Z- handleDepth()-Depth_Keller msg: 1633798339459 epoch sec; seqNo:87; depth 0.06 2021-10-09T16:52:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798339.48 epoch sec; seqNo:87; 4074197.25 north; 602219.00 east 2021-10-09T16:52:19Z- AHRS_M2 msg: 1633798339.85 epoch sec; seqNo:88 2021-10-09T16:52:19Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 1.95 psi 2021-10-09T16:52:19Z- handleDepth()-Depth_Keller msg: 1633798339860 epoch sec; seqNo:88; depth 0.06 2021-10-09T16:52:19Z- handleDvl() - RDI_Pathfinder msg: 1633798339.89 epoch sec; seqNo:26 2021-10-09T16:52:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798339.90 epoch sec; seqNo:88; 4074197.25 north; 602219.00 east 2021-10-09T16:52:20Z- AHRS_M2 msg: 1633798340.26 epoch sec; seqNo:89 2021-10-09T16:52:20Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 1.95 psi 2021-10-09T16:52:20Z- handleDepth()-Depth_Keller msg: 1633798340268 epoch sec; seqNo:89; depth 0.08 2021-10-09T16:52:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798340.28 epoch sec; seqNo:89; 4074197.25 north; 602219.00 east 2021-10-09T16:52:20Z- AHRS_M2 msg: 1633798340.66 epoch sec; seqNo:90 2021-10-09T16:52:20Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 1.93 psi 2021-10-09T16:52:20Z- handleDepth()-Depth_Keller msg: 1633798340679 epoch sec; seqNo:90; depth 0.06 2021-10-09T16:52:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798340.69 epoch sec; seqNo:90; 4074197.25 north; 602219.00 east 2021-10-09T16:52:21Z- AHRS_M2 msg: 1633798341.06 epoch sec; seqNo:91 2021-10-09T16:52:21Z- AHRS_M2 msg: -0.06 phi; -0.12 theta; 1.95 psi 2021-10-09T16:52:21Z- handleDepth()-Depth_Keller msg: 1633798341069 epoch sec; seqNo:91; depth 0.09 2021-10-09T16:52:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798341.08 epoch sec; seqNo:91; 4074197.25 north; 602219.00 east 2021-10-09T16:52:21Z- AHRS_M2 msg: 1633798341.47 epoch sec; seqNo:92 2021-10-09T16:52:21Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 2.03 psi 2021-10-09T16:52:21Z- handleDepth()-Depth_Keller msg: 1633798341476 epoch sec; seqNo:92; depth 0.09 2021-10-09T16:52:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798341.49 epoch sec; seqNo:92; 4074197.25 north; 602219.00 east 2021-10-09T16:52:21Z- AHRS_M2 msg: 1633798341.88 epoch sec; seqNo:93 2021-10-09T16:52:21Z- AHRS_M2 msg: -0.03 phi; 0.03 theta; 2.04 psi 2021-10-09T16:52:21Z- handleDepth()-Depth_Keller msg: 1633798341885 epoch sec; seqNo:93; depth 0.09 2021-10-09T16:52:21Z- handleDvl() - RDI_Pathfinder msg: 1633798341.90 epoch sec; seqNo:27 2021-10-09T16:52:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:21Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798341.92 epoch sec; seqNo:93; 4074197.25 north; 602219.00 east 2021-10-09T16:52:21Z- LcmTrn::handleMessages() - handling 42 messages took 0.79 ms and 126 calls... 2021-10-09T16:52:21Z- waiting for 1633798339.64, time is 1633798341.92 2021-10-09T16:52:21Z- LcmTrn::updateTrn() equating pose 1633798341.92 and meas times 1633798341.92 2021-10-09T16:52:21Z- LcmTrn::updateTrn() >>>> pose time 1633798341.92, meas time 1633798341.92 <<<< 2021-10-09T16:52:21Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798341.92, ping # 0. 2021-10-09T16:52:21Z- TerrainNav::Measurement type 1 from time = 1633798341.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:21Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.09) 2021-10-09T16:52:21Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:22Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:22Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:22Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:22Z- AHRS_M2 msg: 1633798342.28 epoch sec; seqNo:94 2021-10-09T16:52:22Z- AHRS_M2 msg: -0.09 phi; 0.02 theta; 2.03 psi 2021-10-09T16:52:22Z- handleDepth()-Depth_Keller msg: 1633798342281 epoch sec; seqNo:94; depth 0.07 2021-10-09T16:52:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798342.31 epoch sec; seqNo:94; 4074197.25 north; 602219.00 east 2021-10-09T16:52:22Z- AHRS_M2 msg: 1633798342.68 epoch sec; seqNo:95 2021-10-09T16:52:22Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 2.03 psi 2021-10-09T16:52:22Z- handleDepth()-Depth_Keller msg: 1633798342688 epoch sec; seqNo:95; depth 0.04 2021-10-09T16:52:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798342.70 epoch sec; seqNo:95; 4074197.25 north; 602219.00 east 2021-10-09T16:52:23Z- AHRS_M2 msg: 1633798343.09 epoch sec; seqNo:96 2021-10-09T16:52:23Z- AHRS_M2 msg: -0.07 phi; -0.04 theta; 2.08 psi 2021-10-09T16:52:23Z- handleDepth()-Depth_Keller msg: 1633798343098 epoch sec; seqNo:96; depth 0.04 2021-10-09T16:52:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798343.11 epoch sec; seqNo:96; 4074197.25 north; 602219.00 east 2021-10-09T16:52:23Z- AHRS_M2 msg: 1633798343.49 epoch sec; seqNo:97 2021-10-09T16:52:23Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 2.12 psi 2021-10-09T16:52:23Z- handleDepth()-Depth_Keller msg: 1633798343516 epoch sec; seqNo:97; depth 0.06 2021-10-09T16:52:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798343.56 epoch sec; seqNo:97; 4074197.25 north; 602219.00 east 2021-10-09T16:52:23Z- AHRS_M2 msg: 1633798343.89 epoch sec; seqNo:98 2021-10-09T16:52:23Z- AHRS_M2 msg: 0.11 phi; -0.02 theta; 2.12 psi 2021-10-09T16:52:23Z- handleDepth()-Depth_Keller msg: 1633798343900 epoch sec; seqNo:98; depth 0.07 2021-10-09T16:52:23Z- handleDvl() - RDI_Pathfinder msg: 1633798343.93 epoch sec; seqNo:28 2021-10-09T16:52:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798343.94 epoch sec; seqNo:98; 4074197.25 north; 602219.00 east 2021-10-09T16:52:24Z- AHRS_M2 msg: 1633798344.30 epoch sec; seqNo:99 2021-10-09T16:52:24Z- AHRS_M2 msg: 0.05 phi; -0.07 theta; 2.12 psi 2021-10-09T16:52:24Z- handleDepth()-Depth_Keller msg: 1633798344305 epoch sec; seqNo:99; depth 0.11 2021-10-09T16:52:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798344.32 epoch sec; seqNo:99; 4074197.25 north; 602219.00 east 2021-10-09T16:52:24Z- AHRS_M2 msg: 1633798344.70 epoch sec; seqNo:100 2021-10-09T16:52:24Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 2.16 psi 2021-10-09T16:52:24Z- handleDepth()-Depth_Keller msg: 1633798344707 epoch sec; seqNo:100; depth 0.10 2021-10-09T16:52:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798344.72 epoch sec; seqNo:100; 4074197.25 north; 602219.00 east 2021-10-09T16:52:25Z- AHRS_M2 msg: 1633798345.10 epoch sec; seqNo:101 2021-10-09T16:52:25Z- AHRS_M2 msg: -0.14 phi; -0.07 theta; 2.20 psi 2021-10-09T16:52:25Z- handleDepth()-Depth_Keller msg: 1633798345127 epoch sec; seqNo:101; depth 0.10 2021-10-09T16:52:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798345.14 epoch sec; seqNo:101; 4074197.25 north; 602219.00 east 2021-10-09T16:52:25Z- AHRS_M2 msg: 1633798345.55 epoch sec; seqNo:102 2021-10-09T16:52:25Z- AHRS_M2 msg: -0.15 phi; -0.09 theta; 2.21 psi 2021-10-09T16:52:25Z- handleDepth()-Depth_Keller msg: 1633798345558 epoch sec; seqNo:102; depth 0.08 2021-10-09T16:52:25Z- handleDvl() - RDI_Pathfinder msg: 1633798345.58 epoch sec; seqNo:29 2021-10-09T16:52:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:25Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798345.62 epoch sec; seqNo:102; 4074197.25 north; 602219.00 east 2021-10-09T16:52:25Z- AHRS_M2 msg: 1633798345.92 epoch sec; seqNo:103 2021-10-09T16:52:25Z- AHRS_M2 msg: -0.10 phi; -0.09 theta; 2.20 psi 2021-10-09T16:52:25Z- handleDepth()-Depth_Keller msg: 1633798345920 epoch sec; seqNo:103; depth 0.09 2021-10-09T16:52:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798345.93 epoch sec; seqNo:103; 4074197.25 north; 602219.00 east 2021-10-09T16:52:26Z- AHRS_M2 msg: 1633798346.32 epoch sec; seqNo:104 2021-10-09T16:52:26Z- AHRS_M2 msg: -0.00 phi; -0.08 theta; 2.23 psi 2021-10-09T16:52:26Z- handleDepth()-Depth_Keller msg: 1633798346327 epoch sec; seqNo:104; depth 0.10 2021-10-09T16:52:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798346.34 epoch sec; seqNo:104; 4074197.25 north; 602219.00 east 2021-10-09T16:52:26Z- AHRS_M2 msg: 1633798346.72 epoch sec; seqNo:105 2021-10-09T16:52:26Z- AHRS_M2 msg: 0.07 phi; -0.08 theta; 2.26 psi 2021-10-09T16:52:26Z- handleDepth()-Depth_Keller msg: 1633798346725 epoch sec; seqNo:105; depth 0.09 2021-10-09T16:52:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798346.74 epoch sec; seqNo:105; 4074197.25 north; 602219.00 east 2021-10-09T16:52:27Z- LcmTrn::handleMessages() - handling 38 messages took 0.71 ms and 123 calls... 2021-10-09T16:52:27Z- waiting for 1633798344.92, time is 1633798346.74 2021-10-09T16:52:27Z- LcmTrn::updateTrn() >>>> pose time 1633798346.74, meas time 1633798345.58 <<<< 2021-10-09T16:52:27Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798345.58, ping # 0. 2021-10-09T16:52:27Z- TerrainNav::Measurement type 1 from time = 1633798345.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:27Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.09) 2021-10-09T16:52:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:27Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:27Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:27Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:27Z- AHRS_M2 msg: 1633798347.12 epoch sec; seqNo:106 2021-10-09T16:52:27Z- AHRS_M2 msg: 0.08 phi; -0.06 theta; 2.23 psi 2021-10-09T16:52:27Z- handleDepth()-Depth_Keller msg: 1633798347135 epoch sec; seqNo:106; depth 0.10 2021-10-09T16:52:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:27Z- handleDvl() - RDI_Pathfinder msg: 1633798347.14 epoch sec; seqNo:30 2021-10-09T16:52:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:27Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798347.15 epoch sec; seqNo:106; 4074197.25 north; 602219.00 east 2021-10-09T16:52:27Z- AHRS_M2 msg: 1633798347.56 epoch sec; seqNo:107 2021-10-09T16:52:27Z- AHRS_M2 msg: 0.00 phi; -0.06 theta; 2.24 psi 2021-10-09T16:52:27Z- handleDepth()-Depth_Keller msg: 1633798347569 epoch sec; seqNo:107; depth 0.09 2021-10-09T16:52:27Z- handleDvl() - RDI_Pathfinder msg: 1633798347.59 epoch sec; seqNo:31 2021-10-09T16:52:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:27Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798347.61 epoch sec; seqNo:107; 4074197.25 north; 602219.00 east 2021-10-09T16:52:27Z- AHRS_M2 msg: 1633798347.93 epoch sec; seqNo:108 2021-10-09T16:52:27Z- AHRS_M2 msg: -0.04 phi; -0.07 theta; 2.28 psi 2021-10-09T16:52:27Z- handleDepth()-Depth_Keller msg: 1633798347947 epoch sec; seqNo:108; depth 0.08 2021-10-09T16:52:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798347.96 epoch sec; seqNo:108; 4074197.25 north; 602219.00 east 2021-10-09T16:52:28Z- AHRS_M2 msg: 1633798348.34 epoch sec; seqNo:109 2021-10-09T16:52:28Z- AHRS_M2 msg: -0.05 phi; -0.05 theta; 2.31 psi 2021-10-09T16:52:28Z- handleDepth()-Depth_Keller msg: 1633798348343 epoch sec; seqNo:109; depth 0.08 2021-10-09T16:52:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:28Z- handleDvl() - RDI_Pathfinder msg: 1633798348.35 epoch sec; seqNo:32 2021-10-09T16:52:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:28Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798348.36 epoch sec; seqNo:109; 4074197.25 north; 602219.00 east 2021-10-09T16:52:28Z- AHRS_M2 msg: 1633798348.74 epoch sec; seqNo:110 2021-10-09T16:52:28Z- AHRS_M2 msg: -0.08 phi; -0.05 theta; 2.30 psi 2021-10-09T16:52:28Z- handleDepth()-Depth_Keller msg: 1633798348744 epoch sec; seqNo:110; depth 0.07 2021-10-09T16:52:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798348.75 epoch sec; seqNo:110; 4074197.25 north; 602219.00 east 2021-10-09T16:52:29Z- AHRS_M2 msg: 1633798349.14 epoch sec; seqNo:111 2021-10-09T16:52:29Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 2.29 psi 2021-10-09T16:52:29Z- handleDepth()-Depth_Keller msg: 