2021-10-10T15:38:26Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T15:38:26Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T15:38:26Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-10-10T15:38:26Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-10-10T15:38:26Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-10-10T15:38:26Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-10-10T15:38:26Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-10-10T15:38:26Z* LCM timeout=5.00 sec 2021-10-10T15:38:26Z* TRN settings: 2021-10-10T15:38:26Z* period=3.00 sec 2021-10-10T15:38:26Z* coherence=2.00 sec 2021-10-10T15:38:26Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-10-10T15:38:26Z* maptype = 2 filtertype = 3 weighting = 0 2021-10-10T15:38:26Z* lowgrade_filter = 1 allow reinit = 1 2021-10-10T15:38:26Z* cmd_estimate = cmd_estimate cmd_reinit = cmd_reinit 2021-10-10T15:38:26Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T15:38:26Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T15:38:26Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T15:38:26Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T15:38:26Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-10-10T15:38:26Z* TerrainMapOctree::numTiles_ = 9. 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-10-10T15:38:26Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-10-10T15:38:26Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.502391 seconds. 2021-10-10T15:38:26Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.57 2021-10-10T15:38:26Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.57 OK 2021-10-10T15:38:26Z* parseSensorSpecs parsing sensor of type 1. 2021-10-10T15:38:26Z* Sensor 0 is of type 1. 2021-10-10T15:38:26Z* parseSensorSpecs parsing sensor of type 2. 2021-10-10T15:38:26Z* Sensor 1 is of type 2. 2021-10-10T15:38:26Z* parseSensorSpecs parsing sensor of type 5. 2021-10-10T15:38:26Z* Sensor 2 is of type 5. 2021-10-10T15:38:26Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55c2da68d0] 2021-10-10T15:38:26Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-10-10T15:38:26Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T15:38:26Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T15:38:26Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T15:38:26Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.57 2021-10-10T15:38:26Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T15:38:26Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T15:38:26Z- Sensor 0 is of type 1. 2021-10-10T15:38:26Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T15:38:26Z- Sensor 1 is of type 2. 2021-10-10T15:38:26Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T15:38:26Z- Sensor 2 is of type 5. 2021-10-10T15:38:26Z- Random noise maker initialized with 1633880306 2021-10-10T15:38:26Z- setDistribToSave(0) 2021-10-10T15:38:26Z- setDistribToSave set to 0 2021-10-10T15:38:26Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T15:38:26Z- Sensor #1: 2021-10-10T15:38:26Z- Sensor name: rdiDVL 2021-10-10T15:38:26Z- Sensor type: 1 2021-10-10T15:38:26Z- Number of beams per measurement: 4 2021-10-10T15:38:26Z- Sensor #1 to vehicle transformation information: 2021-10-10T15:38:26Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T15:38:26Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T15:38:26Z- 2021-10-10T15:38:26Z- Sensor #2: 2021-10-10T15:38:26Z- Sensor name: resonSeabat8101 2021-10-10T15:38:26Z- Sensor type: 2 2021-10-10T15:38:26Z- Number of beams per measurement: 11 2021-10-10T15:38:26Z- Sensor #2 to vehicle transformation information: 2021-10-10T15:38:26Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T15:38:26Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T15:38:26Z- 2021-10-10T15:38:26Z- Sensor #3: 2021-10-10T15:38:26Z- Sensor name: imagenexdeltat 2021-10-10T15:38:26Z- Sensor type: 5 2021-10-10T15:38:26Z- Number of beams per measurement: 120 2021-10-10T15:38:26Z- Sensor #3 to vehicle transformation information: 2021-10-10T15:38:26Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T15:38:26Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T15:38:26Z- 2021-10-10T15:38:26Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T15:38:26Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T15:38:26Z- TerrainNav::initVariables finished. 2021-10-10T15:38:26Z- TerrainNav::Constructor finished. 2021-10-10T15:38:26Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T15:38:26Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T15:38:26Z- TNavBF::numFilters: 1 2021-10-10T15:38:26Z- TerrainNav::modified weighting set to 0 2021-10-10T15:38:26Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T15:38:26Z- LcmTrn::run() 2021-10-10T15:38:26Z- AHRS_M2 msg: 1633880306.89 epoch sec; seqNo:5 2021-10-10T15:38:26Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 1.11 psi 2021-10-10T15:38:26Z- handleDepth()-Depth_Keller msg: 1633880306892 epoch sec; seqNo:5; depth 0.08 2021-10-10T15:38:26Z- handleDvl() - RDI_Pathfinder msg: 1633880306.93 epoch sec; seqNo:3 2021-10-10T15:38:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.86 , 96.29 , 97.65 , 88.15 2021-10-10T15:38:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.45 , 0.22 2021-10-10T15:38:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880306.96 epoch sec; seqNo:6; 4061573.96 north; 594843.16 east 2021-10-10T15:38:27Z- AHRS_M2 msg: 1633880307.29 epoch sec; seqNo:6 2021-10-10T15:38:27Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.09 psi 2021-10-10T15:38:27Z- handleDepth()-Depth_Keller msg: 1633880307307 epoch sec; seqNo:6; depth 0.04 2021-10-10T15:38:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880307.34 epoch sec; seqNo:7; 4061573.95 north; 594841.94 east 2021-10-10T15:38:27Z- AHRS_M2 msg: 1633880307.69 epoch sec; seqNo:7 2021-10-10T15:38:27Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.07 psi 2021-10-10T15:38:27Z- handleDepth()-Depth_Keller msg: 1633880307704 epoch sec; seqNo:7; depth 0.04 2021-10-10T15:38:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:27Z- handleDvl() - RDI_Pathfinder msg: 1633880307.71 epoch sec; seqNo:4 2021-10-10T15:38:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.45 , 0.22 2021-10-10T15:38:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880307.74 epoch sec; seqNo:8; 4061573.95 north; 594841.94 east 2021-10-10T15:38:28Z- AHRS_M2 msg: 1633880308.10 epoch sec; seqNo:8 2021-10-10T15:38:28Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 1.06 psi 2021-10-10T15:38:28Z- handleDepth()-Depth_Keller msg: 1633880308104 epoch sec; seqNo:8; depth 0.04 2021-10-10T15:38:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880308.13 epoch sec; seqNo:9; 4061574.33 north; 594841.93 east 2021-10-10T15:38:28Z- AHRS_M2 msg: 1633880308.50 epoch sec; seqNo:9 2021-10-10T15:38:28Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.08 psi 2021-10-10T15:38:28Z- handleDepth()-Depth_Keller msg: 1633880308508 epoch sec; seqNo:9; depth 0.01 2021-10-10T15:38:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880308.52 epoch sec; seqNo:10; 4061574.33 north; 594841.93 east 2021-10-10T15:38:28Z- AHRS_M2 msg: 1633880308.90 epoch sec; seqNo:10 2021-10-10T15:38:28Z- AHRS_M2 msg: -0.01 phi; 0.04 theta; 1.09 psi 2021-10-10T15:38:28Z- handleDepth()-Depth_Keller msg: 1633880308912 epoch sec; seqNo:10; depth 0.04 2021-10-10T15:38:28Z- handleDvl() - RDI_Pathfinder msg: 1633880308.95 epoch sec; seqNo:5 2021-10-10T15:38:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.65 , 97.72 , 97.72 , 89.57 2021-10-10T15:38:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , 0.37 , 0.40 2021-10-10T15:38:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880309.00 epoch sec; seqNo:11; 4061574.33 north; 594841.93 east 2021-10-10T15:38:29Z- AHRS_M2 msg: 1633880309.31 epoch sec; seqNo:11 2021-10-10T15:38:29Z- AHRS_M2 msg: -0.02 phi; 0.10 theta; 1.10 psi 2021-10-10T15:38:29Z- handleDepth()-Depth_Keller msg: 1633880309316 epoch sec; seqNo:11; depth 0.05 2021-10-10T15:38:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880309.37 epoch sec; seqNo:12; 4061573.95 north; 594841.94 east 2021-10-10T15:38:29Z- AHRS_M2 msg: 1633880309.71 epoch sec; seqNo:12 2021-10-10T15:38:29Z- AHRS_M2 msg: -0.07 phi; 0.08 theta; 1.13 psi 2021-10-10T15:38:29Z- handleDepth()-Depth_Keller msg: 1633880309722 epoch sec; seqNo:12; depth 0.06 2021-10-10T15:38:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880309.74 epoch sec; seqNo:13; 4061573.95 north; 594841.94 east 2021-10-10T15:38:30Z- AHRS_M2 msg: 1633880310.12 epoch sec; seqNo:13 2021-10-10T15:38:30Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 1.15 psi 2021-10-10T15:38:30Z- handleDepth()-Depth_Keller msg: 1633880310124 epoch sec; seqNo:13; depth 0.06 2021-10-10T15:38:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:30Z- handleDvl() - RDI_Pathfinder msg: 1633880310.13 epoch sec; seqNo:6 2021-10-10T15:38:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , 0.37 , 0.40 2021-10-10T15:38:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880310.14 epoch sec; seqNo:14; 4061573.95 north; 594841.94 east 2021-10-10T15:38:30Z- AHRS_M2 msg: 1633880310.52 epoch sec; seqNo:14 2021-10-10T15:38:30Z- AHRS_M2 msg: -0.25 phi; -0.06 theta; 1.14 psi 2021-10-10T15:38:30Z- handleDepth()-Depth_Keller msg: 1633880310537 epoch sec; seqNo:14; depth 0.08 2021-10-10T15:38:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880310.63 epoch sec; seqNo:15; 4061573.58 north; 594843.16 east 2021-10-10T15:38:30Z- AHRS_M2 msg: 1633880310.93 epoch sec; seqNo:15 2021-10-10T15:38:30Z- AHRS_M2 