1633798349150 epoch sec; seqNo:111; depth 0.06 2021-10-09T16:52:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798349.16 epoch sec; seqNo:111; 4074197.25 north; 602219.00 east 2021-10-09T16:52:29Z- AHRS_M2 msg: 1633798349.57 epoch sec; seqNo:112 2021-10-09T16:52:29Z- AHRS_M2 msg: -0.06 phi; 0.01 theta; 2.33 psi 2021-10-09T16:52:29Z- handleDepth()-Depth_Keller msg: 1633798349572 epoch sec; seqNo:112; depth 0.05 2021-10-09T16:52:29Z- handleDvl() - RDI_Pathfinder msg: 1633798349.59 epoch sec; seqNo:33 2021-10-09T16:52:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:29Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798349.62 epoch sec; seqNo:112; 4074197.25 north; 602219.00 east 2021-10-09T16:52:29Z- AHRS_M2 msg: 1633798349.95 epoch sec; seqNo:113 2021-10-09T16:52:29Z- AHRS_M2 msg: 0.03 phi; -0.00 theta; 2.36 psi 2021-10-09T16:52:29Z- handleDepth()-Depth_Keller msg: 1633798349963 epoch sec; seqNo:113; depth 0.06 2021-10-09T16:52:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798349.98 epoch sec; seqNo:113; 4074197.25 north; 602219.00 east 2021-10-09T16:52:30Z- AHRS_M2 msg: 1633798350.36 epoch sec; seqNo:114 2021-10-09T16:52:30Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 2.36 psi 2021-10-09T16:52:30Z- handleDepth()-Depth_Keller msg: 1633798350374 epoch sec; seqNo:114; depth 0.08 2021-10-09T16:52:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798350.40 epoch sec; seqNo:114; 4074197.25 north; 602219.00 east 2021-10-09T16:52:30Z- AHRS_M2 msg: 1633798350.76 epoch sec; seqNo:115 2021-10-09T16:52:30Z- AHRS_M2 msg: 0.07 phi; -0.03 theta; 2.34 psi 2021-10-09T16:52:30Z- handleDepth()-Depth_Keller msg: 1633798350767 epoch sec; seqNo:115; depth 0.08 2021-10-09T16:52:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798350.78 epoch sec; seqNo:115; 4074197.25 north; 602219.00 east 2021-10-09T16:52:31Z- AHRS_M2 msg: 1633798351.16 epoch sec; seqNo:116 2021-10-09T16:52:31Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 2.37 psi 2021-10-09T16:52:31Z- handleDepth()-Depth_Keller msg: 1633798351172 epoch sec; seqNo:116; depth 0.09 2021-10-09T16:52:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798351.18 epoch sec; seqNo:116; 4074197.25 north; 602219.00 east 2021-10-09T16:52:31Z- AHRS_M2 msg: 1633798351.57 epoch sec; seqNo:117 2021-10-09T16:52:31Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 2.39 psi 2021-10-09T16:52:31Z- handleDepth()-Depth_Keller msg: 1633798351576 epoch sec; seqNo:117; depth 0.11 2021-10-09T16:52:31Z- handleDvl() - RDI_Pathfinder msg: 1633798351.60 epoch sec; seqNo:34 2021-10-09T16:52:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798351.62 epoch sec; seqNo:117; 4074197.25 north; 602219.00 east 2021-10-09T16:52:31Z- AHRS_M2 msg: 1633798351.97 epoch sec; seqNo:118 2021-10-09T16:52:31Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 2.39 psi 2021-10-09T16:52:31Z- handleDepth()-Depth_Keller msg: 1633798351983 epoch sec; seqNo:118; depth 0.10 2021-10-09T16:52:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:31Z- handleDvl() - RDI_Pathfinder msg: 1633798351.99 epoch sec; seqNo:35 2021-10-09T16:52:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798352.01 epoch sec; seqNo:118; 4074197.25 north; 602219.00 east 2021-10-09T16:52:32Z- LcmTrn::handleMessages() - handling 45 messages took 0.71 ms and 130 calls... 2021-10-09T16:52:32Z- waiting for 1633798349.74, time is 1633798352.01 2021-10-09T16:52:32Z- LcmTrn::updateTrn() equating pose 1633798352.01 and meas times 1633798352.01 2021-10-09T16:52:32Z- LcmTrn::updateTrn() >>>> pose time 1633798352.01, meas time 1633798352.01 <<<< 2021-10-09T16:52:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798352.01, ping # 0. 2021-10-09T16:52:32Z- TerrainNav::Measurement type 1 from time = 1633798352.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:32Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.10) 2021-10-09T16:52:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:32Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:32Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:32Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:32Z- AHRS_M2 msg: 1633798352.38 epoch sec; seqNo:119 2021-10-09T16:52:32Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 2.39 psi 2021-10-09T16:52:32Z- handleDepth()-Depth_Keller msg: 1633798352381 epoch sec; seqNo:119; depth 0.09 2021-10-09T16:52:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798352.39 epoch sec; seqNo:119; 4074197.25 north; 602219.00 east 2021-10-09T16:52:32Z- AHRS_M2 msg: 1633798352.78 epoch sec; seqNo:120 2021-10-09T16:52:32Z- AHRS_M2 msg: 0.03 phi; -0.07 theta; 2.40 psi 2021-10-09T16:52:32Z- handleDepth()-Depth_Keller msg: 1633798352788 epoch sec; seqNo:120; depth 0.10 2021-10-09T16:52:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798352.80 epoch sec; seqNo:120; 4074197.25 north; 602219.00 east 2021-10-09T16:52:33Z- AHRS_M2 msg: 1633798353.18 epoch sec; seqNo:121 2021-10-09T16:52:33Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 2.42 psi 2021-10-09T16:52:33Z- handleDepth()-Depth_Keller msg: 1633798353189 epoch sec; seqNo:121; depth 0.09 2021-10-09T16:52:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:33Z- handleDvl() - RDI_Pathfinder msg: 1633798353.20 epoch sec; seqNo:36 2021-10-09T16:52:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798353.21 epoch sec; seqNo:121; 4074197.25 north; 602219.00 east 2021-10-09T16:52:33Z- AHRS_M2 msg: 1633798353.59 epoch sec; seqNo:122 2021-10-09T16:52:33Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 2.42 psi 2021-10-09T16:52:33Z- handleDepth()-Depth_Keller msg: 1633798353599 epoch sec; seqNo:122; depth 0.10 2021-10-09T16:52:33Z- handleDvl() - RDI_Pathfinder msg: 1633798353.63 epoch sec; seqNo:37 2021-10-09T16:52:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798353.64 epoch sec; seqNo:122; 4074197.25 north; 602219.00 east 2021-10-09T16:52:34Z- AHRS_M2 msg: 1633798353.99 epoch sec; seqNo:123 2021-10-09T16:52:34Z- AHRS_M2 msg: 0.07 phi; -0.08 theta; 2.44 psi 2021-10-09T16:52:34Z- handleDepth()-Depth_Keller msg: 1633798353997 epoch sec; seqNo:123; depth 0.08 2021-10-09T16:52:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798354.01 epoch sec; seqNo:123; 4074197.25 north; 602219.00 east 2021-10-09T16:52:34Z- AHRS_M2 msg: 1633798354.40 epoch sec; seqNo:124 2021-10-09T16:52:34Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 2.43 psi 2021-10-09T16:52:34Z- handleDepth()-Depth_Keller msg: 1633798354404 epoch sec; seqNo:124; depth 0.07 2021-10-09T16:52:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:34Z- handleDvl() - RDI_Pathfinder msg: 1633798354.41 epoch sec; seqNo:38 2021-10-09T16:52:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:34Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798354.41 epoch sec; seqNo:124; 4074197.25 north; 602219.00 east 2021-10-09T16:52:34Z- AHRS_M2 msg: 1633798354.80 epoch sec; seqNo:125 2021-10-09T16:52:34Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 2.45 psi 2021-10-09T16:52:34Z- handleDepth()-Depth_Keller msg: 1633798354804 epoch sec; seqNo:125; depth 0.07 2021-10-09T16:52:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798354.82 epoch sec; seqNo:125; 4074197.25 north; 602219.00 east 2021-10-09T16:52:35Z- AHRS_M2 msg: 1633798355.20 epoch sec; seqNo:126 2021-10-09T16:52:35Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 2.48 psi 2021-10-09T16:52:35Z- handleDepth()-Depth_Keller msg: 1633798355212 epoch sec; seqNo:126; depth 0.08 2021-10-09T16:52:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798355.22 epoch sec; seqNo:126; 4074197.25 north; 602219.00 east 2021-10-09T16:52:35Z- AHRS_M2 msg: 1633798355.61 epoch sec; seqNo:127 2021-10-09T16:52:35Z- AHRS_M2 msg: 0.01 phi; 0.02 theta; 2.49 psi 2021-10-09T16:52:35Z- handleDepth()-Depth_Keller msg: 1633798355619 epoch sec; seqNo:127; depth 0.08 2021-10-09T16:52:35Z- handleDvl() - RDI_Pathfinder msg: 1633798355.65 epoch sec; seqNo:39 2021-10-09T16:52:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:35Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798355.67 epoch sec; seqNo:127; 4074197.25 north; 602219.00 east 2021-10-09T16:52:36Z- AHRS_M2 msg: 1633798356.01 epoch sec; seqNo:128 2021-10-09T16:52:36Z- AHRS_M2 msg: -0.01 phi; 0.03 theta; 2.50 psi 2021-10-09T16:52:36Z- handleDepth()-Depth_Keller msg: 1633798356018 epoch sec; seqNo:128; depth 0.06 2021-10-09T16:52:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798356.04 epoch sec; seqNo:128; 4074197.25 north; 602219.00 east 2021-10-09T16:52:36Z- AHRS_M2 msg: 1633798356.42 epoch sec; seqNo:129 2021-10-09T16:52:36Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 2.51 psi 2021-10-09T16:52:36Z- handleDepth()-Depth_Keller msg: 1633798356430 epoch sec; seqNo:129; depth 0.06 2021-10-09T16:52:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798356.44 epoch sec; seqNo:129; 4074197.25 north; 602219.00 east 2021-10-09T16:52:36Z- AHRS_M2 msg: 1633798356.82 epoch sec; seqNo:130 2021-10-09T16:52:36Z- AHRS_M2 msg: -0.01 phi; 0.00 theta; 2.52 psi 2021-10-09T16:52:36Z- handleDepth()-Depth_Keller msg: 1633798356829 epoch sec; seqNo:130; depth 0.06 2021-10-09T16:52:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:36Z- handleDvl() - RDI_Pathfinder msg: 1633798356.83 epoch sec; seqNo:40 2021-10-09T16:52:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:36Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798356.85 epoch sec; seqNo:130; 4074197.25 north; 602219.00 east 2021-10-09T16:52:37Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls... 2021-10-09T16:52:37Z- waiting for 1633798355.01, time is 1633798356.85 2021-10-09T16:52:37Z- LcmTrn::updateTrn() equating pose 1633798356.85 and meas times 1633798356.85 2021-10-09T16:52:37Z- LcmTrn::updateTrn() >>>> pose time 1633798356.85, meas time 1633798356.85 <<<< 2021-10-09T16:52:37Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798356.85, ping # 0. 2021-10-09T16:52:37Z- TerrainNav::Measurement type 1 from time = 1633798356.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:37Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.06) 2021-10-09T16:52:37Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:37Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:37Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:37Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:37Z- AHRS_M2 msg: 1633798357.22 epoch sec; seqNo:131 2021-10-09T16:52:37Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 2.53 psi 2021-10-09T16:52:37Z- handleDepth()-Depth_Keller msg: 1633798357235 epoch sec; seqNo:131; depth 0.06 2021-10-09T16:52:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798357.24 epoch sec; seqNo:131; 4074197.25 north; 602219.00 east 2021-10-09T16:52:37Z- AHRS_M2 msg: 1633798357.63 epoch sec; seqNo:132 2021-10-09T16:52:37Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 2.53 psi 2021-10-09T16:52:37Z- handleDepth()-Depth_Keller msg: 1633798357636 epoch sec; seqNo:132; depth 0.08 2021-10-09T16:52:37Z- handleDvl() - RDI_Pathfinder msg: 1633798357.65 epoch sec; seqNo:41 2021-10-09T16:52:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:37Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798357.67 epoch sec; seqNo:132; 4074197.25 north; 602219.00 east 2021-10-09T16:52:38Z- AHRS_M2 msg: 1633798358.03 epoch sec; seqNo:133 2021-10-09T16:52:38Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 2.54 psi 2021-10-09T16:52:38Z- handleDepth()-Depth_Keller msg: 1633798358037 epoch sec; seqNo:133; depth 0.07 2021-10-09T16:52:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:38Z- handleDvl() - RDI_Pathfinder msg: 1633798358.04 epoch sec; seqNo:42 2021-10-09T16:52:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:38Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798358.07 