msg: -0.25 phi; -0.01 theta; 1.15 psi 2021-10-10T15:38:30Z- handleDepth()-Depth_Keller msg: 1633880310942 epoch sec; seqNo:15; depth 0.07 2021-10-10T15:38:31Z- handleDvl() - RDI_Pathfinder msg: 1633880311.00 epoch sec; seqNo:7 2021-10-10T15:38:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 104.38 , 97.58 , 86.72 2021-10-10T15:38:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.58 , -0.08 , -0.62 2021-10-10T15:38:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880311.03 epoch sec; seqNo:16; 4061573.57 north; 594841.94 east 2021-10-10T15:38:31Z- AHRS_M2 msg: 1633880311.33 epoch sec; seqNo:16 2021-10-10T15:38:31Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 1.19 psi 2021-10-10T15:38:31Z- handleDepth()-Depth_Keller msg: 1633880311335 epoch sec; seqNo:16; depth 0.06 2021-10-10T15:38:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:31Z- handleDvl() - RDI_Pathfinder msg: 1633880311.34 epoch sec; seqNo:8 2021-10-10T15:38:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.58 , -0.08 , -0.62 2021-10-10T15:38:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880311.39 epoch sec; seqNo:17; 4061573.57 north; 594841.94 east 2021-10-10T15:38:31Z- AHRS_M2 msg: 1633880311.74 epoch sec; seqNo:17 2021-10-10T15:38:31Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 1.17 psi 2021-10-10T15:38:31Z- handleDepth()-Depth_Keller msg: 1633880311748 epoch sec; seqNo:17; depth 0.08 2021-10-10T15:38:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880311.76 epoch sec; seqNo:18; 4061573.57 north; 594841.94 east 2021-10-10T15:38:31Z- LcmTrn::handleMessages() - handling 45 messages took 0.95 ms and 126 calls... 2021-10-10T15:38:31Z- waiting for 2.00, time is 1633880311.76 2021-10-10T15:38:31Z- LcmTrn::updateTrn() >>>> pose time 1633880311.76, meas time 1633880311.34 <<<< 2021-10-10T15:38:31Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880311.34, ping # 0. 2021-10-10T15:38:31Z- TerrainNav::Measurement type 1 from time = 1633880311.34 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:38:31Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594841.94, 0.08) 2021-10-10T15:38:31Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:38:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:31Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:38:31Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:38:31Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:38:31Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:38:32Z- AHRS_M2 msg: 1633880312.14 epoch sec; seqNo:18 2021-10-10T15:38:32Z- AHRS_M2 msg: 0.07 phi; -0.09 theta; 1.17 psi 2021-10-10T15:38:32Z- handleDepth()-Depth_Keller msg: 1633880312148 epoch sec; seqNo:18; depth 0.07 2021-10-10T15:38:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880312.16 epoch sec; seqNo:19; 4061573.57 north; 594841.94 east 2021-10-10T15:38:32Z- AHRS_M2 msg: 1633880312.54 epoch sec; seqNo:19 2021-10-10T15:38:32Z- AHRS_M2 msg: 0.07 phi; -0.07 theta; 1.16 psi 2021-10-10T15:38:32Z- handleDepth()-Depth_Keller msg: 1633880312548 epoch sec; seqNo:19; depth 0.07 2021-10-10T15:38:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:32Z- handleDvl() - RDI_Pathfinder msg: 1633880312.55 epoch sec; seqNo:9 2021-10-10T15:38:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.58 , -0.08 , -0.62 2021-10-10T15:38:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880312.56 epoch sec; seqNo:20; 4061573.57 north; 594841.94 east 2021-10-10T15:38:32Z- AHRS_M2 msg: 1633880312.94 epoch sec; seqNo:20 2021-10-10T15:38:32Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.16 psi 2021-10-10T15:38:32Z- handleDepth()-Depth_Keller msg: 1633880312952 epoch sec; seqNo:20; depth 0.06 2021-10-10T15:38:33Z- handleDvl() - RDI_Pathfinder msg: 1633880312.99 epoch sec; seqNo:10 2021-10-10T15:38:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.45 , 94.73 , 97.45 , 86.58 2021-10-10T15:38:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , -0.38 , 0.03 2021-10-10T15:38:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880313.01 epoch sec; seqNo:21; 4061573.55 north; 594840.72 east 2021-10-10T15:38:33Z- AHRS_M2 msg: 1633880313.35 epoch sec; seqNo:21 2021-10-10T15:38:33Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.16 psi 2021-10-10T15:38:33Z- handleDepth()-Depth_Keller msg: 1633880313361 epoch sec; seqNo:21; depth 0.04 2021-10-10T15:38:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880313.38 epoch sec; seqNo:22; 4061573.55 north; 594840.72 east 2021-10-10T15:38:33Z- AHRS_M2 msg: 1633880313.75 epoch sec; seqNo:22 2021-10-10T15:38:33Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 1.16 psi 2021-10-10T15:38:33Z- handleDepth()-Depth_Keller msg: 1633880313764 epoch sec; seqNo:22; depth 0.04 2021-10-10T15:38:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:33Z- handleDvl() - RDI_Pathfinder msg: 1633880313.77 epoch sec; seqNo:11 2021-10-10T15:38:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , -0.38 , 0.03 2021-10-10T15:38:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880313.79 epoch sec; seqNo:23; 4061573.55 north; 594840.72 east 2021-10-10T15:38:34Z- AHRS_M2 msg: 1633880314.29 epoch sec; seqNo:23 2021-10-10T15:38:34Z- AHRS_M2 msg: -0.08 phi; 0.00 theta; 1.15 psi 2021-10-10T15:38:34Z- handleDepth()-Depth_Keller msg: 1633880314301 epoch sec; seqNo:23; depth 0.05 2021-10-10T15:38:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880314.31 epoch sec; seqNo:24; 4061573.93 north; 594840.72 east 2021-10-10T15:38:34Z- AHRS_M2 msg: 1633880314.56 epoch sec; seqNo:24 2021-10-10T15:38:34Z- AHRS_M2 msg: -0.14 phi; -0.00 theta; 1.18 psi 2021-10-10T15:38:34Z- handleDepth()-Depth_Keller msg: 1633880314566 epoch sec; seqNo:24; depth 0.04 2021-10-10T15:38:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880314.58 epoch sec; seqNo:25; 4061573.93 north; 594840.72 east 2021-10-10T15:38:34Z- AHRS_M2 msg: 1633880314.96 epoch sec; seqNo:25 2021-10-10T15:38:34Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 1.21 psi 2021-10-10T15:38:34Z- handleDepth()-Depth_Keller msg: 1633880314983 epoch sec; seqNo:25; depth 0.05 2021-10-10T15:38:35Z- handleDvl() - RDI_Pathfinder msg: 1633880315.00 epoch sec; seqNo:12 2021-10-10T15:38:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.22 , 96.29 , 96.29 , 86.79 2021-10-10T15:38:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , 0.22 , 0.27 2021-10-10T15:38:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880315.02 epoch sec; seqNo:26; 4061573.55 north; 594840.72 east 2021-10-10T15:38:35Z- AHRS_M2 msg: 1633880315.37 epoch sec; seqNo:26 2021-10-10T15:38:35Z- AHRS_M2 msg: -0.15 phi; 0.02 theta; 1.22 psi 2021-10-10T15:38:35Z- handleDepth()-Depth_Keller msg: 1633880315373 epoch sec; seqNo:26; depth 0.02 2021-10-10T15:38:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880315.40 epoch sec; seqNo:27; 4061573.55 north; 594840.72 east 2021-10-10T15:38:35Z- AHRS_M2 msg: 1633880315.77 epoch sec; seqNo:27 2021-10-10T15:38:35Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 1.19 psi 2021-10-10T15:38:35Z- handleDepth()-Depth_Keller msg: 1633880315777 epoch sec; seqNo:27; depth 0.02 2021-10-10T15:38:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880315.79 epoch sec; seqNo:28; 4061573.55 north; 594840.72 east 2021-10-10T15:38:36Z- AHRS_M2 msg: 1633880316.18 epoch sec; seqNo:28 2021-10-10T15:38:36Z- AHRS_M2 msg: 0.10 phi; -0.01 theta; 1.16 psi 2021-10-10T15:38:36Z- handleDepth()-Depth_Keller msg: 1633880316182 epoch sec; seqNo:28; depth 0.08 2021-10-10T15:38:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:36Z- handleDvl() - RDI_Pathfinder msg: 1633880316.18 epoch sec; seqNo:13 2021-10-10T15:38:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , 0.22 , 0.27 2021-10-10T15:38:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880316.19 epoch sec; seqNo:29; 4061573.55 north; 594840.72 east 2021-10-10T15:38:36Z- AHRS_M2 msg: 1633880316.58 epoch sec; seqNo:29 2021-10-10T15:38:36Z- AHRS_M2 msg: 0.14 phi; 0.08 theta; 1.18 psi 2021-10-10T15:38:36Z- handleDepth()-Depth_Keller msg: 1633880316588 epoch sec; seqNo:29; depth 0.06 2021-10-10T15:38:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880316.60 epoch sec; seqNo:30; 4061573.55 north; 594840.72 east 2021-10-10T15:38:36Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 126 calls... 2021-10-10T15:38:36Z- waiting for 1633880314.76, time is 1633880316.60 2021-10-10T15:38:36Z- LcmTrn::updateTrn() >>>> pose time 1633880316.60, meas time 1633880316.18 <<<< 2021-10-10T15:38:36Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880316.18, ping # 0. 2021-10-10T15:38:36Z- TerrainNav::Measurement type 1 from time = 1633880316.