epoch sec; seqNo:133; 4074197.25 north; 602219.00 east 2021-10-09T16:52:38Z- AHRS_M2 msg: 1633798358.44 epoch sec; seqNo:134 2021-10-09T16:52:38Z- AHRS_M2 msg: -0.00 phi; -0.07 theta; 2.53 psi 2021-10-09T16:52:38Z- handleDepth()-Depth_Keller msg: 1633798358444 epoch sec; seqNo:134; depth 0.06 2021-10-09T16:52:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798358.46 epoch sec; seqNo:134; 4074197.25 north; 602219.00 east 2021-10-09T16:52:38Z- AHRS_M2 msg: 1633798358.84 epoch sec; seqNo:135 2021-10-09T16:52:38Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 2.53 psi 2021-10-09T16:52:38Z- handleDepth()-Depth_Keller msg: 1633798358855 epoch sec; seqNo:135; depth 0.07 2021-10-09T16:52:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798358.86 epoch sec; seqNo:135; 4074197.25 north; 602219.00 east 2021-10-09T16:52:39Z- AHRS_M2 msg: 1633798359.24 epoch sec; seqNo:136 2021-10-09T16:52:39Z- AHRS_M2 msg: 0.03 phi; 0.01 theta; 2.57 psi 2021-10-09T16:52:39Z- handleDepth()-Depth_Keller msg: 1633798359261 epoch sec; seqNo:136; depth 0.08 2021-10-09T16:52:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:39Z- handleDvl() - RDI_Pathfinder msg: 1633798359.26 epoch sec; seqNo:43 2021-10-09T16:52:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:39Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798359.27 epoch sec; seqNo:136; 4074197.25 north; 602219.00 east 2021-10-09T16:52:39Z- AHRS_M2 msg: 1633798359.65 epoch sec; seqNo:137 2021-10-09T16:52:39Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 2.58 psi 2021-10-09T16:52:39Z- handleDepth()-Depth_Keller msg: 1633798359659 epoch sec; seqNo:137; depth 0.06 2021-10-09T16:52:39Z- handleDvl() - RDI_Pathfinder msg: 1633798359.69 epoch sec; seqNo:44 2021-10-09T16:52:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:39Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798359.70 epoch sec; seqNo:137; 4074197.25 north; 602219.00 east 2021-10-09T16:52:40Z- AHRS_M2 msg: 1633798360.05 epoch sec; seqNo:138 2021-10-09T16:52:40Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 2.54 psi 2021-10-09T16:52:40Z- handleDepth()-Depth_Keller msg: 1633798360060 epoch sec; seqNo:138; depth 0.10 2021-10-09T16:52:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798360.07 epoch sec; seqNo:138; 4074197.25 north; 602219.00 east 2021-10-09T16:52:40Z- AHRS_M2 msg: 1633798360.46 epoch sec; seqNo:139 2021-10-09T16:52:40Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 2.55 psi 2021-10-09T16:52:40Z- handleDepth()-Depth_Keller msg: 1633798360463 epoch sec; seqNo:139; depth 0.08 2021-10-09T16:52:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:40Z- handleDvl() - RDI_Pathfinder msg: 1633798360.47 epoch sec; seqNo:45 2021-10-09T16:52:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:40Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798360.47 epoch sec; seqNo:139; 4074197.25 north; 602219.00 east 2021-10-09T16:52:40Z- AHRS_M2 msg: 1633798360.86 epoch sec; seqNo:140 2021-10-09T16:52:40Z- AHRS_M2 msg: -0.04 phi; 0.00 theta; 2.57 psi 2021-10-09T16:52:40Z- handleDepth()-Depth_Keller msg: 1633798360873 epoch sec; seqNo:140; depth 0.06 2021-10-09T16:52:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798360.88 epoch sec; seqNo:140; 4074197.25 north; 602219.00 east 2021-10-09T16:52:41Z- AHRS_M2 msg: 1633798361.27 epoch sec; seqNo:141 2021-10-09T16:52:41Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 2.54 psi 2021-10-09T16:52:41Z- handleDepth()-Depth_Keller msg: 1633798361269 epoch sec; seqNo:141; depth 0.05 2021-10-09T16:52:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798361.28 epoch sec; seqNo:141; 4074197.25 north; 602219.00 east 2021-10-09T16:52:41Z- AHRS_M2 msg: 1633798361.67 epoch sec; seqNo:142 2021-10-09T16:52:41Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 2.54 psi 2021-10-09T16:52:41Z- handleDepth()-Depth_Keller msg: 1633798361672 epoch sec; seqNo:142; depth 0.09 2021-10-09T16:52:41Z- handleDvl() - RDI_Pathfinder msg: 1633798361.69 epoch sec; seqNo:46 2021-10-09T16:52:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798361.73 epoch sec; seqNo:142; 4074197.25 north; 602219.00 east 2021-10-09T16:52:42Z- AHRS_M2 msg: 1633798362.07 epoch sec; seqNo:143 2021-10-09T16:52:42Z- AHRS_M2 msg: 0.07 phi; -0.03 theta; 2.54 psi 2021-10-09T16:52:42Z- LcmTrn::handleMessages() - handling 43 messages took 0.73 ms and 128 calls... 2021-10-09T16:52:42Z- waiting for 1633798359.85, time is 1633798362.07 2021-10-09T16:52:42Z- LcmTrn::updateTrn() >>>> pose time 1633798362.07, meas time 1633798361.69 <<<< 2021-10-09T16:52:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798361.69, ping # 0. 2021-10-09T16:52:42Z- TerrainNav::Measurement type 1 from time = 1633798361.69 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:42Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.09) 2021-10-09T16:52:42Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:42Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:42Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:42Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:42Z- handleDepth()-Depth_Keller msg: 1633798362078 epoch sec; seqNo:143; depth 0.09 2021-10-09T16:52:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798362.09 epoch sec; seqNo:143; 4074197.25 north; 602219.00 east 2021-10-09T16:52:42Z- AHRS_M2 msg: 1633798362.48 epoch sec; seqNo:144 2021-10-09T16:52:42Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 2.52 psi 2021-10-09T16:52:42Z- handleDepth()-Depth_Keller msg: 1633798362488 epoch sec; seqNo:144; depth 0.08 2021-10-09T16:52:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798362.50 epoch sec; seqNo:144; 4074197.25 north; 602219.00 east 2021-10-09T16:52:42Z- AHRS_M2 msg: 1633798362.88 epoch sec; seqNo:145 2021-10-09T16:52:42Z- AHRS_M2 msg: -0.00 phi; -0.02 theta; 2.51 psi 2021-10-09T16:52:42Z- handleDepth()-Depth_Keller msg: 1633798362885 epoch sec; seqNo:145; depth 0.09 2021-10-09T16:52:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:42Z- handleDvl() - RDI_Pathfinder msg: 1633798362.89 epoch sec; seqNo:47 2021-10-09T16:52:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:42Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798362.91 epoch sec; seqNo:145; 4074197.25 north; 602219.00 east 2021-10-09T16:52:43Z- AHRS_M2 msg: 1633798363.28 epoch sec; seqNo:146 2021-10-09T16:52:43Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 2.53 psi 2021-10-09T16:52:43Z- handleDepth()-Depth_Keller msg: 1633798363288 epoch sec; seqNo:146; depth 0.08 2021-10-09T16:52:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798363.30 epoch sec; seqNo:146; 4074197.25 north; 602219.00 east 2021-10-09T16:52:43Z- AHRS_M2 msg: 1633798363.69 epoch sec; seqNo:147 2021-10-09T16:52:43Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 2.54 psi 2021-10-09T16:52:43Z- handleDepth()-Depth_Keller msg: 1633798363693 epoch sec; seqNo:147; depth 0.06 2021-10-09T16:52:43Z- handleDvl() - RDI_Pathfinder msg: 1633798363.71 epoch sec; seqNo:48 2021-10-09T16:52:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:43Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798363.75 epoch sec; seqNo:147; 4074197.25 north; 602219.00 east 2021-10-09T16:52:44Z- AHRS_M2 msg: 1633798364.10 epoch sec; seqNo:148 2021-10-09T16:52:44Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 2.52 psi 2021-10-09T16:52:44Z- handleDepth()-Depth_Keller msg: 1633798364106 epoch sec; seqNo:148; depth 0.05 2021-10-09T16:52:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:44Z- handleDvl() - RDI_Pathfinder msg: 1633798364.11 epoch sec; seqNo:49 2021-10-09T16:52:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:44Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798364.12 epoch sec; seqNo:148; 4074197.25 north; 602219.00 east 2021-10-09T16:52:44Z- AHRS_M2 msg: 1633798364.50 epoch sec; seqNo:149 2021-10-09T16:52:44Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 2.51 psi 2021-10-09T16:52:44Z- handleDepth()-Depth_Keller msg: 1633798364504 epoch sec; seqNo:149; depth 0.07 2021-10-09T16:52:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798364.53 epoch sec; seqNo:149; 4074197.25 north; 602219.00 east 2021-10-09T16:52:44Z- AHRS_M2 msg: 1633798364.90 epoch sec; seqNo:150 2021-10-09T16:52:44Z- AHRS_M2 msg: -0.07 phi; 0.00 theta; 2.53 psi 2021-10-09T16:52:44Z- handleDepth()-Depth_Keller msg: 1633798364908 epoch sec; seqNo:150; depth 0.04 2021-10-09T16:52:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798364.94 epoch sec; seqNo:150; 4074197.25 north; 602219.00 east 2021-10-09T16:52:45Z- AHRS_M2 msg: 1633798365.31 epoch sec; seqNo:151 2021-10-09T16:52:45Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 2.55 psi 2021-10-09T16:52:45Z- handleDepth()-Depth_Keller msg: 1633798365320 epoch sec; seqNo:151; depth 0.04 2021-10-09T16:52:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:45Z- handleDvl() - RDI_Pathfinder msg: 1633798365.32 epoch sec; seqNo:50 2021-10-09T16:52:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:45Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798365.37 epoch sec; seqNo:151; 4074197.25 north; 602219.00 east 2021-10-09T16:52:45Z- AHRS_M2 msg: 1633798365.71 epoch sec; seqNo:152 2021-10-09T16:52:45Z- AHRS_M2 msg: 0.09 phi; 0.01 theta; 2.51 psi 2021-10-09T16:52:45Z- handleDepth()-Depth_Keller msg: 1633798365716 epoch sec; seqNo:152; depth 0.06 2021-10-09T16:52:45Z- handleDvl() - RDI_Pathfinder msg: 1633798365.75 epoch sec; seqNo:51 2021-10-09T16:52:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:45Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798365.80 epoch sec; seqNo:152; 4074197.25 north; 602219.00 east 2021-10-09T16:52:46Z- AHRS_M2 msg: 1633798366.11 epoch sec; seqNo:153 2021-10-09T16:52:46Z- AHRS_M2 msg: 0.15 phi; 0.04 theta; 2.48 psi 2021-10-09T16:52:46Z- handleDepth()-Depth_Keller msg: 1633798366120 epoch sec; seqNo:153; depth 0.08 2021-10-09T16:52:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798366.14 epoch sec; seqNo:153; 4074197.25 north; 602219.00 east 2021-10-09T16:52:46Z- AHRS_M2 msg: 1633798366.52 epoch sec; seqNo:154 2021-10-09T16:52:46Z- AHRS_M2 msg: 0.16 phi; 0.00 theta; 2.49 psi 2021-10-09T16:52:46Z- handleDepth()-Depth_Keller msg: 1633798366524 epoch sec; seqNo:154; depth 0.08 2021-10-09T16:52:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798366.56 epoch sec; seqNo:154; 4074197.25 north; 602219.00 east 2021-10-09T16:52:46Z- AHRS_M2 msg: 1633798366.92 epoch sec; seqNo:155 2021-10-09T16:52:46Z- AHRS_M2 msg: 0.09 phi; -0.05 theta; 2.46 psi 2021-10-09T16:52:46Z- handleDepth()-Depth_Keller msg: 1633798366932 epoch sec; seqNo:155; depth 0.10 2021-10-09T16:52:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798366.98 epoch sec; seqNo:155; 4074197.25 north; 602219.00 east 2021-10-09T16:52:47Z- LcmTrn::handleMessages() - handling 43 messages took 0.75 ms and 128 calls... 2021-10-09T16:52:47Z- waiting for 1633798365.07, time is 1633798366.98 2021-10-09T16:52:47Z- LcmTrn::updateTrn() >>>> pose time 1633798366.98, meas time 1633798365.75 <<<< 2021-10-09T16:52:47Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798365.75, ping # 0. 2021-10-09T16:52:47Z- TerrainNav::Measurement type 1 from time = 1633798365.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:47Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.10) 2021-10-09T16:52:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:47Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:47Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:47Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:47Z- AHRS_M2 msg: 1633798367.33 epoch sec; seqNo:156 2021-10-09T16:52:47Z- AHRS_M2 msg: -0.03 phi; -0.05 theta; 2.46 psi 2021-10-09T16:52:47Z- handleDepth()-Depth_Keller msg: 1633798367343 epoch sec; seqNo:156; depth 0.12 2021-10-09T16:52:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798367.36 epoch sec; seqNo:156; 4074197.25 north; 602219.00 east 2021-10-09T16:52:47Z- AHRS_M2 msg: 1633798367.73 epoch sec; seqNo:157 2021-10-09T16:52:47Z- AHRS_M2 msg: -0.13 phi; -0.05 theta; 2.46 psi 2021-10-09T16:52:47Z- handleDepth()-Depth_Keller msg: 1633798367736 epoch sec; seqNo:157; depth 0.08 2021-10-09T16:52:47Z- handleDvl() - RDI_Pathfinder msg: 1633798367.78 epoch sec; seqNo:52 2021-10-09T16:52:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:47Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798367.82 epoch sec; seqNo:157; 4074197.25 north; 602219.00 east 2021-10-09T16:52:48Z- AHRS_M2 msg: 1633798368.13 epoch sec; seqNo:158 2021-10-09T16:52:48Z- AHRS_M2 msg: -0.17 phi; -0.07 theta; 2.46 psi 2021-10-09T16:52:48Z- handleDepth()-Depth_Keller msg: 1633798368140 epoch sec; seqNo:158; depth 0.06 2021-10-09T16:52:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798368.17 epoch sec; seqNo:158; 4074197.25 north; 602219.00 east 2021-10-09T16:52:48Z- AHRS_M2 msg: 1633798368.54 epoch sec; seqNo:159 2021-10-09T16:52:48Z- AHRS_M2 msg: -0.09 phi; -0.09 theta; 2.44 psi 2021-10-09T16:52:48Z- handleDepth()-Depth_Keller msg: 1633798368544 epoch sec; seqNo:159; depth 0.09 2021-10-09T16:52:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798368.56 epoch sec; seqNo:159; 4074197.25 north; 602219.00 east 2021-10-09T16:52:48Z- AHRS_M2 msg: 1633798368.95 epoch sec; seqNo:160 2021-10-09T16:52:48Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 2.43 psi 2021-10-09T16:52:48Z- handleDepth()-Depth_Keller msg: 1633798368956 epoch sec; seqNo:160; depth 0.10 2021-10-09T16:52:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:48Z- handleDvl() - RDI_Pathfinder msg: 1633798368.96 epoch sec; seqNo:53 2021-10-09T16:52:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:48Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798368.97 epoch sec; seqNo:160; 4074197.25 north; 602219.00 east 2021-10-09T16:52:49Z- AHRS_M2 msg: 1633798369.35 epoch sec; seqNo:161 2021-10-09T16:52:49Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 2.44 psi 2021-10-09T16:52:49Z- handleDepth()-Depth_Keller msg: 1633798369361 epoch sec; seqNo:161; depth 0.09 2021-10-09T16:52:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798369.37 epoch sec; seqNo:161; 4074197.25 north; 602219.00 east 2021-10-09T16:52:49Z- AHRS_M2 msg: 1633798369.75 epoch sec; seqNo:162 2021-10-09T16:52:49Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 2.43 psi 2021-10-09T16:52:49Z- handleDepth()-Depth_Keller msg: 1633798369756 epoch sec; seqNo:162; depth 0.07 2021-10-09T16:52:49Z- handleDvl() - RDI_Pathfinder msg: 1633798369.79 epoch sec; seqNo:54 2021-10-09T16:52:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:49Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798369.81 epoch sec; seqNo:162; 4074197.25 north; 602219.00 east 2021-10-09T16:52:50Z- AHRS_M2 msg: 1633798370.15 epoch sec; seqNo:163 2021-10-09T16:52:50Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 2.41 psi 2021-10-09T16:52:50Z- handleDepth()-Depth_Keller msg: 1633798370163 epoch sec; seqNo:163; depth 0.07 2021-10-09T16:52:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:50Z- handleDvl() - RDI_Pathfinder msg: 1633798370.17 epoch sec; seqNo:55 2021-10-09T16:52:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:50Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798370.18 epoch sec; seqNo:163; 4074197.25 north; 602219.00 east 2021-10-09T16:52:50Z- AHRS_M2 msg: 1633798370.56 epoch sec; seqNo:164 2021-10-09T16:52:50Z- AHRS_M2 msg: 0.07 phi; 0.00 theta; 2.41 psi 2021-10-09T16:52:50Z- handleDepth()-Depth_Keller msg: 1633798370562 epoch sec; seqNo:164; depth 0.07 2021-10-09T16:52:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798370.57 epoch sec; seqNo:164; 4074197.25 north; 602219.00 east 2021-10-09T16:52:50Z- AHRS_M2 msg: 1633798370.96 epoch sec; seqNo:165 2021-10-09T16:52:50Z- AHRS_M2 msg: 0.08 phi; 0.01 theta; 2.38 psi 2021-10-09T16:52:50Z- handleDepth()-Depth_Keller msg: 1633798370965 epoch sec; seqNo:165; depth 0.08 2021-10-09T16:52:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798370.99 epoch sec; seqNo:165; 4074197.25 north; 602219.00 east 2021-10-09T16:52:51Z- AHRS_M2 msg: 1633798371.36 epoch sec; seqNo:166 2021-10-09T16:52:51Z- AHRS_M2 msg: 0.01 phi; 0.02 theta; 2.36 psi 2021-10-09T16:52:51Z- handleDepth()-Depth_Keller msg: 1633798371372 epoch sec; seqNo:166; depth 0.09 2021-10-09T16:52:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:51Z- handleDvl() - RDI_Pathfinder msg: 1633798371.37 epoch sec; seqNo:56 2021-10-09T16:52:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798371.40 epoch sec; seqNo:166; 4074197.25 north; 602219.00 east 2021-10-09T16:52:51Z- AHRS_M2 msg: 1633798371.77 epoch sec; seqNo:167 2021-10-09T16:52:51Z- AHRS_M2 msg: -0.05 phi; -0.00 theta; 2.39 psi 2021-10-09T16:52:51Z- handleDepth()-Depth_Keller msg: 1633798371776 epoch sec; seqNo:167; depth 0.05 2021-10-09T16:52:51Z- handleDvl() - RDI_Pathfinder msg: 1633798371.80 epoch sec; seqNo:57 2021-10-09T16:52:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798371.84 epoch sec; seqNo:167; 4074197.25 north; 602219.00 east 2021-10-09T16:52:52Z- AHRS_M2 msg: 1633798372.18 epoch sec; seqNo:168 2021-10-09T16:52:52Z- AHRS_M2 msg: -0.07 phi; -0.07 theta; 2.38 psi 2021-10-09T16:52:52Z- LcmTrn::handleMessages() - handling 43 messages took 0.79 ms and 127 calls... 2021-10-09T16:52:52Z- waiting for 1633798369.98, time is 1633798372.18 2021-10-09T16:52:52Z- LcmTrn::updateTrn() >>>> pose time 1633798372.18, meas time 1633798371.80 <<<< 2021-10-09T16:52:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798371.80, ping # 0. 2021-10-09T16:52:52Z- TerrainNav::Measurement type 1 from time = 1633798371.80 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:52Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.05) 2021-10-09T16:52:52Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:52Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:52Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:52Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:52Z- handleDepth()-Depth_Keller msg: 1633798372180 epoch sec; seqNo:168; depth 0.06 2021-10-09T16:52:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798372.19 epoch sec; seqNo:168; 4074197.25 north; 602219.00 east 2021-10-09T16:52:52Z- AHRS_M2 msg: 1633798372.58 epoch sec; seqNo:169 2021-10-09T16:52:52Z- AHRS_M2 msg: -0.07 phi; -0.07 theta; 2.37 psi 2021-10-09T16:52:52Z- handleDepth()-Depth_Keller msg: 1633798372593 epoch sec; seqNo:169; depth 0.09 2021-10-09T16:52:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:52Z- handleDvl() - RDI_Pathfinder msg: 1633798372.60 epoch sec; seqNo:58 2021-10-09T16:52:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798372.61 epoch sec; seqNo:169; 4074197.25 north; 602219.00 east 2021-10-09T16:52:52Z- AHRS_M2 msg: 1633798372.98 epoch sec; seqNo:170 2021-10-09T16:52:52Z- AHRS_M2 msg: -0.10 phi; -0.00 theta; 2.36 psi 2021-10-09T16:52:52Z- handleDepth()-Depth_Keller msg: 1633798372992 epoch sec; seqNo:170; depth 0.05 2021-10-09T16:52:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798373.02 epoch sec; seqNo:170; 4074197.25 north; 602219.00 east 2021-10-09T16:52:53Z- AHRS_M2 msg: 1633798373.38 epoch sec; seqNo:171 2021-10-09T16:52:53Z- AHRS_M2 msg: -0.10 phi; 0.04 theta; 2.35 psi 2021-10-09T16:52:53Z- handleDepth()-Depth_Keller msg: 1633798373389 epoch sec; seqNo:171; depth 0.05 2021-10-09T16:52:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798373.40 epoch sec; seqNo:171; 4074197.25 north; 602219.00 east 2021-10-09T16:52:53Z- AHRS_M2 msg: 1633798373.80 epoch sec; seqNo:172 2021-10-09T16:52:53Z- AHRS_M2 msg: 0.05 phi; -0.04 theta; 2.36 psi 2021-10-09T16:52:53Z- handleDepth()-Depth_Keller msg: 1633798373802 epoch sec; seqNo:172; depth 0.04 2021-10-09T16:52:53Z- handleDvl() - RDI_Pathfinder msg: 1633798373.82 epoch sec; seqNo:59 2021-10-09T16:52:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798373.84 epoch sec; seqNo:172; 4074197.25 north; 602219.00 east 2021-10-09T16:52:54Z- AHRS_M2 msg: 1633798374.20 epoch sec; seqNo:173 2021-10-09T16:52:54Z- AHRS_M2 msg: 0.10 phi; -0.04 theta; 2.35 psi 2021-10-09T16:52:54Z- handleDepth()-Depth_Keller msg: 1633798374201 epoch sec; seqNo:173; depth 0.08 2021-10-09T16:52:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798374.22 epoch sec; seqNo:173; 4074197.25 north; 602219.00 east 2021-10-09T16:52:54Z- AHRS_M2 msg: 1633798374.60 epoch sec; seqNo:174 2021-10-09T16:52:54Z- AHRS_M2 msg: 0.06 phi; 0.01 theta; 2.32 psi 2021-10-09T16:52:54Z- handleDepth()-Depth_Keller msg: 1633798374601 epoch sec; seqNo:174; depth 0.08 2021-10-09T16:52:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798374.61 epoch sec; seqNo:174; 4074197.25 north; 602219.00 east 2021-10-09T16:52:55Z- AHRS_M2 msg: 1633798375.01 epoch sec; seqNo:175 2021-10-09T16:52:55Z- AHRS_M2 msg: -0.00 phi; 0.05 theta; 2.32 psi 2021-10-09T16:52:55Z- handleDepth()-Depth_Keller msg: 1633798375012 epoch sec; seqNo:175; depth 0.07 2021-10-09T16:52:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798375.02 epoch sec; seqNo:175; 4074197.25 north; 602219.00 east 2021-10-09T16:52:55Z- handleDepth()-Depth_Keller msg: 1633798375431 epoch sec; seqNo:176; depth 0.06 2021-10-09T16:52:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798375.44 epoch sec; seqNo:176; 4074197.25 north; 602219.00 east 2021-10-09T16:52:55Z- AHRS_M2 msg: 1633798375.81 epoch sec; seqNo:176 2021-10-09T16:52:55Z- AHRS_M2 msg: -0.05 phi; -0.07 theta; 2.31 psi 2021-10-09T16:52:55Z- handleDepth()-Depth_Keller msg: 1633798375818 epoch sec; seqNo:177; depth 0.06 2021-10-09T16:52:55Z- handleDvl() - RDI_Pathfinder msg: 1633798375.85 epoch sec; seqNo:60 2021-10-09T16:52:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798375.87 epoch sec; seqNo:177; 4074197.25 north; 602219.00 east 2021-10-09T16:52:56Z- AHRS_M2 msg: 1633798376.21 epoch sec; seqNo:177 2021-10-09T16:52:56Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 2.30 psi 2021-10-09T16:52:56Z- handleDepth()-Depth_Keller msg: 1633798376220 epoch sec; seqNo:178; depth 0.09 2021-10-09T16:52:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:56Z- handleDvl() - RDI_Pathfinder msg: 1633798376.22 epoch sec; seqNo:61 2021-10-09T16:52:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:56Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798376.24 epoch sec; seqNo:178; 4074197.25 north; 602219.00 east 2021-10-09T16:52:56Z- AHRS_M2 msg: 1633798376.62 epoch sec; seqNo:178 2021-10-09T16:52:56Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 2.30 psi 2021-10-09T16:52:56Z- handleDepth()-Depth_Keller msg: 1633798376627 epoch sec; seqNo:179; depth 0.10 2021-10-09T16:52:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798376.64 epoch sec; seqNo:179; 4074197.25 north; 602219.00 east 2021-10-09T16:52:57Z- AHRS_M2 msg: 1633798377.02 epoch sec; seqNo:179 2021-10-09T16:52:57Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 2.29 psi 2021-10-09T16:52:57Z- handleDepth()-Depth_Keller msg: 1633798377031 epoch sec; seqNo:180; depth 0.08 2021-10-09T16:52:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798377.04 epoch sec; seqNo:180; 4074197.25 north; 602219.00 east 2021-10-09T16:52:57Z- LcmTrn::handleMessages() - handling 41 messages took 0.66 ms and 127 calls... 2021-10-09T16:52:57Z- waiting for 1633798375.18, time is 1633798377.04 2021-10-09T16:52:57Z- LcmTrn::updateTrn() >>>> pose time 1633798377.04, meas time 1633798376.22 <<<< 2021-10-09T16:52:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798376.22, ping # 0. 2021-10-09T16:52:57Z- TerrainNav::Measurement type 1 from time = 1633798376.