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:38:36Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594840.72, 0.06) 2021-10-10T15:38:36Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:38:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:36Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:38:36Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:38:36Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:38:36Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:38:36Z- AHRS_M2 msg: 1633880316.98 epoch sec; seqNo:30 2021-10-10T15:38:36Z- AHRS_M2 msg: 0.11 phi; 0.03 theta; 1.19 psi 2021-10-10T15:38:36Z- handleDepth()-Depth_Keller msg: 1633880316989 epoch sec; seqNo:30; depth 0.06 2021-10-10T15:38:37Z- handleDvl() - RDI_Pathfinder msg: 1633880317.01 epoch sec; seqNo:14 2021-10-10T15:38:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 97.79 , 97.79 , 89.64 2021-10-10T15:38:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.13 , -0.02 2021-10-10T15:38:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880317.03 epoch sec; seqNo:31; 4061573.55 north; 594840.72 east 2021-10-10T15:38:37Z- AHRS_M2 msg: 1633880317.39 epoch sec; seqNo:31 2021-10-10T15:38:37Z- AHRS_M2 msg: 0.05 phi; -0.04 theta; 1.20 psi 2021-10-10T15:38:37Z- handleDepth()-Depth_Keller msg: 1633880317399 epoch sec; seqNo:31; depth 0.07 2021-10-10T15:38:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:37Z- handleDvl() - RDI_Pathfinder msg: 1633880317.40 epoch sec; seqNo:15 2021-10-10T15:38:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.13 , -0.02 2021-10-10T15:38:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880317.41 epoch sec; seqNo:32; 4061573.55 north; 594840.72 east 2021-10-10T15:38:37Z- AHRS_M2 msg: 1633880317.79 epoch sec; seqNo:32 2021-10-10T15:38:37Z- AHRS_M2 msg: -0.05 phi; -0.07 theta; 1.20 psi 2021-10-10T15:38:37Z- handleDepth()-Depth_Keller msg: 1633880317799 epoch sec; seqNo:32; depth 0.06 2021-10-10T15:38:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880317.81 epoch sec; seqNo:33; 4061573.55 north; 594840.72 east 2021-10-10T15:38:38Z- AHRS_M2 msg: 1633880318.20 epoch sec; seqNo:33 2021-10-10T15:38:38Z- AHRS_M2 msg: -0.12 phi; -0.06 theta; 1.18 psi 2021-10-10T15:38:38Z- handleDepth()-Depth_Keller msg: 1633880318213 epoch sec; seqNo:33; depth 0.05 2021-10-10T15:38:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880318.22 epoch sec; seqNo:34; 4061573.55 north; 594840.72 east 2021-10-10T15:38:38Z- AHRS_M2 msg: 1633880318.60 epoch sec; seqNo:34 2021-10-10T15:38:38Z- AHRS_M2 msg: -0.15 phi; -0.03 theta; 1.16 psi 2021-10-10T15:38:38Z- handleDepth()-Depth_Keller msg: 1633880318608 epoch sec; seqNo:34; depth 0.05 2021-10-10T15:38:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:38Z- handleDvl() - RDI_Pathfinder msg: 1633880318.61 epoch sec; seqNo:16 2021-10-10T15:38:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.13 , -0.02 2021-10-10T15:38:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880318.64 epoch sec; seqNo:35; 4061573.55 north; 594840.72 east 2021-10-10T15:38:39Z- AHRS_M2 msg: 1633880319.01 epoch sec; seqNo:35 2021-10-10T15:38:39Z- AHRS_M2 msg: -0.14 phi; 0.00 theta; 1.16 psi 2021-10-10T15:38:39Z- handleDepth()-Depth_Keller msg: 1633880319012 epoch sec; seqNo:35; depth 0.03 2021-10-10T15:38:39Z- handleDvl() - RDI_Pathfinder msg: 1633880319.05 epoch sec; seqNo:17 2021-10-10T15:38:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.08 , 101.59 , 93.44 , 97.52 2021-10-10T15:38:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.16 , 0.31 2021-10-10T15:38:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880319.08 epoch sec; seqNo:36; 4061573.55 north; 594840.72 east 2021-10-10T15:38:39Z- AHRS_M2 msg: 1633880319.41 epoch sec; seqNo:36 2021-10-10T15:38:39Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 1.20 psi 2021-10-10T15:38:39Z- handleDepth()-Depth_Keller msg: 1633880319424 epoch sec; seqNo:36; depth 0.06 2021-10-10T15:38:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880319.44 epoch sec; seqNo:37; 4061573.55 north; 594840.72 east 2021-10-10T15:38:39Z- AHRS_M2 msg: 1633880319.81 epoch sec; seqNo:37 2021-10-10T15:38:39Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 1.23 psi 2021-10-10T15:38:39Z- handleDepth()-Depth_Keller msg: 1633880319819 epoch sec; seqNo:37; depth 0.09 2021-10-10T15:38:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:39Z- handleDvl() - RDI_Pathfinder msg: 1633880319.82 epoch sec; seqNo:18 2021-10-10T15:38:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.16 , 0.31 2021-10-10T15:38:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880319.85 epoch sec; seqNo:38; 4061573.55 north; 594840.72 east 2021-10-10T15:38:40Z- AHRS_M2 msg: 1633880320.22 epoch sec; seqNo:38 2021-10-10T15:38:40Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.25 psi 2021-10-10T15:38:40Z- handleDepth()-Depth_Keller msg: 1633880320230 epoch sec; seqNo:38; depth 0.09 2021-10-10T15:38:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880320.26 epoch sec; seqNo:39; 4061573.18 north; 594840.73 east 2021-10-10T15:38:40Z- AHRS_M2 msg: 1633880320.62 epoch sec; seqNo:39 2021-10-10T15:38:40Z- AHRS_M2 msg: -0.12 phi; -0.00 theta; 1.25 psi 2021-10-10T15:38:40Z- handleDepth()-Depth_Keller msg: 1633880320628 epoch sec; seqNo:39; depth 0.06 2021-10-10T15:38:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880320.64 epoch sec; seqNo:40; 4061573.18 north; 594840.73 east 2021-10-10T15:38:41Z- AHRS_M2 msg: 1633880321.03 epoch sec; seqNo:40 2021-10-10T15:38:41Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 1.27 psi 2021-10-10T15:38:41Z- handleDepth()-Depth_Keller msg: 1633880321032 epoch sec; seqNo:40; depth 0.03 2021-10-10T15:38:41Z- handleDvl() - RDI_Pathfinder msg: 1633880321.07 epoch sec; seqNo:19 2021-10-10T15:38:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.66 , 98.81 , 97.45 , 86.58 2021-10-10T15:38:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.08 , -0.53 2021-10-10T15:38:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880321.11 epoch sec; seqNo:41; 4061573.18 north; 594840.73 east 2021-10-10T15:38:41Z- AHRS_M2 msg: 1633880321.43 epoch sec; seqNo:41 2021-10-10T15:38:41Z- AHRS_M2 msg: 0.04 phi; -0.06 theta; 1.28 psi 2021-10-10T15:38:41Z- handleDepth()-Depth_Keller msg: 1633880321436 epoch sec; seqNo:41; depth 0.07 2021-10-10T15:38:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880321.47 epoch sec; seqNo:42; 4061573.18 north; 594840.73 east 2021-10-10T15:38:41Z- LcmTrn::handleMessages() - handling 42 messages took 0.66 ms and 129 calls... 2021-10-10T15:38:41Z- waiting for 1633880319.60, time is 1633880321.47 2021-10-10T15:38:41Z- LcmTrn::updateTrn() >>>> pose time 1633880321.47, meas time 1633880321.07 <<<< 2021-10-10T15:38:41Z- TerrainNav::Measurement type 1 from time = 1633880321.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:38:41Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594840.73, 0.07) 2021-10-10T15:38:41Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:38:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:41Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:38:41Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:38:41Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:38:41Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:38:41Z- AHRS_M2 msg: 1633880321.83 epoch sec; seqNo:42 2021-10-10T15:38:41Z- AHRS_M2 msg: 0.08 phi; -0.02 theta; 1.26 psi 2021-10-10T15:38:41Z- handleDepth()-Depth_Keller msg: 1633880321840 epoch sec; seqNo:42; depth 0.09 2021-10-10T15:38:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880321.87 epoch sec; seqNo:43; 4061573.18 north; 594840.73 east 2021-10-10T15:38:42Z- AHRS_M2 msg: 1633880322.24 epoch sec; seqNo:43 2021-10-10T15:38:42Z- AHRS_M2 msg: 0.05 phi; 0.04 theta; 1.26 psi 2021-10-10T15:38:42Z- handleDepth()-Depth_Keller msg: 1633880322247 epoch sec; seqNo:43; depth 0.09 2021-10-10T15:38:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:42Z- handleDvl() - RDI_Pathfinder msg: 1633880322.25 epoch sec; seqNo:20 2021-10-10T15:38:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.08 , -0.53 2021-10-10T15:38:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880322.26 epoch sec; seqNo:44; 4061573.18 north; 594840.73 east 2021-10-10T15:38:42Z- AHRS_M2 msg: 1633880322.64 epoch sec; seqNo:44 2021-10-10T15:38:42Z- AHRS_M2 msg: -0.01 phi; 0.04 theta; 1.28 psi 2021-10-10T15:38:42Z- handleDepth()-Depth_Keller msg: 1633880322647 epoch sec; seqNo:44; depth 0.06 2021-10-10T15:38:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880322.66 epoch sec; seqNo:45; 4061573.18 north; 594840.73 east 2021-10-10T15:38:43Z- AHRS_M2 msg: 1633880323.04 epoch sec; seqNo:45 2021-10-10T15:38:43Z- AHRS_M2 msg: -0.09 phi; -0.00 theta; 1.27 psi 2021-10-10T15:38:43Z- handleDepth()-Depth_Keller msg: 1633880323061 epoch sec; seqNo:45; depth 0.05 2021-10-10T15:38:43Z- handleDvl() - RDI_Pathfinder msg: 1633880323.08 epoch sec; seqNo:21 2021-10-10T15:38:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 92.29 , 97.72 , 0.00 2021-10-10T15:38:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , -0.09 , 0.03 2021-10-10T15:38:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880323.09 epoch sec; seqNo:46; 4061573.16 north; 594839.51 east 2021-10-10T15:38:43Z- AHRS_M2 msg: 1633880323.45 epoch sec; seqNo:46 2021-10-10T15:38:43Z- AHRS_M2 msg: -0.09 phi; -0.05 theta; 1.25 psi 2021-10-10T15:38:43Z- handleDepth()-Depth_Keller msg: 1633880323456 epoch sec; seqNo:46; depth 0.04 2021-10-10T15:38:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:43Z- handleDvl() - RDI_Pathfinder msg: 1633880323.46 epoch sec; seqNo:22 2021-10-10T15:38:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , -0.09 , 0.03 2021-10-10T15:38:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880323.49 epoch sec; seqNo:47; 4061573.54 north; 594839.50 east 2021-10-10T15:38:43Z- AHRS_M2 msg: 1633880323.85 epoch sec; seqNo:47 2021-10-10T15:38:43Z- AHRS_M2 msg: -0.05 phi; 0.00 theta; 1.25 psi 2021-10-10T15:38:43Z- handleDepth()-Depth_Keller msg: 1633880323857 epoch sec; seqNo:47; depth 0.06 2021-10-10T15:38:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880323.87 epoch sec; seqNo:48; 4061573.54 north; 594839.50 east 2021-10-10T15:38:44Z- AHRS_M2 msg: 1633880324.27 epoch sec; seqNo:48 2021-10-10T15:38:44Z- AHRS_M2 msg: -0.03 phi; 0.08 theta; 1.28 psi 2021-10-10T15:38:44Z- handleDepth()-Depth_Keller msg: 1633880324286 epoch sec; seqNo:48; depth 0.06 