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:52:57Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.08) 2021-10-09T16:52:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:52:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:52:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:52:57Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:52:57Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:52:57Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:52:57Z- AHRS_M2 msg: 1633798377.42 epoch sec; seqNo:180 2021-10-09T16:52:57Z- AHRS_M2 msg: -0.08 phi; -0.07 theta; 2.28 psi 2021-10-09T16:52:57Z- handleDepth()-Depth_Keller msg: 1633798377430 epoch sec; seqNo:181; depth 0.08 2021-10-09T16:52:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:57Z- handleDvl() - RDI_Pathfinder msg: 1633798377.43 epoch sec; seqNo:62 2021-10-09T16:52:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798377.45 epoch sec; seqNo:181; 4074197.25 north; 602219.00 east 2021-10-09T16:52:57Z- AHRS_M2 msg: 1633798377.83 epoch sec; seqNo:181 2021-10-09T16:52:57Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 2.29 psi 2021-10-09T16:52:57Z- handleDepth()-Depth_Keller msg: 1633798377836 epoch sec; seqNo:182; depth 0.08 2021-10-09T16:52:57Z- handleDvl() - RDI_Pathfinder msg: 1633798377.87 epoch sec; seqNo:63 2021-10-09T16:52:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798377.88 epoch sec; seqNo:182; 4074197.25 north; 602219.00 east 2021-10-09T16:52:58Z- AHRS_M2 msg: 1633798378.23 epoch sec; seqNo:182 2021-10-09T16:52:58Z- AHRS_M2 msg: -0.05 phi; 0.04 theta; 2.29 psi 2021-10-09T16:52:58Z- handleDepth()-Depth_Keller msg: 1633798378244 epoch sec; seqNo:183; depth 0.05 2021-10-09T16:52:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798378.26 epoch sec; seqNo:183; 4074197.25 north; 602219.00 east 2021-10-09T16:52:58Z- AHRS_M2 msg: 1633798378.64 epoch sec; seqNo:183 2021-10-09T16:52:58Z- AHRS_M2 msg: 0.03 phi; 0.00 theta; 2.27 psi 2021-10-09T16:52:58Z- handleDepth()-Depth_Keller msg: 1633798378643 epoch sec; seqNo:184; depth 0.05 2021-10-09T16:52:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:52:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:52:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:52:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:52:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:52:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:52:58Z- handleDvl() - RDI_Pathfinder msg: 1633798378.65 epoch sec; seqNo:64 2021-10-09T16:52:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:58Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798378.65 epoch sec; seqNo:184; 4074197.25 north; 602219.00 east 2021-10-09T16:52:59Z- AHRS_M2 msg: 1633798379.04 epoch sec; seqNo:184 2021-10-09T16:52:59Z- AHRS_M2 msg: 0.09 phi; -0.02 theta; 2.24 psi 2021-10-09T16:52:59Z- handleDepth()-Depth_Keller msg: 1633798379045 epoch sec; seqNo:185; depth 0.06 2021-10-09T16:52:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798379.06 epoch sec; seqNo:185; 4074197.25 north; 602219.00 east 2021-10-09T16:52:59Z- AHRS_M2 msg: 1633798379.44 epoch sec; seqNo:185 2021-10-09T16:52:59Z- AHRS_M2 msg: 0.11 phi; -0.01 theta; 2.24 psi 2021-10-09T16:52:59Z- handleDepth()-Depth_Keller msg: 1633798379449 epoch sec; seqNo:186; depth 0.07 2021-10-09T16:52:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798379.46 epoch sec; seqNo:186; 4074197.25 north; 602219.00 east 2021-10-09T16:52:59Z- AHRS_M2 msg: 1633798379.85 epoch sec; seqNo:186 2021-10-09T16:52:59Z- AHRS_M2 msg: 0.06 phi; 0.03 theta; 2.25 psi 2021-10-09T16:52:59Z- handleDepth()-Depth_Keller msg: 1633798379854 epoch sec; seqNo:187; depth 0.09 2021-10-09T16:52:59Z- handleDvl() - RDI_Pathfinder msg: 1633798379.88 epoch sec; seqNo:65 2021-10-09T16:52:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:52:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:52:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798379.91 epoch sec; seqNo:187; 4074197.25 north; 602219.00 east 2021-10-09T16:53:00Z- AHRS_M2 msg: 1633798380.25 epoch sec; seqNo:187 2021-10-09T16:53:00Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 2.26 psi 2021-10-09T16:53:00Z- handleDepth()-Depth_Keller msg: 1633798380258 epoch sec; seqNo:188; depth 0.07 2021-10-09T16:53:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798380.27 epoch sec; seqNo:188; 4074197.25 north; 602219.00 east 2021-10-09T16:53:00Z- AHRS_M2 msg: 1633798380.66 epoch sec; seqNo:188 2021-10-09T16:53:00Z- AHRS_M2 msg: -0.13 phi; -0.05 theta; 2.26 psi 2021-10-09T16:53:00Z- handleDepth()-Depth_Keller msg: 1633798380670 epoch sec; seqNo:189; depth 0.05 2021-10-09T16:53:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798380.68 epoch sec; seqNo:189; 4074197.25 north; 602219.00 east 2021-10-09T16:53:01Z- AHRS_M2 msg: 1633798381.06 epoch sec; seqNo:189 2021-10-09T16:53:01Z- AHRS_M2 msg: -0.17 phi; -0.07 theta; 2.25 psi 2021-10-09T16:53:01Z- handleDepth()-Depth_Keller msg: 1633798381072 epoch sec; seqNo:190; depth 0.06 2021-10-09T16:53:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:53:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:53:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:53:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:53:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:53:01Z- handleDvl() - RDI_Pathfinder msg: 1633798381.07 epoch sec; seqNo:66 2021-10-09T16:53:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798381.09 epoch sec; seqNo:190; 4074197.25 north; 602219.00 east 2021-10-09T16:53:01Z- AHRS_M2 msg: 1633798381.46 epoch sec; seqNo:190 2021-10-09T16:53:01Z- AHRS_M2 msg: -0.15 phi; 0.03 theta; 2.25 psi 2021-10-09T16:53:01Z- handleDepth()-Depth_Keller msg: 1633798381472 epoch sec; seqNo:191; depth 0.07 2021-10-09T16:53:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798381.48 epoch sec; seqNo:191; 4074197.25 north; 602219.00 east 2021-10-09T16:53:01Z- AHRS_M2 msg: 1633798381.87 epoch sec; seqNo:191 2021-10-09T16:53:01Z- AHRS_M2 msg: -0.03 phi; 0.07 theta; 2.25 psi 2021-10-09T16:53:01Z- handleDepth()-Depth_Keller msg: 1633798381879 epoch sec; seqNo:192; depth 0.08 2021-10-09T16:53:01Z- handleDvl() - RDI_Pathfinder msg: 1633798381.90 epoch sec; seqNo:67 2021-10-09T16:53:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798381.91 epoch sec; seqNo:192; 4074197.25 north; 602219.00 east 2021-10-09T16:53:02Z- LcmTrn::handleMessages() - handling 42 messages took 0.72 ms and 127 calls... 2021-10-09T16:53:02Z- waiting for 1633798380.04, time is 1633798381.91 2021-10-09T16:53:02Z- LcmTrn::updateTrn() equating pose 1633798381.91 and meas times 1633798381.91 2021-10-09T16:53:02Z- LcmTrn::updateTrn() >>>> pose time 1633798381.91, meas time 1633798381.91 <<<< 2021-10-09T16:53:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798381.91, ping # 0. 2021-10-09T16:53:02Z- TerrainNav::Measurement type 1 from time = 1633798381.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:53:02Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.08) 2021-10-09T16:53:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:53:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:53:02Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:53:02Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:53:02Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:53:02Z- AHRS_M2 msg: 1633798382.27 epoch sec; seqNo:192 2021-10-09T16:53:02Z- AHRS_M2 msg: 0.06 phi; 0.02 theta; 2.24 psi 2021-10-09T16:53:02Z- handleDepth()-Depth_Keller msg: 1633798382277 epoch sec; seqNo:193; depth 0.08 2021-10-09T16:53:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:53:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:53:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:53:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:53:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:53:02Z- handleDvl() - RDI_Pathfinder msg: 1633798382.28 epoch sec; seqNo:68 2021-10-09T16:53:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:02Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798382.30 epoch sec; seqNo:193; 4074197.25 north; 602219.00 east 2021-10-09T16:53:02Z- AHRS_M2 msg: 1633798382.68 epoch sec; seqNo:193 2021-10-09T16:53:02Z- AHRS_M2 msg: 0.09 phi; -0.03 theta; 2.25 psi 2021-10-09T16:53:02Z- handleDepth()-Depth_Keller msg: 1633798382680 epoch sec; seqNo:194; depth 0.07 2021-10-09T16:53:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798382.69 epoch sec; seqNo:194; 4074197.25 north; 602219.00 east 2021-10-09T16:53:03Z- AHRS_M2 msg: 1633798383.08 epoch sec; seqNo:194 2021-10-09T16:53:03Z- AHRS_M2 msg: 0.05 phi; -0.04 theta; 2.24 psi 2021-10-09T16:53:03Z- handleDepth()-Depth_Keller msg: 1633798383085 epoch sec; seqNo:195; depth 0.09 2021-10-09T16:53:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798383.09 epoch sec; seqNo:195; 4074197.25 north; 602219.00 east 2021-10-09T16:53:03Z- AHRS_M2 msg: 1633798383.49 epoch sec; seqNo:195 2021-10-09T16:53:03Z- AHRS_M2 msg: -0.02 phi; 0.01 theta; 2.22 psi 2021-10-09T16:53:03Z- handleDepth()-Depth_Keller msg: 1633798383508 epoch sec; seqNo:196; depth 0.07 2021-10-09T16:53:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798383.56 epoch sec; seqNo:196; 4074197.25 north; 602219.00 east 2021-10-09T16:53:03Z- AHRS_M2 msg: 1633798383.89 epoch sec; seqNo:196 2021-10-09T16:53:03Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 2.21 psi 2021-10-09T16:53:03Z- handleDepth()-Depth_Keller msg: 1633798383894 epoch sec; seqNo:197; depth 0.04 2021-10-09T16:53:03Z- handleDvl() - RDI_Pathfinder msg: 1633798383.92 epoch sec; seqNo:69 2021-10-09T16:53:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798383.93 epoch sec; seqNo:197; 4074197.25 north; 602219.00 east 2021-10-09T16:53:04Z- AHRS_M2 msg: 1633798384.29 epoch sec; seqNo:197 2021-10-09T16:53:04Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 2.21 psi 2021-10-09T16:53:04Z- handleDepth()-Depth_Keller msg: 1633798384300 epoch sec; seqNo:198; depth 0.06 2021-10-09T16:53:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798384.33 epoch sec; seqNo:198; 4074197.25 north; 602219.00 east 2021-10-09T16:53:04Z- AHRS_M2 msg: 1633798384.70 epoch sec; seqNo:198 2021-10-09T16:53:04Z- AHRS_M2 msg: 0.07 phi; -0.03 theta; 2.19 psi 2021-10-09T16:53:04Z- handleDepth()-Depth_Keller msg: 1633798384700 epoch sec; seqNo:199; depth 0.08 2021-10-09T16:53:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798384.71 epoch sec; seqNo:199; 4074197.25 north; 602219.00 east 2021-10-09T16:53:05Z- AHRS_M2 msg: 1633798385.10 epoch sec; seqNo:199 2021-10-09T16:53:05Z- AHRS_M2 msg: 0.06 phi; -0.02 theta; 2.19 psi 2021-10-09T16:53:05Z- handleDepth()-Depth_Keller msg: 1633798385111 epoch sec; seqNo:200; depth 0.10 2021-10-09T16:53:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798385.12 epoch sec; seqNo:200; 4074197.25 north; 602219.00 east 2021-10-09T16:53:05Z- AHRS_M2 msg: 1633798385.54 epoch sec; seqNo:200 2021-10-09T16:53:05Z- AHRS_M2 msg: 0.01 phi; 0.01 theta; 2.19 psi 2021-10-09T16:53:05Z- handleDepth()-Depth_Keller msg: 1633798385558 epoch sec; seqNo:201; depth 0.11 2021-10-09T16:53:05Z- handleDvl() - RDI_Pathfinder msg: 1633798385.59 epoch sec; seqNo:70 2021-10-09T16:53:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798385.60 epoch sec; seqNo:201; 4074197.25 north; 602219.00 east 2021-10-09T16:53:05Z- AHRS_M2 msg: 1633798385.91 epoch sec; seqNo:201 2021-10-09T16:53:05Z- AHRS_M2 msg: -0.07 phi; 0.01 theta; 2.18 psi 2021-10-09T16:53:05Z- handleDepth()-Depth_Keller msg: 1633798385916 epoch sec; seqNo:202; depth 0.05 2021-10-09T16:53:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798385.94 epoch sec; seqNo:202; 4074197.25 north; 602219.00 east 2021-10-09T16:53:06Z- AHRS_M2 msg: 1633798386.31 epoch sec; seqNo:202 2021-10-09T16:53:06Z- AHRS_M2 msg: -0.15 phi; -0.02 theta; 2.16 psi 2021-10-09T16:53:06Z- handleDepth()-Depth_Keller msg: 1633798386320 epoch sec; seqNo:203; depth 0.06 2021-10-09T16:53:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798386.33 epoch sec; seqNo:203; 4074197.25 north; 602219.00 east 2021-10-09T16:53:06Z- AHRS_M2 msg: 1633798386.72 epoch sec; seqNo:203 2021-10-09T16:53:06Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 2.19 psi 2021-10-09T16:53:06Z- handleDepth()-Depth_Keller msg: 1633798386724 epoch sec; seqNo:204; depth 0.05 2021-10-09T16:53:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798386.73 epoch sec; seqNo:204; 4074197.25 north; 602219.00 east 2021-10-09T16:53:07Z- AHRS_M2 msg: 1633798387.12 epoch sec; seqNo:204 2021-10-09T16:53:07Z- AHRS_M2 msg: -0.14 phi; -0.03 theta; 2.19 psi 2021-10-09T16:53:07Z- handleDepth()-Depth_Keller msg: 1633798387125 epoch sec; seqNo:205; depth 0.05 2021-10-09T16:53:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798387.14 epoch sec; seqNo:205; 4074197.25 north; 602219.00 east 2021-10-09T16:53:07Z- LcmTrn::handleMessages() - handling 42 messages took 0.58 ms and 130 calls... 2021-10-09T16:53:07Z- waiting for 1633798384.91, time is 1633798387.14 2021-10-09T16:53:07Z- LcmTrn::updateTrn() >>>> pose time 1633798387.14, meas time 1633798385.59 <<<< 2021-10-09T16:53:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798385.59, ping # 0. 2021-10-09T16:53:07Z- TerrainNav::Measurement type 1 from time = 1633798385.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:53:07Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.05) 2021-10-09T16:53:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:53:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:07Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:53:07Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:53:07Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:53:07Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:53:07Z- AHRS_M2 msg: 1633798387.56 epoch sec; seqNo:205 2021-10-09T16:53:07Z- AHRS_M2 msg: -0.06 phi; 0.00 theta; 2.16 psi 2021-10-09T16:53:07Z- handleDepth()-Depth_Keller msg: 1633798387565 epoch sec; seqNo:206; depth 0.05 2021-10-09T16:53:07Z- handleDvl() - RDI_Pathfinder msg: 1633798387.59 epoch sec; seqNo:71 2021-10-09T16:53:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798387.62 epoch sec; seqNo:206; 4074197.25 north; 602219.00 east 2021-10-09T16:53:07Z- AHRS_M2 msg: 1633798387.93 epoch sec; seqNo:206 2021-10-09T16:53:07Z- AHRS_M2 msg: 0.02 phi; 0.03 theta; 2.15 psi 2021-10-09T16:53:07Z- handleDepth()-Depth_Keller msg: 1633798387940 epoch sec; seqNo:207; depth 0.06 2021-10-09T16:53:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798387.95 epoch sec; seqNo:207; 4074197.25 north; 602219.00 east 2021-10-09T16:53:08Z- AHRS_M2 msg: 1633798388.34 epoch sec; seqNo:207 2021-10-09T16:53:08Z- AHRS_M2 msg: 0.07 phi; -0.01 theta; 2.16 psi 2021-10-09T16:53:08Z- handleDepth()-Depth_Keller msg: 1633798388342 epoch sec; seqNo:208; depth 0.08 2021-10-09T16:53:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798388.35 epoch sec; seqNo:208; 4074197.25 north; 602219.00 east 2021-10-09T16:53:08Z- AHRS_M2 msg: 1633798388.74 epoch sec; seqNo:208 2021-10-09T16:53:08Z- AHRS_M2 msg: 0.07 phi; -0.03 theta; 2.15 psi 2021-10-09T16:53:08Z- handleDepth()-Depth_Keller msg: 1633798388753 epoch sec; seqNo:209; depth 0.07 2021-10-09T16:53:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798388.76 epoch sec; seqNo:209; 4074197.25 north; 602219.00 east 2021-10-09T16:53:09Z- AHRS_M2 msg: 1633798389.14 epoch sec; seqNo:209 2021-10-09T16:53:09Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 2.12 psi 2021-10-09T16:53:09Z- handleDepth()-Depth_Keller msg: 1633798389147 epoch sec; seqNo:210; depth 0.08 2021-10-09T16:53:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798389.16 epoch sec; seqNo:210; 4074197.25 north; 602219.00 east 2021-10-09T16:53:09Z- AHRS_M2 msg: 1633798389.57 epoch sec; seqNo:210 2021-10-09T16:53:09Z- AHRS_M2 msg: -0.07 phi; 0.01 theta; 2.13 psi 2021-10-09T16:53:09Z- handleDepth()-Depth_Keller msg: 1633798389580 epoch sec; seqNo:211; depth 0.06 2021-10-09T16:53:09Z- handleDvl() - RDI_Pathfinder msg: 1633798389.61 epoch sec; seqNo:72 2021-10-09T16:53:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798389.62 epoch sec; seqNo:211; 4074197.25 north; 602219.00 east 2021-10-09T16:53:09Z- AHRS_M2 msg: 1633798389.95 epoch sec; seqNo:211 2021-10-09T16:53:09Z- AHRS_M2 msg: -0.13 phi; 0.00 theta; 2.14 psi 2021-10-09T16:53:09Z- handleDepth()-Depth_Keller msg: 1633798389954 epoch sec; seqNo:212; depth 0.06 2021-10-09T16:53:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798389.98 epoch sec; seqNo:212; 4074197.25 north; 602219.00 east 2021-10-09T16:53:10Z- AHRS_M2 msg: 1633798390.35 epoch sec; seqNo:212 2021-10-09T16:53:10Z- AHRS_M2 msg: -0.10 phi; -0.05 theta; 2.15 psi 2021-10-09T16:53:10Z- handleDepth()-Depth_Keller msg: 1633798390357 epoch sec; seqNo:213; depth 0.06 2021-10-09T16:53:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798390.40 epoch sec; seqNo:213; 4074197.25 north; 602219.00 east 2021-10-09T16:53:10Z- AHRS_M2 msg: 1633798390.76 epoch sec; seqNo:213 2021-10-09T16:53:10Z- AHRS_M2 msg: -0.04 phi; -0.08 theta; 2.14 psi 2021-10-09T16:53:10Z- handleDepth()-Depth_Keller msg: 1633798390765 epoch sec; seqNo:214; depth 0.07 2021-10-09T16:53:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798390.78 epoch sec; seqNo:214; 4074197.25 north; 602219.00 east 2021-10-09T16:53:11Z- AHRS_M2 msg: 1633798391.17 epoch sec; seqNo:214 2021-10-09T16:53:11Z- AHRS_M2 msg: 0.03 phi; 0.01 theta; 2.14 psi 2021-10-09T16:53:11Z- handleDepth()-Depth_Keller msg: 1633798391177 epoch sec; seqNo:215; depth 0.08 2021-10-09T16:53:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798391.19 epoch sec; seqNo:215; 4074197.25 north; 602219.00 east 2021-10-09T16:53:11Z- AHRS_M2 msg: 1633798391.57 epoch sec; seqNo:215 2021-10-09T16:53:11Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 2.15 psi 2021-10-09T16:53:11Z- handleDepth()-Depth_Keller msg: 1633798391583 epoch sec; seqNo:216; depth 0.06 2021-10-09T16:53:11Z- handleDvl() - RDI_Pathfinder msg: 1633798391.60 epoch sec; seqNo:73 2021-10-09T16:53:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798391.62 epoch sec; seqNo:216; 4074197.25 north; 602219.00 east 2021-10-09T16:53:11Z- AHRS_M2 msg: 1633798391.97 epoch sec; seqNo:216 2021-10-09T16:53:11Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 2.10 psi 2021-10-09T16:53:11Z- handleDepth()-Depth_Keller msg: 1633798391974 epoch sec; seqNo:217; depth 0.08 2021-10-09T16:53:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798392.00 epoch sec; seqNo:217; 4074197.25 north; 602219.00 east 2021-10-09T16:53:12Z- LcmTrn::handleMessages() - handling 39 messages took 0.61 ms and 126 calls... 2021-10-09T16:53:12Z- waiting for 1633798390.14, time is 1633798392.00 2021-10-09T16:53:12Z- LcmTrn::updateTrn() >>>> pose time 1633798392.00, meas time 1633798391.60 <<<< 2021-10-09T16:53:12Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798391.60, ping # 0. 2021-10-09T16:53:12Z- TerrainNav::Measurement type 1 from time = 1633798391.60 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:53:12Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.08) 2021-10-09T16:53:12Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:53:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:12Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:53:12Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:53:12Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:53:12Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:53:12Z- AHRS_M2 msg: 1633798392.37 epoch sec; seqNo:217 2021-10-09T16:53:12Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 2.08 psi 2021-10-09T16:53:12Z- handleDepth()-Depth_Keller msg: 1633798392376 epoch sec; seqNo:218; depth 0.07 2021-10-09T16:53:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798392.39 epoch sec; seqNo:218; 4074197.25 north; 602219.00 east 2021-10-09T16:53:12Z- AHRS_M2 msg: 1633798392.78 epoch sec; seqNo:218 2021-10-09T16:53:12Z- AHRS_M2 msg: -0.06 phi; -0.00 theta; 2.09 psi 2021-10-09T16:53:12Z- handleDepth()-Depth_Keller msg: 1633798392796 epoch sec; seqNo:219; depth 0.04 2021-10-09T16:53:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798392.81 epoch sec; seqNo:219; 4074197.25 north; 602219.00 east 2021-10-09T16:53:13Z- AHRS_M2 msg: 1633798393.18 epoch sec; seqNo:219 2021-10-09T16:53:13Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 2.09 psi 2021-10-09T16:53:13Z- handleDepth()-Depth_Keller msg: 1633798393191 epoch sec; seqNo:220; depth 0.05 2021-10-09T16:53:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798393.21 epoch sec; seqNo:220; 4074197.25 north; 602219.00 east 2021-10-09T16:53:13Z- AHRS_M2 msg: 1633798393.58 epoch sec; seqNo:220 2021-10-09T16:53:13Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 2.06 psi 2021-10-09T16:53:13Z- handleDepth()-Depth_Keller msg: 1633798393595 epoch sec; seqNo:221; depth 0.07 2021-10-09T16:53:13Z- handleDvl() - RDI_Pathfinder msg: 1633798393.62 epoch sec; seqNo:74 2021-10-09T16:53:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798393.64 epoch sec; seqNo:221; 4074197.25 north; 602219.00 east 2021-10-09T16:53:13Z- AHRS_M2 msg: 1633798393.99 epoch sec; seqNo:221 2021-10-09T16:53:13Z- AHRS_M2 msg: -0.04 phi; -0.02 theta; 2.05 psi 2021-10-09T16:53:14Z- handleDepth()-Depth_Keller msg: 1633798393995 epoch sec; seqNo:222; depth 0.08 2021-10-09T16:53:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798394.01 epoch sec; seqNo:222; 4074197.25 north; 602219.00 east 2021-10-09T16:53:14Z- AHRS_M2 msg: 1633798394.39 epoch sec; seqNo:222 2021-10-09T16:53:14Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 2.06 psi 2021-10-09T16:53:14Z- handleDepth()-Depth_Keller msg: 1633798394399 epoch sec; seqNo:223; depth 0.06 2021-10-09T16:53:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798394.41 epoch sec; seqNo:223; 4074197.25 north; 602219.00 east 2021-10-09T16:53:14Z- AHRS_M2 msg: 1633798394.80 epoch sec; seqNo:223 2021-10-09T16:53:14Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 2.06 psi 2021-10-09T16:53:14Z- handleDepth()-Depth_Keller msg: 1633798394807 epoch sec; seqNo:224; depth 0.07 2021-10-09T16:53:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798394.82 epoch sec; seqNo:224; 4074197.25 north; 602219.00 east 2021-10-09T16:53:15Z- AHRS_M2 msg: 1633798395.20 epoch sec; seqNo:224 2021-10-09T16:53:15Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 2.05 psi 2021-10-09T16:53:15Z- handleDepth()-Depth_Keller msg: 1633798395212 epoch sec; seqNo:225; depth 0.08 2021-10-09T16:53:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798395.22 epoch sec; seqNo:225; 4074197.25 north; 602219.00 east 2021-10-09T16:53:15Z- AHRS_M2 msg: 1633798395.61 epoch sec; seqNo:225 2021-10-09T16:53:15Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 2.04 psi 2021-10-09T16:53:15Z- handleDepth()-Depth_Keller msg: 1633798395610 epoch sec; seqNo:226; depth 0.07 2021-10-09T16:53:15Z- handleDvl() - RDI_Pathfinder msg: 1633798395.63 epoch sec; seqNo:75 2021-10-09T16:53:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798395.66 epoch sec; seqNo:226; 4074197.25 north; 602219.00 east 2021-10-09T16:53:16Z- AHRS_M2 msg: 1633798396.01 epoch sec; seqNo:226 2021-10-09T16:53:16Z- AHRS_M2 msg: -0.02 phi; 0.00 theta; 2.03 psi 2021-10-09T16:53:16Z- handleDepth()-Depth_Keller msg: 1633798396018 epoch sec; seqNo:227; depth 0.07 2021-10-09T16:53:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798396.03 epoch sec; seqNo:227; 4074197.25 north; 602219.00 east 2021-10-09T16:53:16Z- AHRS_M2 msg: 1633798396.41 epoch sec; seqNo:227 2021-10-09T16:53:16Z- AHRS_M2 msg: -0.00 phi; -0.01 theta; 2.02 psi 2021-10-09T16:53:16Z- handleDepth()-Depth_Keller msg: 1633798396430 epoch sec; seqNo:228; depth 0.06 2021-10-09T16:53:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798396.44 epoch sec; seqNo:228; 4074197.25 north; 602219.00 east 2021-10-09T16:53:16Z- AHRS_M2 msg: 1633798396.82 epoch sec; seqNo:228 2021-10-09T16:53:16Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 2.03 psi 2021-10-09T16:53:16Z- handleDepth()-Depth_Keller msg: 1633798396826 epoch sec; seqNo:229; depth 0.05 2021-10-09T16:53:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798396.84 epoch sec; seqNo:229; 4074197.25 north; 602219.00 east 2021-10-09T16:53:17Z- AHRS_M2 msg: 1633798397.22 epoch sec; seqNo:229 2021-10-09T16:53:17Z- AHRS_M2 msg: 0.04 phi; 0.01 theta; 2.01 psi 2021-10-09T16:53:17Z- handleDepth()-Depth_Keller msg: 1633798397230 epoch sec; seqNo:230; depth 0.06 2021-10-09T16:53:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798397.24 epoch sec; seqNo:230; 4074197.25 north; 602219.00 east 2021-10-09T16:53:17Z- LcmTrn::handleMessages() - handling 41 messages took 0.73 ms and 126 calls... 