2021-10-10T15:38:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880324.30 epoch sec; seqNo:49; 4061573.54 north; 594839.50 east 2021-10-10T15:38:44Z- AHRS_M2 msg: 1633880324.66 epoch sec; seqNo:49 2021-10-10T15:38:44Z- AHRS_M2 msg: -0.02 phi; 0.05 theta; 1.28 psi 2021-10-10T15:38:44Z- handleDepth()-Depth_Keller msg: 1633880324697 epoch sec; seqNo:49; depth 0.05 2021-10-10T15:38:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:44Z- handleDvl() - RDI_Pathfinder msg: 1633880324.70 epoch sec; seqNo:23 2021-10-10T15:38:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , -0.09 , 0.03 2021-10-10T15:38:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880324.74 epoch sec; seqNo:50; 4061573.54 north; 594839.50 east 2021-10-10T15:38:45Z- AHRS_M2 msg: 1633880325.06 epoch sec; seqNo:50 2021-10-10T15:38:45Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 1.28 psi 2021-10-10T15:38:45Z- handleDepth()-Depth_Keller msg: 1633880325069 epoch sec; seqNo:50; depth 0.05 2021-10-10T15:38:45Z- handleDvl() - RDI_Pathfinder msg: 1633880325.10 epoch sec; seqNo:24 2021-10-10T15:38:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.44 , 97.52 , 98.88 , 85.29 2021-10-10T15:38:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.20 , 0.14 2021-10-10T15:38:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880325.11 epoch sec; seqNo:51; 4061573.54 north; 594839.50 east 2021-10-10T15:38:45Z- AHRS_M2 msg: 1633880325.47 epoch sec; seqNo:51 2021-10-10T15:38:45Z- AHRS_M2 msg: -0.02 phi; -0.00 theta; 1.28 psi 2021-10-10T15:38:45Z- handleDepth()-Depth_Keller msg: 1633880325476 epoch sec; seqNo:51; depth 0.08 2021-10-10T15:38:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880325.50 epoch sec; seqNo:52; 4061573.18 north; 594840.73 east 2021-10-10T15:38:45Z- AHRS_M2 msg: 1633880325.87 epoch sec; seqNo:52 2021-10-10T15:38:45Z- AHRS_M2 msg: -0.00 phi; 0.03 theta; 1.30 psi 2021-10-10T15:38:45Z- handleDepth()-Depth_Keller msg: 1633880325882 epoch sec; seqNo:52; depth 0.08 2021-10-10T15:38:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:45Z- handleDvl() - RDI_Pathfinder msg: 1633880325.88 epoch sec; seqNo:25 2021-10-10T15:38:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.20 , 0.14 2021-10-10T15:38:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880325.90 epoch sec; seqNo:53; 4061573.18 north; 594840.73 east 2021-10-10T15:38:46Z- AHRS_M2 msg: 1633880326.28 epoch sec; seqNo:53 2021-10-10T15:38:46Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.31 psi 2021-10-10T15:38:46Z- handleDepth()-Depth_Keller msg: 1633880326284 epoch sec; seqNo:53; depth 0.08 2021-10-10T15:38:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880326.32 epoch sec; seqNo:54; 4061573.18 north; 594840.73 east 2021-10-10T15:38:46Z- AHRS_M2 msg: 1633880326.73 epoch sec; seqNo:54 2021-10-10T15:38:46Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 1.30 psi 2021-10-10T15:38:46Z- handleDepth()-Depth_Keller msg: 1633880326746 epoch sec; seqNo:54; depth 0.09 2021-10-10T15:38:46Z- handleDvl() - RDI_Pathfinder msg: 1633880326.80 epoch sec; seqNo:26 2021-10-10T15:38:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.94 , 97.65 , 97.65 , 86.79 2021-10-10T15:38:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.52 , 0.06 , 0.01 2021-10-10T15:38:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880326.84 epoch sec; seqNo:55; 4061573.16 north; 594839.51 east 2021-10-10T15:38:46Z- LcmTrn::handleMessages() - handling 46 messages took 0.70 ms and 132 calls... 2021-10-10T15:38:46Z- waiting for 1633880324.47, time is 1633880326.84 2021-10-10T15:38:46Z- LcmTrn::updateTrn() equating pose 1633880326.84 and meas times 1633880326.84 2021-10-10T15:38:46Z- LcmTrn::updateTrn() >>>> pose time 1633880326.84, meas time 1633880326.84 <<<< 2021-10-10T15:38:46Z- TerrainNav::Measurement type 1 from time = 1633880326.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:38:46Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594839.51, 0.09) 2021-10-10T15:38:46Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:38:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:46Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:38:46Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:38:46Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:38:46Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:38:47Z- AHRS_M2 msg: 1633880327.09 epoch sec; seqNo:55 2021-10-10T15:38:47Z- AHRS_M2 msg: -0.09 phi; -0.06 theta; 1.28 psi 2021-10-10T15:38:47Z- handleDepth()-Depth_Keller msg: 1633880327092 epoch sec; seqNo:55; depth 0.10 2021-10-10T15:38:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:47Z- handleDvl() - RDI_Pathfinder msg: 1633880327.09 epoch sec; seqNo:27 2021-10-10T15:38:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.52 , 0.06 , 0.01 2021-10-10T15:38:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880327.12 epoch sec; seqNo:56; 4061573.16 north; 594839.51 east 2021-10-10T15:38:47Z- AHRS_M2 msg: 1633880327.49 epoch sec; seqNo:56 2021-10-10T15:38:47Z- AHRS_M2 msg: -0.14 phi; -0.04 theta; 1.30 psi 2021-10-10T15:38:47Z- handleDepth()-Depth_Keller msg: 1633880327496 epoch sec; seqNo:56; depth 0.10 2021-10-10T15:38:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880327.51 epoch sec; seqNo:57; 4061573.16 north; 594839.51 east 2021-10-10T15:38:47Z- AHRS_M2 msg: 1633880327.89 epoch sec; seqNo:57 2021-10-10T15:38:47Z- AHRS_M2 msg: -0.17 phi; -0.05 theta; 1.34 psi 2021-10-10T15:38:47Z- handleDepth()-Depth_Keller msg: 1633880327900 epoch sec; seqNo:57; depth 0.09 2021-10-10T15:38:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880327.94 epoch sec; seqNo:58; 4061572.78 north; 594839.51 east 2021-10-10T15:38:48Z- AHRS_M2 msg: 1633880328.30 epoch sec; seqNo:58 2021-10-10T15:38:48Z- AHRS_M2 msg: -0.18 phi; -0.05 theta; 1.33 psi 2021-10-10T15:38:48Z- handleDepth()-Depth_Keller msg: 1633880328320 epoch sec; seqNo:58; depth 0.06 2021-10-10T15:38:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:48Z- handleDvl() - RDI_Pathfinder msg: 1633880328.32 epoch sec; seqNo:28 2021-10-10T15:38:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.52 , 0.06 , 0.01 2021-10-10T15:38:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880328.34 epoch sec; seqNo:59; 4061572.78 north; 594839.51 east 2021-10-10T15:38:48Z- AHRS_M2 msg: 1633880328.74 epoch sec; seqNo:59 2021-10-10T15:38:48Z- AHRS_M2 msg: -0.02 phi; 0.00 theta; 1.33 psi 2021-10-10T15:38:48Z- handleDepth()-Depth_Keller msg: 1633880328755 epoch sec; seqNo:59; depth 0.07 2021-10-10T15:38:48Z- handleDvl() - RDI_Pathfinder msg: 1633880328.80 epoch sec; seqNo:29 2021-10-10T15:38:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.79 , 107.16 , 96.29 , 88.15 2021-10-10T15:38:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.26 , 0.05 2021-10-10T15:38:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880328.84 epoch sec; seqNo:60; 4061572.78 north; 594839.51 east 2021-10-10T15:38:49Z- AHRS_M2 msg: 1633880329.11 epoch sec; seqNo:60 2021-10-10T15:38:49Z- AHRS_M2 msg: 0.04 phi; 0.04 theta; 1.33 psi 2021-10-10T15:38:49Z- handleDepth()-Depth_Keller msg: 1633880329120 epoch sec; seqNo:60; depth 0.09 2021-10-10T15:38:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880329.16 epoch sec; seqNo:61; 4061573.16 north; 594839.51 east 2021-10-10T15:38:49Z- AHRS_M2 msg: 1633880329.51 epoch sec; seqNo:61 2021-10-10T15:38:49Z- AHRS_M2 msg: 0.01 phi; 0.04 theta; 1.32 psi 2021-10-10T15:38:49Z- handleDepth()-Depth_Keller msg: 1633880329525 epoch sec; seqNo:61; depth 0.08 2021-10-10T15:38:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:49Z- handleDvl() - RDI_Pathfinder msg: 1633880329.53 epoch sec; seqNo:30 2021-10-10T15:38:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.26 , 0.05 2021-10-10T15:38:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880329.54 epoch sec; seqNo:62; 4061573.16 north; 594839.51 east 2021-10-10T15:38:49Z- AHRS_M2 msg: 1633880329.91 epoch sec; seqNo:62 2021-10-10T15:38:49Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.33 psi 2021-10-10T15:38:49Z- handleDepth()-Depth_Keller msg: 1633880329917 epoch sec; seqNo:62; depth 0.06 2021-10-10T15:38:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880329.93 epoch sec; seqNo:63; 4061573.16 north; 594839.51 east 2021-10-10T15:38:50Z- AHRS_M2 msg: 1633880330.32 epoch sec; seqNo:63 2021-10-10T15:38:50Z- AHRS_M2 msg: -0.09 phi; 0.01 theta; 1.35 psi 2021-10-10T15:38:50Z- handleDepth()-Depth_Keller msg: 1633880330321 epoch sec; seqNo:63; depth 0.03 2021-10-10T15:38:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880330.33 epoch sec; seqNo:64; 4061573.54 north; 594839.50 east 2021-10-10T15:38:50Z- AHRS_M2 msg: 1633880330.74 epoch sec; seqNo:64 2021-10-10T15:38:50Z- AHRS_M2 msg: -0.06 phi; 0.00 theta; 1.36 psi 2021-10-10T15:38:50Z- handleDepth()-Depth_Keller msg: 1633880330760 epoch sec; seqNo:64; depth 0.04 2021-10-10T15:38:50Z- handleDvl() - RDI_Pathfinder msg: 1633880330.80 epoch sec; seqNo:31 2021-10-10T15:38:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.58 , 96.23 , 98.94 , 86.72 2021-10-10T15:38:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.25 , 0.18 2021-10-10T15:38:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880330.83 epoch sec; seqNo:65; 4061573.54 north; 594839.50 east 2021-10-10T15:38:51Z- AHRS_M2 msg: 1633880331.13 epoch sec; seqNo:65 2021-10-10T15:38:51Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.35 psi 2021-10-10T15:38:51Z- handleDepth()-Depth_Keller msg: 1633880331132 epoch sec; seqNo:65; depth 0.04 2021-10-10T15:38:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880331.16 epoch sec; seqNo:66; 4061573.54 north; 594839.50 east 2021-10-10T15:38:51Z- AHRS_M2 msg: 1633880331.53 epoch sec; seqNo:66 2021-10-10T15:38:51Z- AHRS_M2 msg: -0.00 phi; -0.02 theta; 1.36 psi 2021-10-10T15:38:51Z- handleDepth()-Depth_Keller msg: 1633880331536 epoch sec; seqNo:66; depth 0.05 2021-10-10T15:38:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880331.56 epoch sec; seqNo:67; 4061573.53 north; 594838.28 east 2021-10-10T15:38:51Z- LcmTrn::handleMessages() - handling 41 messages took 0.79 ms and 125 calls... 2021-10-10T15:38:51Z- waiting for 1633880329.84, time is 1633880331.56 2021-10-10T15:38:51Z- LcmTrn::updateTrn() >>>> pose time 1633880331.56, meas time 1633880330.80 <<<< 2021-10-10T15:38:51Z- TerrainNav::Measurement type 1 from time = 1633880330.80 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:38:51Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594838.28, 0.05) 2021-10-10T15:38:51Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:38:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:51Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:38:51Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:38:51Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:38:51Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:38:51Z- AHRS_M2 msg: 1633880331.93 epoch sec; seqNo:67 2021-10-10T15:38:51Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 1.39 psi 2021-10-10T15:38:51Z- handleDepth()-Depth_Keller msg: 1633880331937 epoch sec; seqNo:67; depth 0.05 2021-10-10T15:38:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:51Z- handleDvl() - RDI_Pathfinder msg: 1633880331.94 epoch sec; seqNo:32 2021-10-10T15:38:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.25 , 0.18 2021-10-10T15:38:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880331.97 epoch sec; seqNo:68; 4061573.53 north; 594838.28 east 2021-10-10T15:38:52Z- AHRS_M2 msg: 1633880332.34 epoch sec; seqNo:68 2021-10-10T15:38:52Z- AHRS_M2 msg: 0.08 phi; -0.12 theta; 1.36 psi 2021-10-10T15:38:52Z- handleDepth()-Depth_Keller msg: 1633880332353 epoch sec; seqNo:68; depth 0.08 2021-10-10T15:38:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880332.37 epoch sec; seqNo:69; 4061573.53 north; 594838.28 east 2021-10-10T15:38:52Z- AHRS_M2 msg: 1633880332.75 epoch sec; seqNo:69 2021-10-10T15:38:52Z- AHRS_M2 msg: 0.08 phi; -0.11 theta; 1.33 psi 2021-10-10T15:38:52Z- handleDepth()-Depth_Keller msg: 1633880332752 epoch sec; seqNo:69; depth 0.09 2021-10-10T15:38:52Z- handleDvl() - RDI_Pathfinder msg: 1633880332.80 epoch sec; seqNo:33 2021-10-10T15:38:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.23 , 93.51 , 97.59 , 0.00 2021-10-10T15:38:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , 0.06 , 0.35 2021-10-10T15:38:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880332.82 epoch sec; seqNo:70; 4061573.53 north; 594838.28 east 2021-10-10T15:38:53Z- AHRS_M2 msg: 1633880333.14 epoch sec; seqNo:70 2021-10-10T15:38:53Z- AHRS_M2 msg: 0.00 phi; -0.08 theta; 1.31 psi 2021-10-10T15:38:53Z- handleDepth()-Depth_Keller msg: 1633880333152 epoch sec; seqNo:70; depth 0.08 2021-10-10T15:38:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:53Z- handleDvl() - RDI_Pathfinder msg: 1633880333.15 epoch sec; seqNo:34 2021-10-10T15:38:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , 0.06 , 0.35 2021-10-10T15:38:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880333.18 epoch sec; seqNo:71; 4061573.53 north; 594838.28 east 2021-10-10T15:38:53Z- AHRS_M2 msg: 1633880333.55 epoch sec; seqNo:71 2021-10-10T15:38:53Z- AHRS_M2 msg: -0.05 phi; -0.08 theta; 1.31 psi 2021-10-10T15:38:53Z- handleDepth()-Depth_Keller msg: 1633880333556 epoch sec; seqNo:71; depth 0.06 2021-10-10T15:38:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880333.59 epoch sec; seqNo:72; 4061573.53 north; 594838.28 east 2021-10-10T15:38:53Z- AHRS_M2 msg: 1633880333.95 epoch sec; seqNo:72 2021-10-10T15:38:53Z- AHRS_M2 msg: -0.04 phi; -0.07 theta; 1.31 psi 2021-10-10T15:38:53Z- handleDepth()-Depth_Keller msg: 1633880333960 epoch sec; seqNo:72; depth 0.07 2021-10-10T15:38:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880333.98 epoch sec; seqNo:73; 4061573.53 north; 594838.28 east 2021-10-10T15:38:54Z- AHRS_M2 msg: 1633880334.38 epoch sec; seqNo:73 2021-10-10T15:38:54Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 1.33 psi 2021-10-10T15:38:54Z- handleDepth()-Depth_Keller msg: 1633880334393 epoch sec; seqNo:73; depth 0.08 2021-10-10T15:38:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:54Z- handleDvl() - RDI_Pathfinder msg: 1633880334.40 epoch sec; seqNo:35 2021-10-10T15:38:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , 0.06 , 0.35 2021-10-10T15:38:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880334.43 epoch sec; seqNo:74; 4061573.53 north; 594838.28 east 2021-10-10T15:38:54Z- AHRS_M2 msg: 1633880334.76 epoch sec; seqNo:74 2021-10-10T15:38:54Z- AHRS_M2 msg: -0.04 phi; -0.07 theta; 1.33 psi 2021-10-10T15:38:54Z- handleDepth()-Depth_Keller msg: 1633880334768 epoch sec; seqNo:74; depth 0.08 2021-10-10T15:38:54Z- handleDvl() - RDI_Pathfinder msg: 1633880334.80 epoch sec; seqNo:36 2021-10-10T15:38:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.44 , 96.16 , 97.52 , 90.73 2021-10-10T15:38:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.18 , 0.34 , -0.10 2021-10-10T15:38:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880334.81 epoch sec; seqNo:75; 4061573.15 north; 594838.29 east 2021-10-10T15:38:55Z- AHRS_M2 msg: 1633880335.16 epoch sec; seqNo:75 2021-10-10T15:38:55Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 1.33 psi 2021-10-10T15:38:55Z- handleDepth()-Depth_Keller msg: 1633880335169 epoch sec; seqNo:75; depth 0.09 2021-10-10T15:38:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880335.18 epoch sec; seqNo:76; 4061573.15 north; 594838.29 east 2021-10-10T15:38:55Z- AHRS_M2 msg: 1633880335.57 epoch sec; seqNo:76 2021-10-10T15:38:55Z- AHRS_M2 msg: -0.09 phi; -0.01 theta; 1.34 psi 2021-10-10T15:38:55Z- handleDepth()-Depth_Keller msg: 1633880335579 epoch sec; seqNo:76; depth 0.10 2021-10-10T15:38:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:55Z- handleDvl() - RDI_Pathfinder msg: 1633880335.58 epoch sec; seqNo:37 2021-10-10T15:38:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.18 , 0.34 , -0.10 2021-10-10T15:38:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880335.59 epoch sec; seqNo:77; 4061573.15 north; 594838.29 east 2021-10-10T15:38:55Z- AHRS_M2 msg: 1633880335.98 epoch sec; seqNo:77 2021-10-10T15:38:55Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 1.34 psi 2021-10-10T15:38:55Z- handleDepth()-Depth_Keller msg: 1633880335986 epoch sec; seqNo:77; depth 0.06 2021-10-10T15:38:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880336.00 epoch sec; seqNo:78; 4061573.15 north; 594838.29 east 2021-10-10T15:38:56Z- AHRS_M2 msg: 1633880336.38 epoch sec; seqNo:78 2021-10-10T15:38:56Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 1.34 psi 2021-10-10T15:38:56Z- handleDepth()-Depth_Keller msg: 1633880336393 epoch sec; seqNo:78; depth 0.05 2021-10-10T15:38:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880336.40 epoch sec; seqNo:79; 4061572.77 north; 594838.29 east 2021-10-10T15:38:56Z- AHRS_M2 msg: 1633880336.78 epoch sec; seqNo:79 2021-10-10T15:38:56Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.37 psi 2021-10-10T15:38:56Z- handleDepth()-Depth_Keller msg: 1633880336785 epoch sec; seqNo:79; depth 0.08 2021-10-10T15:38:56Z- handleDvl() - RDI_Pathfinder msg: 1633880336.81 epoch sec; seqNo:38 2021-10-10T15:38:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.15 , 104.44 , 96.29 , 88.15 2021-10-10T15:38:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.01 , -0.36 2021-10-10T15:38:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880336.83 epoch sec; seqNo:80; 4061572.77 north; 594838.29 east 2021-10-10T15:38:56Z- LcmTrn::handleMessages() - handling 46 messages took 0.86 ms and 128 calls... 2021-10-10T15:38:56Z- waiting for 1633880334.56, time is 1633880336.83 2021-10-10T15:38:56Z- LcmTrn::updateTrn() equating pose 1633880336.83 and meas times 1633880336.83 2021-10-10T15:38:56Z- LcmTrn::updateTrn() >>>> pose time 1633880336.83, meas time 1633880336.83 <<<< 2021-10-10T15:38:56Z- TerrainNav::Measurement type 1 from time = 1633880336.83 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:38:56Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594838.29, 0.08) 2021-10-10T15:38:56Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:38:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:38:56Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:38:56Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:38:56Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:38:56Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:38:57Z- AHRS_M2 msg: 1633880337.18 epoch sec; seqNo:80 2021-10-10T15:38:57Z- AHRS_M2 msg: -0.06 phi; 0.07 theta; 1.40 psi 2021-10-10T15:38:57Z- handleDepth()-Depth_Keller msg: 1633880337189 epoch sec; seqNo:80; depth 0.07 2021-10-10T15:38:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880337.20 epoch sec; seqNo:81; 4061572.77 north; 594838.29 east 2021-10-10T15:38:57Z- AHRS_M2 msg: 1633880337.59 epoch sec; seqNo:81 2021-10-10T15:38:57Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 1.42 psi 2021-10-10T15:38:57Z- handleDepth()-Depth_Keller msg: 1633880337602 epoch sec; seqNo:81; depth 0.05 2021-10-10T15:38:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880337.62 epoch sec; seqNo:82; 4061572.77 north; 594838.29 east 