2021-10-09T16:53:17Z- waiting for 1633798395.00, time is 1633798397.24 2021-10-09T16:53:17Z- LcmTrn::updateTrn() >>>> pose time 1633798397.24, meas time 1633798395.63 <<<< 2021-10-09T16:53:17Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798395.63, ping # 0. 2021-10-09T16:53:17Z- TerrainNav::Measurement type 1 from time = 1633798395.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:53:17Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.06) 2021-10-09T16:53:17Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:53:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:17Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:53:17Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:53:17Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:53:17Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:53:17Z- AHRS_M2 msg: 1633798397.63 epoch sec; seqNo:230 2021-10-09T16:53:17Z- AHRS_M2 msg: 0.07 phi; 0.02 theta; 1.98 psi 2021-10-09T16:53:17Z- handleDepth()-Depth_Keller msg: 1633798397632 epoch sec; seqNo:231; depth 0.07 2021-10-09T16:53:17Z- handleDvl() - RDI_Pathfinder msg: 1633798397.65 epoch sec; seqNo:76 2021-10-09T16:53:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798397.66 epoch sec; seqNo:231; 4074197.25 north; 602219.00 east 2021-10-09T16:53:18Z- AHRS_M2 msg: 1633798398.03 epoch sec; seqNo:231 2021-10-09T16:53:18Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 1.97 psi 2021-10-09T16:53:18Z- handleDepth()-Depth_Keller msg: 1633798398033 epoch sec; seqNo:232; depth 0.08 2021-10-09T16:53:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798398.06 epoch sec; seqNo:232; 4074197.25 north; 602219.00 east 2021-10-09T16:53:18Z- AHRS_M2 msg: 1633798398.43 epoch sec; seqNo:232 2021-10-09T16:53:18Z- AHRS_M2 msg: 0.03 phi; -0.07 theta; 1.97 psi 2021-10-09T16:53:18Z- handleDepth()-Depth_Keller msg: 1633798398437 epoch sec; seqNo:233; depth 0.09 2021-10-09T16:53:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798398.45 epoch sec; seqNo:233; 4074197.25 north; 602219.00 east 2021-10-09T16:53:18Z- AHRS_M2 msg: 1633798398.84 epoch sec; seqNo:233 2021-10-09T16:53:18Z- AHRS_M2 msg: -0.04 phi; -0.02 theta; 1.97 psi 2021-10-09T16:53:18Z- handleDepth()-Depth_Keller msg: 1633798398841 epoch sec; seqNo:234; depth 0.09 2021-10-09T16:53:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798398.85 epoch sec; seqNo:234; 4074197.25 north; 602219.00 east 2021-10-09T16:53:19Z- AHRS_M2 msg: 1633798399.24 epoch sec; seqNo:234 2021-10-09T16:53:19Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 1.96 psi 2021-10-09T16:53:19Z- handleDepth()-Depth_Keller msg: 1633798399247 epoch sec; seqNo:235; depth 0.07 2021-10-09T16:53:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798399.26 epoch sec; seqNo:235; 4074197.25 north; 602219.00 east 2021-10-09T16:53:19Z- AHRS_M2 msg: 1633798399.64 epoch sec; seqNo:235 2021-10-09T16:53:19Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.96 psi 2021-10-09T16:53:19Z- handleDepth()-Depth_Keller msg: 1633798399652 epoch sec; seqNo:236; depth 0.05 2021-10-09T16:53:19Z- handleDvl() - RDI_Pathfinder msg: 1633798399.69 epoch sec; seqNo:77 2021-10-09T16:53:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798399.74 epoch sec; seqNo:236; 4074197.25 north; 602219.00 east 2021-10-09T16:53:20Z- AHRS_M2 msg: 1633798400.05 epoch sec; seqNo:236 2021-10-09T16:53:20Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 1.92 psi 2021-10-09T16:53:20Z- handleDepth()-Depth_Keller msg: 1633798400056 epoch sec; seqNo:237; depth 0.06 2021-10-09T16:53:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798400.10 epoch sec; seqNo:237; 4074197.25 north; 602219.00 east 2021-10-09T16:53:20Z- AHRS_M2 msg: 1633798400.45 epoch sec; seqNo:237 2021-10-09T16:53:20Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.92 psi 2021-10-09T16:53:20Z- handleDepth()-Depth_Keller msg: 1633798400467 epoch sec; seqNo:238; depth 0.06 2021-10-09T16:53:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798400.48 epoch sec; seqNo:238; 4074197.25 north; 602219.00 east 2021-10-09T16:53:20Z- AHRS_M2 msg: 1633798400.86 epoch sec; seqNo:238 2021-10-09T16:53:20Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.97 psi 2021-10-09T16:53:20Z- handleDepth()-Depth_Keller msg: 1633798400864 epoch sec; seqNo:239; depth 0.06 2021-10-09T16:53:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798400.88 epoch sec; seqNo:239; 4074197.25 north; 602219.00 east 2021-10-09T16:53:21Z- AHRS_M2 msg: 1633798401.26 epoch sec; seqNo:239 2021-10-09T16:53:21Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.97 psi 2021-10-09T16:53:21Z- handleDepth()-Depth_Keller msg: 1633798401267 epoch sec; seqNo:240; depth 0.08 2021-10-09T16:53:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798401.29 epoch sec; seqNo:240; 4074197.25 north; 602219.00 east 2021-10-09T16:53:21Z- AHRS_M2 msg: 1633798401.66 epoch sec; seqNo:240 2021-10-09T16:53:21Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.95 psi 2021-10-09T16:53:21Z- handleDepth()-Depth_Keller msg: 1633798401672 epoch sec; seqNo:241; depth 0.07 2021-10-09T16:53:21Z- handleDvl() - RDI_Pathfinder msg: 1633798401.72 epoch sec; seqNo:78 2021-10-09T16:53:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:21Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798401.77 epoch sec; seqNo:241; 4074197.25 north; 602219.00 east 2021-10-09T16:53:22Z- AHRS_M2 msg: 1633798402.07 epoch sec; seqNo:241 2021-10-09T16:53:22Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.95 psi 2021-10-09T16:53:22Z- handleDepth()-Depth_Keller msg: 1633798402083 epoch sec; seqNo:242; depth 0.09 2021-10-09T16:53:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798402.13 epoch sec; seqNo:242; 4074197.25 north; 602219.00 east 2021-10-09T16:53:22Z- LcmTrn::handleMessages() - handling 39 messages took 0.85 ms and 122 calls... 2021-10-09T16:53:22Z- waiting for 1633798400.24, time is 1633798402.13 2021-10-09T16:53:22Z- LcmTrn::updateTrn() >>>> pose time 1633798402.13, meas time 1633798401.72 <<<< 2021-10-09T16:53:22Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798401.72, ping # 0. 2021-10-09T16:53:22Z- TerrainNav::Measurement type 1 from time = 1633798401.72 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:53:22Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.09) 2021-10-09T16:53:22Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:53:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:53:22Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:53:22Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:53:22Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:53:22Z- AHRS_M2 msg: 1633798402.48 epoch sec; seqNo:242 2021-10-09T16:53:22Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.95 psi 2021-10-09T16:53:22Z- handleDepth()-Depth_Keller msg: 1633798402487 epoch sec; seqNo:243; depth 0.08 2021-10-09T16:53:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798402.50 epoch sec; seqNo:243; 4074197.25 north; 602219.00 east 2021-10-09T16:53:22Z- AHRS_M2 msg: 1633798402.88 epoch sec; seqNo:243 2021-10-09T16:53:22Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 1.96 psi 2021-10-09T16:53:22Z- handleDepth()-Depth_Keller msg: 1633798402884 epoch sec; seqNo:244; depth 0.06 2021-10-09T16:53:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798402.91 epoch sec; seqNo:244; 4074197.25 north; 602219.00 east 2021-10-09T16:53:23Z- AHRS_M2 msg: 1633798403.28 epoch sec; seqNo:244 2021-10-09T16:53:23Z- AHRS_M2 msg: 0.05 phi; -0.10 theta; 1.98 psi 2021-10-09T16:53:23Z- handleDepth()-Depth_Keller msg: 1633798403288 epoch sec; seqNo:245; depth 0.08 2021-10-09T16:53:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798403.30 epoch sec; seqNo:245; 4074197.25 north; 602219.00 east 2021-10-09T16:53:23Z- AHRS_M2 msg: 1633798403.68 epoch sec; seqNo:245 2021-10-09T16:53:23Z- AHRS_M2 msg: 0.09 phi; -0.07 theta; 1.96 psi 2021-10-09T16:53:23Z- handleDepth()-Depth_Keller msg: 1633798403698 epoch sec; seqNo:246; depth 0.11 2021-10-09T16:53:23Z- handleDvl() - RDI_Pathfinder msg: 1633798403.72 epoch sec; seqNo:79 2021-10-09T16:53:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798403.75 epoch sec; seqNo:246; 4074197.25 north; 602219.00 east 2021-10-09T16:53:24Z- AHRS_M2 msg: 1633798404.09 epoch sec; seqNo:246 2021-10-09T16:53:24Z- AHRS_M2 msg: 0.05 phi; -0.03 theta; 1.95 psi 2021-10-09T16:53:24Z- handleDepth()-Depth_Keller msg: 1633798404117 epoch sec; seqNo:247; depth 0.09 2021-10-09T16:53:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798404.13 epoch sec; seqNo:247; 4074197.25 north; 602219.00 east 2021-10-09T16:53:24Z- AHRS_M2 msg: 1633798404.49 epoch sec; seqNo:247 2021-10-09T16:53:24Z- AHRS_M2 msg: -0.03 phi; -0.05 theta; 1.94 psi 2021-10-09T16:53:24Z- handleDepth()-Depth_Keller msg: 1633798404497 epoch sec; seqNo:248; depth 0.07 2021-10-09T16:53:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798404.51 epoch sec; seqNo:248; 4074197.25 north; 602219.00 east 2021-10-09T16:53:24Z- AHRS_M2 msg: 1633798404.90 epoch sec; seqNo:248 2021-10-09T16:53:24Z- AHRS_M2 msg: -0.07 phi; -0.06 theta; 1.94 psi 2021-10-09T16:53:24Z- handleDepth()-Depth_Keller msg: 1633798404902 epoch sec; seqNo:249; depth 0.05 2021-10-09T16:53:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798404.91 epoch sec; seqNo:249; 4074197.25 north; 602219.00 east 2021-10-09T16:53:25Z- AHRS_M2 msg: 1633798405.30 epoch sec; seqNo:249 2021-10-09T16:53:25Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 1.95 psi 2021-10-09T16:53:25Z- handleDepth()-Depth_Keller msg: 1633798405312 epoch sec; seqNo:250; depth 0.08 2021-10-09T16:53:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798405.32 epoch sec; seqNo:250; 4074197.25 north; 602219.00 east 2021-10-09T16:53:25Z- AHRS_M2 msg: 1633798405.70 epoch sec; seqNo:250 2021-10-09T16:53:25Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.94 psi 2021-10-09T16:53:25Z- handleDepth()-Depth_Keller msg: 1633798405715 epoch sec; seqNo:251; depth 0.08 2021-10-09T16:53:25Z- handleDvl() - RDI_Pathfinder msg: 1633798405.74 epoch sec; seqNo:80 2021-10-09T16:53:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:25Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798405.76 epoch sec; seqNo:251; 4074197.25 north; 602219.00 east 2021-10-09T16:53:26Z- AHRS_M2 msg: 1633798406.11 epoch sec; seqNo:251 2021-10-09T16:53:26Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 1.94 psi 2021-10-09T16:53:26Z- handleDepth()-Depth_Keller msg: 1633798406121 epoch sec; seqNo:252; depth 0.05 2021-10-09T16:53:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798406.14 epoch sec; seqNo:252; 4074197.25 north; 602219.00 east 2021-10-09T16:53:26Z- AHRS_M2 msg: 1633798406.51 epoch sec; seqNo:252 2021-10-09T16:53:26Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 1.93 psi 2021-10-09T16:53:26Z- handleDepth()-Depth_Keller msg: 1633798406520 epoch sec; seqNo:253; depth 0.06 2021-10-09T16:53:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798406.53 epoch sec; seqNo:253; 4074197.25 north; 602219.00 east 2021-10-09T16:53:26Z- AHRS_M2 msg: 1633798406.92 epoch sec; seqNo:253 2021-10-09T16:53:26Z- AHRS_M2 msg: -0.09 phi; -0.04 theta; 1.93 psi 2021-10-09T16:53:26Z- handleDepth()-Depth_Keller msg: 1633798406920 epoch sec; seqNo:254; depth 0.06 2021-10-09T16:53:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798406.94 epoch sec; seqNo:254; 4074197.25 north; 602219.00 east 2021-10-09T16:53:27Z- AHRS_M2 msg: 1633798407.32 epoch sec; seqNo:254 2021-10-09T16:53:27Z- AHRS_M2 msg: -0.06 phi; -0.05 theta; 1.92 psi 2021-10-09T16:53:27Z- handleDepth()-Depth_Keller msg: 1633798407332 epoch sec; seqNo:255; depth 0.06 2021-10-09T16:53:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798407.36 epoch sec; seqNo:255; 4074197.25 north; 602219.00 east 2021-10-09T16:53:27Z- LcmTrn::handleMessages() - handling 41 messages took 0.77 ms and 125 calls... 