2021-10-10T15:38:58Z- AHRS_M2 msg: 1633880337.99 epoch sec; seqNo:82 2021-10-10T15:38:58Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 1.40 psi 2021-10-10T15:38:58Z- handleDepth()-Depth_Keller msg: 1633880337997 epoch sec; seqNo:82; depth 0.08 2021-10-10T15:38:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:58Z- handleDvl() - RDI_Pathfinder msg: 1633880338.00 epoch sec; seqNo:39 2021-10-10T15:38:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.01 , -0.36 2021-10-10T15:38:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880338.01 epoch sec; seqNo:83; 4061572.77 north; 594838.29 east 2021-10-10T15:38:58Z- AHRS_M2 msg: 1633880338.40 epoch sec; seqNo:83 2021-10-10T15:38:58Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 1.38 psi 2021-10-10T15:38:58Z- handleDepth()-Depth_Keller msg: 1633880338401 epoch sec; seqNo:83; depth 0.09 2021-10-10T15:38:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880338.41 epoch sec; seqNo:84; 4061572.77 north; 594838.29 east 2021-10-10T15:38:58Z- AHRS_M2 msg: 1633880338.80 epoch sec; seqNo:84 2021-10-10T15:38:58Z- AHRS_M2 msg: 0.00 phi; -0.05 theta; 1.39 psi 2021-10-10T15:38:58Z- handleDepth()-Depth_Keller msg: 1633880338813 epoch sec; seqNo:84; depth 0.07 2021-10-10T15:38:58Z- handleDvl() - RDI_Pathfinder msg: 1633880338.83 epoch sec; seqNo:40 2021-10-10T15:38:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.22 , 96.29 , 97.65 , 88.15 2021-10-10T15:38:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.40 , 0.18 2021-10-10T15:38:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880338.85 epoch sec; seqNo:85; 4061572.76 north; 594837.07 east 2021-10-10T15:38:59Z- AHRS_M2 msg: 1633880339.20 epoch sec; seqNo:85 2021-10-10T15:38:59Z- AHRS_M2 msg: 0.02 phi; -0.06 theta; 1.37 psi 2021-10-10T15:38:59Z- handleDepth()-Depth_Keller msg: 1633880339209 epoch sec; seqNo:85; depth 0.07 2021-10-10T15:38:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:38:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:38:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:38:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:38:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:38:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:38:59Z- handleDvl() - RDI_Pathfinder msg: 1633880339.21 epoch sec; seqNo:41 2021-10-10T15:38:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:38:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.40 , 0.18 2021-10-10T15:38:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880339.24 epoch sec; seqNo:86; 4061573.13 north; 594837.07 east 2021-10-10T15:38:59Z- AHRS_M2 msg: 1633880339.61 epoch sec; seqNo:86 2021-10-10T15:38:59Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.34 psi 2021-10-10T15:38:59Z- handleDepth()-Depth_Keller msg: 1633880339616 epoch sec; seqNo:86; depth 0.07 2021-10-10T15:38:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880339.64 epoch sec; seqNo:87; 4061573.13 north; 594837.07 east 2021-10-10T15:39:00Z- AHRS_M2 msg: 1633880340.01 epoch sec; seqNo:87 2021-10-10T15:39:00Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 1.35 psi 2021-10-10T15:39:00Z- handleDepth()-Depth_Keller msg: 1633880340020 epoch sec; seqNo:87; depth 0.09 2021-10-10T15:39:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880340.03 epoch sec; seqNo:88; 4061573.13 north; 594837.07 east 2021-10-10T15:39:00Z- AHRS_M2 msg: 1633880340.42 epoch sec; seqNo:88 2021-10-10T15:39:00Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 1.38 psi 2021-10-10T15:39:00Z- handleDepth()-Depth_Keller msg: 1633880340444 epoch sec; seqNo:88; depth 0.05 2021-10-10T15:39:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:00Z- handleDvl() - RDI_Pathfinder msg: 1633880340.45 epoch sec; seqNo:42 2021-10-10T15:39:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.40 , 0.18 2021-10-10T15:39:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880340.47 epoch sec; seqNo:89; 4061573.50 north; 594835.84 east 2021-10-10T15:39:00Z- AHRS_M2 msg: 1633880340.82 epoch sec; seqNo:89 2021-10-10T15:39:00Z- AHRS_M2 msg: 0.02 phi; -0.10 theta; 1.37 psi 2021-10-10T15:39:00Z- handleDepth()-Depth_Keller msg: 1633880340828 epoch sec; seqNo:89; depth 0.06 2021-10-10T15:39:00Z- handleDvl() - RDI_Pathfinder msg: 1633880340.86 epoch sec; seqNo:43 2021-10-10T15:39:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.65 , 95.00 , 97.72 , 88.21 2021-10-10T15:39:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.17 , 0.14 2021-10-10T15:39:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880340.91 epoch sec; seqNo:90; 4061573.12 north; 594835.84 east 2021-10-10T15:39:01Z- AHRS_M2 msg: 1633880341.22 epoch sec; seqNo:90 2021-10-10T15:39:01Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.35 psi 2021-10-10T15:39:01Z- handleDepth()-Depth_Keller msg: 1633880341232 epoch sec; seqNo:90; depth 0.07 2021-10-10T15:39:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880341.25 epoch sec; seqNo:91; 4061573.12 north; 594835.84 east 2021-10-10T15:39:01Z- AHRS_M2 msg: 1633880341.63 epoch sec; seqNo:91 2021-10-10T15:39:01Z- AHRS_M2 msg: -0.02 phi; 0.04 theta; 1.34 psi 2021-10-10T15:39:01Z- handleDepth()-Depth_Keller msg: 1633880341636 epoch sec; seqNo:91; depth 0.06 2021-10-10T15:39:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:01Z- handleDvl() - RDI_Pathfinder msg: 1633880341.64 epoch sec; seqNo:44 2021-10-10T15:39:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.17 , 0.14 2021-10-10T15:39:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880341.65 epoch sec; seqNo:92; 4061573.12 north; 594835.84 east 2021-10-10T15:39:01Z- LcmTrn::handleMessages() - handling 42 messages took 0.74 ms and 127 calls... 2021-10-10T15:39:01Z- waiting for 1633880339.83, time is 1633880341.65 2021-10-10T15:39:01Z- LcmTrn::updateTrn() equating pose 1633880341.65 and meas times 1633880341.65 2021-10-10T15:39:01Z- LcmTrn::updateTrn() >>>> pose time 1633880341.65, meas time 1633880341.65 <<<< 2021-10-10T15:39:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880341.65, ping # 0. 2021-10-10T15:39:01Z- TerrainNav::Measurement type 1 from time = 1633880341.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:39:01Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594835.84, 0.06) 2021-10-10T15:39:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:01Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:01Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:01Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:01Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:02Z- AHRS_M2 msg: 1633880342.03 epoch sec; seqNo:92 2021-10-10T15:39:02Z- AHRS_M2 msg: -0.07 phi; 0.06 theta; 1.36 psi 2021-10-10T15:39:02Z- handleDepth()-Depth_Keller msg: 1633880342040 epoch sec; seqNo:92; depth 0.02 2021-10-10T15:39:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880342.08 epoch sec; seqNo:93; 4061573.12 north; 594835.84 east 2021-10-10T15:39:02Z- AHRS_M2 msg: 1633880342.44 epoch sec; seqNo:93 2021-10-10T15:39:02Z- AHRS_M2 msg: -0.07 phi; 0.01 theta; 1.38 psi 2021-10-10T15:39:02Z- handleDepth()-Depth_Keller msg: 1633880342444 epoch sec; seqNo:93; depth 0.04 2021-10-10T15:39:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880342.48 epoch sec; seqNo:94; 4061573.12 north; 594835.84 east 2021-10-10T15:39:02Z- AHRS_M2 msg: 1633880342.84 epoch sec; seqNo:94 2021-10-10T15:39:02Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 1.37 psi 2021-10-10T15:39:02Z- handleDepth()-Depth_Keller msg: 1633880342848 epoch sec; seqNo:94; depth 0.05 2021-10-10T15:39:02Z- handleDvl() - RDI_Pathfinder msg: 1633880342.89 epoch sec; seqNo:45 2021-10-10T15:39:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.29 , 96.36 , 103.15 , 84.14 2021-10-10T15:39:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , 0.14 , -0.08 2021-10-10T15:39:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880342.94 epoch sec; seqNo:95; 4061572.74 north; 594835.85 east 2021-10-10T15:39:03Z- AHRS_M2 msg: 1633880343.25 epoch sec; seqNo:95 2021-10-10T15:39:03Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.37 psi 2021-10-10T15:39:03Z- handleDepth()-Depth_Keller msg: 1633880343252 epoch sec; seqNo:95; depth 0.03 2021-10-10T15:39:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880343.27 epoch sec; seqNo:96; 4061572.74 north; 594835.85 east 2021-10-10T15:39:03Z- AHRS_M2 msg: 1633880343.65 epoch sec; seqNo:96 2021-10-10T15:39:03Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.38 psi 2021-10-10T15:39:03Z- handleDepth()-Depth_Keller msg: 1633880343656 epoch sec; seqNo:96; depth 0.05 2021-10-10T15:39:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880343.68 epoch sec; seqNo:97; 4061572.74 north; 594835.85 east 2021-10-10T15:39:04Z- AHRS_M2 msg: 1633880344.05 epoch sec; seqNo:97 2021-10-10T15:39:04Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.40 psi 2021-10-10T15:39:04Z- handleDepth()-Depth_Keller msg: 1633880344057 epoch sec; seqNo:97; depth 0.05 2021-10-10T15:39:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:04Z- handleDvl() - RDI_Pathfinder msg: 1633880344.06 epoch sec; seqNo:46 2021-10-10T15:39:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , 0.14 , -0.08 2021-10-10T15:39:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880344.07 epoch sec; seqNo:98; 4061572.74 north; 594835.85 east 2021-10-10T15:39:04Z- AHRS_M2 msg: 1633880344.46 epoch sec; seqNo:98 2021-10-10T15:39:04Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 1.43 psi 2021-10-10T15:39:04Z- handleDepth()-Depth_Keller msg: 1633880344465 epoch sec; seqNo:98; depth 0.06 2021-10-10T15:39:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880344.47 epoch sec; seqNo:99; 4061572.74 north; 594835.85 east 2021-10-10T15:39:04Z- AHRS_M2 msg: 1633880344.86 epoch sec; seqNo:99 2021-10-10T15:39:04Z- AHRS_M2 msg: -0.01 phi; -0.12 theta; 1.41 psi 2021-10-10T15:39:04Z- handleDepth()-Depth_Keller msg: 1633880344873 epoch sec; seqNo:99; depth 0.06 2021-10-10T15:39:04Z- handleDvl() - RDI_Pathfinder msg: 1633880344.90 epoch sec; seqNo:47 2021-10-10T15:39:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.58 , 96.29 , 97.65 , 88.15 2021-10-10T15:39:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , 0.11 , -0.26 2021-10-10T15:39:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880344.91 epoch sec; seqNo:100; 4061572.74 north; 594835.85 east 2021-10-10T15:39:05Z- AHRS_M2 msg: 1633880345.26 epoch sec; seqNo:100 2021-10-10T15:39:05Z- AHRS_M2 msg: -0.03 phi; -0.08 theta; 1.38 psi 2021-10-10T15:39:05Z- handleDepth()-Depth_Keller msg: 1633880345269 epoch sec; seqNo:100; depth 0.04 2021-10-10T15:39:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:05Z- handleDvl() - RDI_Pathfinder msg: 1633880345.27 epoch sec; seqNo:48 2021-10-10T15:39:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , 0.11 , -0.26 2021-10-10T15:39:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880345.30 epoch sec; seqNo:101; 4061572.74 north; 594835.85 east 2021-10-10T15:39:05Z- AHRS_M2 msg: 1633880345.67 epoch sec; seqNo:101 2021-10-10T15:39:05Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 1.40 psi 2021-10-10T15:39:05Z- handleDepth()-Depth_Keller msg: 1633880345673 epoch sec; seqNo:101; depth 0.04 2021-10-10T15:39:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880345.69 epoch sec; seqNo:102; 4061572.36 north; 594835.85 east 2021-10-10T15:39:06Z- AHRS_M2 msg: 1633880346.08 epoch sec; seqNo:102 2021-10-10T15:39:06Z- AHRS_M2 msg: 0.14 phi; 0.04 theta; 1.45 psi 2021-10-10T15:39:06Z- handleDepth()-Depth_Keller msg: 1633880346089 epoch sec; seqNo:102; depth 0.06 2021-10-10T15:39:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880346.10 epoch sec; seqNo:103; 4061572.36 north; 594835.85 east 2021-10-10T15:39:06Z- AHRS_M2 msg: 1633880346.48 epoch sec; seqNo:103 2021-10-10T15:39:06Z- AHRS_M2 msg: 0.07 phi; 0.11 theta; 1.46 psi 2021-10-10T15:39:06Z- handleDepth()-Depth_Keller msg: 1633880346488 epoch sec; seqNo:103; depth 0.11 2021-10-10T15:39:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:06Z- handleDvl() - RDI_Pathfinder msg: 1633880346.49 epoch sec; seqNo:49 2021-10-10T15:39:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , 0.11 , -0.26 2021-10-10T15:39:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880346.50 epoch sec; seqNo:104; 4061572.36 north; 594835.85 east 2021-10-10T15:39:06Z- AHRS_M2 msg: 1633880346.88 epoch sec; seqNo:104 2021-10-10T15:39:06Z- AHRS_M2 msg: 0.01 phi; 0.04 theta; 1.46 psi 2021-10-10T15:39:06Z- handleDepth()-Depth_Keller msg: 1633880346888 epoch sec; seqNo:104; depth 0.08 2021-10-10T15:39:06Z- handleDvl() - RDI_Pathfinder msg: 1633880346.91 epoch sec; seqNo:50 2021-10-10T15:39:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 99.01 , 89.50 , 96.29 , 89.50 2021-10-10T15:39:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.17 , -0.54 2021-10-10T15:39:06Z- LcmTrn::handleMessages() - handling 44 messages took 0.76 ms and 128 calls... 2021-10-10T15:39:06Z- waiting for 1633880344.65, time is 1633880346.91 2021-10-10T15:39:06Z- LcmTrn::updateTrn() equating pose 1633880346.91 and meas times 1633880346.91 2021-10-10T15:39:06Z- LcmTrn::updateTrn() >>>> pose time 1633880346.91, meas time 1633880346.91 <<<< 2021-10-10T15:39:06Z- TerrainNav::Measurement type 1 from time = 1633880346.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:39:06Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594835.85, 0.08) 2021-10-10T15:39:06Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:06Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:06Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:06Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:06Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880346.93 epoch sec; seqNo:105; 4061572.36 north; 594835.85 east 2021-10-10T15:39:07Z- AHRS_M2 msg: 1633880347.28 epoch sec; seqNo:105 2021-10-10T15:39:07Z- AHRS_M2 msg: -0.04 phi; -0.09 theta; 1.44 psi 2021-10-10T15:39:07Z- handleDepth()-Depth_Keller msg: 1633880347289 epoch sec; seqNo:105; depth 0.07 2021-10-10T15:39:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880347.30 epoch sec; seqNo:106; 4061572.36 north; 594835.85 east 2021-10-10T15:39:07Z- AHRS_M2 msg: 1633880347.69 epoch sec; seqNo:106 2021-10-10T15:39:07Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 1.41 psi 2021-10-10T15:39:07Z- handleDepth()-Depth_Keller msg: 1633880347693 epoch sec; seqNo:106; depth 0.09 2021-10-10T15:39:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:07Z- handleDvl() - RDI_Pathfinder msg: 1633880347.70 epoch sec; seqNo:51 2021-10-10T15:39:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.17 , -0.54 2021-10-10T15:39:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880347.70 epoch sec; seqNo:107; 4061572.36 north; 594835.85 east 2021-10-10T15:39:08Z- AHRS_M2 msg: 1633880348.09 epoch sec; seqNo:107 2021-10-10T15:39:08Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 1.41 psi 2021-10-10T15:39:08Z- handleDepth()-Depth_Keller msg: 1633880348106 epoch sec; seqNo:107; depth 0.09 2021-10-10T15:39:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880348.12 epoch sec; seqNo:108; 4061571.98 north; 594835.86 east 2021-10-10T15:39:08Z- AHRS_M2 msg: 1633880348.50 epoch sec; seqNo:108 2021-10-10T15:39:08Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 1.43 psi 2021-10-10T15:39:08Z- handleDepth()-Depth_Keller msg: 1633880348508 epoch sec; seqNo:108; depth 0.08 2021-10-10T15:39:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880348.52 epoch sec; seqNo:109; 4061571.98 north; 594835.86 east 2021-10-10T15:39:08Z- AHRS_M2 msg: 1633880348.90 epoch sec; seqNo:109 2021-10-10T15:39:08Z- AHRS_M2 msg: 0.12 phi; -0.14 theta; 1.42 psi 2021-10-10T15:39:08Z- handleDepth()-Depth_Keller msg: 1633880348908 epoch sec; seqNo:109; depth 0.08 2021-10-10T15:39:08Z- handleDvl() - RDI_Pathfinder msg: 1633880348.94 epoch sec; seqNo:52 2021-10-10T15:39:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.93 , 97.72 , 97.72 , 0.00 2021-10-10T15:39:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , -0.14 , 0.45 2021-10-10T15:39:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880348.95 epoch sec; seqNo:110; 4061571.98 north; 594835.86 east 2021-10-10T15:39:09Z- AHRS_M2 msg: 1633880349.31 epoch sec; seqNo:110 2021-10-10T15:39:09Z- AHRS_M2 msg: 0.13 phi; -0.13 theta; 1.39 psi 2021-10-10T15:39:09Z- handleDepth()-Depth_Keller msg: 1633880349315 epoch sec; seqNo:110; depth 0.07 2021-10-10T15:39:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880349.40 epoch sec; seqNo:111; 4061572.36 north; 594835.85 east 2021-10-10T15:39:09Z- AHRS_M2 msg: 1633880349.71 epoch sec; seqNo:111 2021-10-10T15:39:09Z- AHRS_M2 msg: 0.04 phi; -0.04 theta; 1.34 psi 2021-10-10T15:39:09Z- handleDepth()-Depth_Keller msg: 1633880349716 epoch sec; seqNo:111; depth 0.07 2021-10-10T15:39:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880349.73 epoch sec; seqNo:112; 4061572.36 north; 594835.85 east 2021-10-10T15:39:10Z- AHRS_M2 msg: 1633880350.12 epoch sec; seqNo:112 2021-10-10T15:39:10Z- AHRS_M2 msg: -0.05 phi; 0.05 theta; 1.34 psi 2021-10-10T15:39:10Z- handleDepth()-Depth_Keller msg: 1633880350150 epoch sec; seqNo:112; depth 0.05 2021-10-10T15:39:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:10Z- handleDvl() - RDI_Pathfinder msg: 1633880350.15 epoch sec; seqNo:53 2021-10-10T15:39:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , -0.14 , 0.45 2021-10-10T15:39:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880350.21 epoch sec; seqNo:113; 4061572.36 north; 594835.85 east 2021-10-10T15:39:10Z- AHRS_M2 msg: 1633880350.52 epoch sec; seqNo:113 2021-10-10T15:39:10Z- AHRS_M2 msg: 0.00 phi; 0.06 theta; 1.38 psi 2021-10-10T15:39:10Z- handleDepth()-Depth_Keller msg: 1633880350522 epoch sec; seqNo:113; depth 0.02 2021-10-10T15:39:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880350.62 epoch sec; seqNo:114; 4061572.36 north; 594835.85 east 2021-10-10T15:39:10Z- AHRS_M2 msg: 1633880350.92 epoch sec; seqNo:114 2021-10-10T15:39:10Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 1.37 psi 2021-10-10T15:39:10Z- handleDepth()-Depth_Keller msg: 1633880350928 epoch sec; seqNo:114; depth 0.05 2021-10-10T15:39:10Z- handleDvl() - RDI_Pathfinder msg: 1633880350.96 epoch sec; seqNo:54 2021-10-10T15:39:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.52 , 97.52 , 97.52 , 0.00 2021-10-10T15:39:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.16 , 0.51 2021-10-10T15:39:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880351.06 epoch sec; seqNo:115; 4061572.36 north; 594835.85 east 2021-10-10T15:39:11Z- AHRS_M2 msg: 1633880351.33 epoch sec; seqNo:115 2021-10-10T15:39:11Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 1.37 psi 2021-10-10T15:39:11Z- handleDepth()-Depth_Keller msg: 1633880351332 epoch sec; seqNo:115; depth 0.08 2021-10-10T15:39:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:11Z- handleDvl() - RDI_Pathfinder msg: 1633880351.33 epoch sec; seqNo:55 2021-10-10T15:39:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.16 , 0.51 2021-10-10T15:39:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880351.38 epoch sec; seqNo:116; 4061572.36 north; 594835.85 east 2021-10-10T15:39:11Z- AHRS_M2 msg: 1633880351.77 epoch sec; seqNo:116 2021-10-10T15:39:11Z- AHRS_M2 msg: -0.08 phi; -0.05 theta; 1.36 psi 2021-10-10T15:39:11Z- handleDepth()-Depth_Keller msg: 1633880351812 epoch sec; seqNo:116; depth 0.07 2021-10-10T15:39:11Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls... 2021-10-10T15:39:11Z- waiting for 1633880349.91, time is 1633880351.77 2021-10-10T15:39:11Z- LcmTrn::updateTrn() >>>> pose time 1633880351.77, meas time 1633880351.33 <<<< 2021-10-10T15:39:11Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880351.33, ping # 0. 