2021-10-09T16:53:27Z- waiting for 1633798405.13, time is 1633798407.36 2021-10-09T16:53:27Z- LcmTrn::updateTrn() >>>> pose time 1633798407.36, meas time 1633798405.74 <<<< 2021-10-09T16:53:27Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798405.74, ping # 0. 2021-10-09T16:53:27Z- TerrainNav::Measurement type 1 from time = 1633798405.74 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:53:27Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.06) 2021-10-09T16:53:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:53:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:53:27Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:53:27Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:53:27Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:53:27Z- AHRS_M2 msg: 1633798407.72 epoch sec; seqNo:255 2021-10-09T16:53:27Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 1.91 psi 2021-10-09T16:53:27Z- handleDepth()-Depth_Keller msg: 1633798407733 epoch sec; seqNo:256; depth 0.07 2021-10-09T16:53:27Z- handleDvl() - RDI_Pathfinder msg: 1633798407.76 epoch sec; seqNo:81 2021-10-09T16:53:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:27Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798407.79 epoch sec; seqNo:256; 4074197.25 north; 602219.00 east 2021-10-09T16:53:28Z- AHRS_M2 msg: 1633798408.14 epoch sec; seqNo:256 2021-10-09T16:53:28Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.91 psi 2021-10-09T16:53:28Z- handleDepth()-Depth_Keller msg: 1633798408151 epoch sec; seqNo:257; depth 0.09 2021-10-09T16:53:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798408.17 epoch sec; seqNo:257; 4074197.25 north; 602219.00 east 2021-10-09T16:53:28Z- AHRS_M2 msg: 1633798408.54 epoch sec; seqNo:257 2021-10-09T16:53:28Z- AHRS_M2 msg: 0.00 phi; -0.06 theta; 1.90 psi 2021-10-09T16:53:28Z- handleDepth()-Depth_Keller msg: 1633798408562 epoch sec; seqNo:258; depth 0.08 2021-10-09T16:53:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798408.58 epoch sec; seqNo:258; 4074197.25 north; 602219.00 east 2021-10-09T16:53:28Z- AHRS_M2 msg: 1633798408.94 epoch sec; seqNo:258 2021-10-09T16:53:28Z- AHRS_M2 msg: -0.01 phi; -0.09 theta; 1.91 psi 2021-10-09T16:53:28Z- handleDepth()-Depth_Keller msg: 1633798408941 epoch sec; seqNo:259; depth 0.08 2021-10-09T16:53:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798408.96 epoch sec; seqNo:259; 4074197.25 north; 602219.00 east 2021-10-09T16:53:29Z- AHRS_M2 msg: 1633798409.34 epoch sec; seqNo:259 2021-10-09T16:53:29Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 1.93 psi 2021-10-09T16:53:29Z- handleDepth()-Depth_Keller msg: 1633798409348 epoch sec; seqNo:260; depth 0.08 2021-10-09T16:53:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798409.37 epoch sec; seqNo:260; 4074197.25 north; 602219.00 east 2021-10-09T16:53:29Z- AHRS_M2 msg: 1633798409.75 epoch sec; seqNo:260 2021-10-09T16:53:29Z- AHRS_M2 msg: -0.04 phi; -0.00 theta; 1.93 psi 2021-10-09T16:53:29Z- handleDepth()-Depth_Keller msg: 1633798409759 epoch sec; seqNo:261; depth 0.07 2021-10-09T16:53:29Z- handleDvl() - RDI_Pathfinder msg: 1633798409.80 epoch sec; seqNo:82 2021-10-09T16:53:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:29Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798409.83 epoch sec; seqNo:261; 4074197.25 north; 602219.00 east 2021-10-09T16:53:30Z- AHRS_M2 msg: 1633798410.15 epoch sec; seqNo:261 2021-10-09T16:53:30Z- AHRS_M2 msg: -0.08 phi; -0.00 theta; 1.93 psi 2021-10-09T16:53:30Z- handleDepth()-Depth_Keller msg: 1633798410156 epoch sec; seqNo:262; depth 0.05 2021-10-09T16:53:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:53:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:53:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:53:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:53:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:53:30Z- handleDvl() - RDI_Pathfinder msg: 1633798410.16 epoch sec; seqNo:83 2021-10-09T16:53:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:30Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798410.18 epoch sec; seqNo:262; 4074197.25 north; 602219.00 east 2021-10-09T16:53:30Z- AHRS_M2 msg: 1633798410.55 epoch sec; seqNo:262 2021-10-09T16:53:30Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 1.93 psi 2021-10-09T16:53:30Z- handleDepth()-Depth_Keller msg: 1633798410560 epoch sec; seqNo:263; depth 0.04 2021-10-09T16:53:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798410.57 epoch sec; seqNo:263; 4074197.25 north; 602219.00 east 2021-10-09T16:53:30Z- AHRS_M2 msg: 1633798410.96 epoch sec; seqNo:263 2021-10-09T16:53:30Z- AHRS_M2 msg: -0.11 phi; 0.03 theta; 1.92 psi 2021-10-09T16:53:30Z- handleDepth()-Depth_Keller msg: 1633798410975 epoch sec; seqNo:264; depth 0.06 2021-10-09T16:53:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798410.99 epoch sec; seqNo:264; 4074197.25 north; 602219.00 east 2021-10-09T16:53:31Z- AHRS_M2 msg: 1633798411.36 epoch sec; seqNo:264 2021-10-09T16:53:31Z- AHRS_M2 msg: -0.08 phi; 0.05 theta; 1.91 psi 2021-10-09T16:53:31Z- handleDepth()-Depth_Keller msg: 1633798411368 epoch sec; seqNo:265; depth 0.06 2021-10-09T16:53:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-09T16:53:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-09T16:53:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-09T16:53:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-09T16:53:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-09T16:53:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-09T16:53:31Z- handleDvl() - RDI_Pathfinder msg: 1633798411.37 epoch sec; seqNo:84 2021-10-09T16:53:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798411.39 epoch sec; seqNo:265; 4074197.25 north; 602219.00 east 2021-10-09T16:53:31Z- AHRS_M2 msg: 1633798411.76 epoch sec; seqNo:265 2021-10-09T16:53:31Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.93 psi 2021-10-09T16:53:31Z- handleDepth()-Depth_Keller msg: 1633798411772 epoch sec; seqNo:266; depth 0.06 2021-10-09T16:53:31Z- handleDvl() - RDI_Pathfinder msg: 1633798411.81 epoch sec; seqNo:85 2021-10-09T16:53:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798411.83 epoch sec; seqNo:266; 4074197.25 north; 602219.00 east 2021-10-09T16:53:32Z- AHRS_M2 msg: 1633798412.17 epoch sec; seqNo:266 2021-10-09T16:53:32Z- AHRS_M2 msg: -0.00 phi; -0.06 theta; 1.93 psi 2021-10-09T16:53:32Z- handleDepth()-Depth_Keller msg: 1633798412176 epoch sec; seqNo:267; depth 0.07 2021-10-09T16:53:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798412.21 epoch sec; seqNo:267; 4074197.25 north; 602219.00 east 2021-10-09T16:53:32Z- LcmTrn::handleMessages() - handling 41 messages took 0.80 ms and 124 calls... 2021-10-09T16:53:32Z- waiting for 1633798410.36, time is 1633798412.21 2021-10-09T16:53:32Z- LcmTrn::updateTrn() >>>> pose time 1633798412.21, meas time 1633798411.81 <<<< 2021-10-09T16:53:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633798411.81, ping # 0. 2021-10-09T16:53:32Z- TerrainNav::Measurement type 1 from time = 1633798411.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-09T16:53:32Z- TerrainNav::motionUpdate() - currEstimate = (4074197, 602219.00, 0.07) 2021-10-09T16:53:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-09T16:53:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-09T16:53:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-09T16:53:32Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-09T16:53:32Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-09T16:53:32Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-09T16:53:32Z- AHRS_M2 msg: 1633798412.57 epoch sec; seqNo:267 2021-10-09T16:53:32Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 1.92 psi 2021-10-09T16:53:32Z- handleDepth()-Depth_Keller msg: 1633798412580 epoch sec; seqNo:268; depth 0.09 2021-10-09T16:53:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798412.62 epoch sec; seqNo:268; 4074197.25 north; 602219.00 east 2021-10-09T16:53:32Z- AHRS_M2 msg: 1633798412.98 epoch sec; seqNo:268 2021-10-09T16:53:32Z- AHRS_M2 msg: 0.01 phi; 0.02 theta; 1.90 psi 2021-10-09T16:53:32Z- handleDepth()-Depth_Keller msg: 1633798412984 epoch sec; seqNo:269; depth 0.09 2021-10-09T16:53:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798413.00 epoch sec; seqNo:269; 4074197.25 north; 602219.00 east 2021-10-09T16:53:33Z- AHRS_M2 msg: 1633798413.38 epoch sec; seqNo:269 2021-10-09T16:53:33Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.89 psi 2021-10-09T16:53:33Z- handleDepth()-Depth_Keller msg: 1633798413388 epoch sec; seqNo:270; depth 0.06 2021-10-09T16:53:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798413.40 epoch sec; seqNo:270; 4074197.25 north; 602219.00 east 2021-10-09T16:53:33Z- AHRS_M2 msg: 1633798413.79 epoch sec; seqNo:270 2021-10-09T16:53:33Z- AHRS_M2 msg: -0.04 phi; -0.08 theta; 1.92 psi 2021-10-09T16:53:33Z- handleDepth()-Depth_Keller msg: 1633798413790 epoch sec; seqNo:271; depth 0.06 2021-10-09T16:53:33Z- handleDvl() - RDI_Pathfinder msg: 1633798413.83 epoch sec; seqNo:86 2021-10-09T16:53:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-09T16:53:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-09T16:53:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798413.84 epoch sec; seqNo:271; 4074197.25 north; 602219.00 east 2021-10-09T16:53:34Z- AHRS_M2 msg: 1633798414.19 epoch sec; seqNo:271 2021-10-09T16:53:34Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 1.94 psi 2021-10-09T16:53:34Z- handleDepth()-Depth_Keller msg: 1633798414196 epoch sec; seqNo:272; depth 0.07 2021-10-09T16:53:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798414.21 epoch sec; seqNo:272; 4074197.25 north; 602219.00 east 2021-10-09T16:53:34Z- AHRS_M2 msg: 1633798414.60 epoch sec; seqNo:272 2021-10-09T16:53:34Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 1.91 psi 2021-10-09T16:53:34Z- handleDepth()-Depth_Keller msg: 1633798414600 epoch sec; seqNo:273; depth 0.06 2021-10-09T16:53:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798414.61 epoch sec; seqNo:273; 4074197.25 north; 602219.00 east 2021-10-09T16:53:35Z- AHRS_M2 msg: 1633798415.00 epoch sec; seqNo:273 2021-10-09T16:53:35Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 1.88 psi 2021-10-09T16:53:35Z- handleDepth()-Depth_Keller msg: 1633798415004 epoch sec; seqNo:274; depth 0.06 2021-10-09T16:53:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633798415.02 epoch sec; seqNo:274; 4074197.25 north; 602219.00 east