2021-10-10T15:39:11Z- TerrainNav::Measurement type 1 from time = 1633880351.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:39:11Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594835.85, 0.07) 2021-10-10T15:39:11Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:11Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:11Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:11Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880351.91 epoch sec; seqNo:117; 4061572.36 north; 594835.85 east 2021-10-10T15:39:12Z- AHRS_M2 msg: 1633880352.26 epoch sec; seqNo:117 2021-10-10T15:39:12Z- AHRS_M2 msg: -0.14 phi; 0.03 theta; 1.35 psi 2021-10-10T15:39:12Z- handleDepth()-Depth_Keller msg: 1633880352316 epoch sec; seqNo:117; depth 0.03 2021-10-10T15:39:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:12Z- handleDvl() - RDI_Pathfinder msg: 1633880352.35 epoch sec; seqNo:56 2021-10-10T15:39:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.16 , 0.51 2021-10-10T15:39:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880352.37 epoch sec; seqNo:118; 4061571.98 north; 594835.86 east 2021-10-10T15:39:12Z- AHRS_M2 msg: 1633880352.71 epoch sec; seqNo:118 2021-10-10T15:39:12Z- AHRS_M2 msg: -0.08 phi; 0.03 theta; 1.39 psi 2021-10-10T15:39:12Z- handleDepth()-Depth_Keller msg: 1633880352746 epoch sec; seqNo:118; depth 0.04 2021-10-10T15:39:12Z- handleDvl() - RDI_Pathfinder msg: 1633880352.77 epoch sec; seqNo:57 2021-10-10T15:39:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.23 , 104.17 , 97.38 , 97.38 2021-10-10T15:39:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.21 , 0.09 2021-10-10T15:39:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880352.82 epoch sec; seqNo:119; 4061571.98 north; 594835.86 east 2021-10-10T15:39:13Z- AHRS_M2 msg: 1633880353.07 epoch sec; seqNo:119 2021-10-10T15:39:13Z- AHRS_M2 msg: 0.03 phi; 0.02 theta; 1.40 psi 2021-10-10T15:39:13Z- handleDepth()-Depth_Keller msg: 1633880353073 epoch sec; seqNo:119; depth 0.07 2021-10-10T15:39:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880353.10 epoch sec; seqNo:120; 4061571.98 north; 594835.86 east 2021-10-10T15:39:13Z- AHRS_M2 msg: 1633880353.47 epoch sec; seqNo:120 2021-10-10T15:39:13Z- AHRS_M2 msg: 0.08 phi; 0.02 theta; 1.38 psi 2021-10-10T15:39:13Z- handleDepth()-Depth_Keller msg: 1633880353486 epoch sec; seqNo:120; depth 0.06 2021-10-10T15:39:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:13Z- handleDvl() - RDI_Pathfinder msg: 1633880353.49 epoch sec; seqNo:58 2021-10-10T15:39:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.21 , 0.09 2021-10-10T15:39:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880353.51 epoch sec; seqNo:121; 4061571.98 north; 594835.86 east 2021-10-10T15:39:13Z- AHRS_M2 msg: 1633880353.88 epoch sec; seqNo:121 2021-10-10T15:39:13Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 1.39 psi 2021-10-10T15:39:13Z- handleDepth()-Depth_Keller msg: 1633880353884 epoch sec; seqNo:121; depth 0.05 2021-10-10T15:39:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880353.89 epoch sec; seqNo:122; 4061571.98 north; 594835.86 east 2021-10-10T15:39:14Z- AHRS_M2 msg: 1633880354.28 epoch sec; seqNo:122 2021-10-10T15:39:14Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.41 psi 2021-10-10T15:39:14Z- handleDepth()-Depth_Keller msg: 1633880354288 epoch sec; seqNo:122; depth 0.05 2021-10-10T15:39:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880354.30 epoch sec; seqNo:123; 4061571.62 north; 594837.08 east 2021-10-10T15:39:14Z- handleDepth()-Depth_Keller msg: 1633880354756 epoch sec; seqNo:123; depth 0.07 2021-10-10T15:39:14Z- handleDvl() - RDI_Pathfinder msg: 1633880354.80 epoch sec; seqNo:59 2021-10-10T15:39:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.67 , 94.67 , 97.39 , 87.88 2021-10-10T15:39:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , 0.05 , -0.39 2021-10-10T15:39:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880354.82 epoch sec; seqNo:124; 4061571.61 north; 594835.86 east 2021-10-10T15:39:15Z- AHRS_M2 msg: 1633880355.09 epoch sec; seqNo:123 2021-10-10T15:39:15Z- AHRS_M2 msg: -0.10 phi; 0.03 theta; 1.41 psi 2021-10-10T15:39:15Z- handleDepth()-Depth_Keller msg: 1633880355099 epoch sec; seqNo:124; depth 0.07 2021-10-10T15:39:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880355.12 epoch sec; seqNo:125; 4061571.61 north; 594835.86 east 2021-10-10T15:39:15Z- AHRS_M2 msg: 1633880355.49 epoch sec; seqNo:124 2021-10-10T15:39:15Z- AHRS_M2 msg: -0.16 phi; -0.03 theta; 1.43 psi 2021-10-10T15:39:15Z- handleDepth()-Depth_Keller msg: 1633880355500 epoch sec; seqNo:125; depth 0.07 2021-10-10T15:39:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880355.51 epoch sec; seqNo:126; 4061571.61 north; 594835.86 east 2021-10-10T15:39:15Z- AHRS_M2 msg: 1633880355.90 epoch sec; seqNo:125 2021-10-10T15:39:15Z- AHRS_M2 msg: -0.15 phi; -0.07 theta; 1.43 psi 2021-10-10T15:39:15Z- handleDepth()-Depth_Keller msg: 1633880355904 epoch sec; seqNo:126; depth 0.08 2021-10-10T15:39:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:15Z- handleDvl() - RDI_Pathfinder msg: 1633880355.91 epoch sec; seqNo:60 2021-10-10T15:39:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , 0.05 , -0.39 2021-10-10T15:39:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880355.92 epoch sec; seqNo:127; 4061571.61 north; 594835.86 east 2021-10-10T15:39:16Z- AHRS_M2 msg: 1633880356.30 epoch sec; seqNo:126 2021-10-10T15:39:16Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 1.39 psi 2021-10-10T15:39:16Z- handleDepth()-Depth_Keller msg: 1633880356305 epoch sec; seqNo:127; depth 0.08 2021-10-10T15:39:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880356.31 epoch sec; seqNo:128; 4061571.61 north; 594835.86 east 2021-10-10T15:39:16Z- AHRS_M2 msg: 1633880356.75 epoch sec; seqNo:127 2021-10-10T15:39:16Z- AHRS_M2 msg: 0.12 phi; -0.09 theta; 1.37 psi 2021-10-10T15:39:16Z- handleDepth()-Depth_Keller msg: 1633880356753 epoch sec; seqNo:128; depth 0.05 2021-10-10T15:39:16Z- handleDvl() - RDI_Pathfinder msg: 1633880356.77 epoch sec; seqNo:61 2021-10-10T15:39:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 101.80 , 97.72 , 89.57 2021-10-10T15:39:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.40 , 0.70 2021-10-10T15:39:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880356.79 epoch sec; seqNo:129; 4061571.98 north; 594835.86 east 2021-10-10T15:39:16Z- LcmTrn::handleMessages() - handling 42 messages took 0.77 ms and 126 calls... 2021-10-10T15:39:16Z- waiting for 1633880354.77, time is 1633880356.79 2021-10-10T15:39:16Z- LcmTrn::updateTrn() equating pose 1633880356.79 and meas times 1633880356.79 2021-10-10T15:39:16Z- LcmTrn::updateTrn() >>>> pose time 1633880356.79, meas time 1633880356.79 <<<< 2021-10-10T15:39:16Z- TerrainNav::Measurement type 1 from time = 1633880356.79 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:39:16Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594835.86, 0.05) 2021-10-10T15:39:16Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:17Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:17Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:17Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:17Z- handleDepth()-Depth_Keller msg: 1633880357127 epoch sec; seqNo:129; depth 0.03 2021-10-10T15:39:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:17Z- handleDvl() - RDI_Pathfinder msg: 1633880357.13 epoch sec; seqNo:62 2021-10-10T15:39:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.40 , 0.70 2021-10-10T15:39:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880357.15 epoch sec; seqNo:130; 4061571.98 north; 594835.86 east 2021-10-10T15:39:17Z- AHRS_M2 msg: 1633880357.51 epoch sec; seqNo:128 2021-10-10T15:39:17Z- AHRS_M2 msg: 0.15 phi; -0.07 theta; 1.37 psi 2021-10-10T15:39:17Z- handleDepth()-Depth_Keller msg: 1633880357520 epoch sec; seqNo:130; depth 0.04 2021-10-10T15:39:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880357.54 epoch sec; seqNo:131; 4061571.98 north; 594835.86 east 2021-10-10T15:39:17Z- AHRS_M2 msg: 1633880357.92 epoch sec; seqNo:129 2021-10-10T15:39:17Z- AHRS_M2 msg: 0.10 phi; 0.03 theta; 1.37 psi 2021-10-10T15:39:17Z- handleDepth()-Depth_Keller msg: 1633880357931 epoch sec; seqNo:131; depth 0.05 2021-10-10T15:39:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880357.95 epoch sec; seqNo:132; 4061572.36 north; 594835.85 east 2021-10-10T15:39:18Z- AHRS_M2 msg: 1633880358.33 epoch sec; seqNo:130 2021-10-10T15:39:18Z- AHRS_M2 msg: -0.08 phi; 0.11 theta; 1.42 psi 2021-10-10T15:39:18Z- handleDepth()-Depth_Keller msg: 1633880358332 epoch sec; seqNo:132; depth 0.03 2021-10-10T15:39:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:18Z- handleDvl() - RDI_Pathfinder msg: 1633880358.33 epoch sec; seqNo:63 2021-10-10T15:39:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.40 , 0.70 2021-10-10T15:39:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880358.34 epoch sec; seqNo:133; 4061572.35 north; 594834.63 east 2021-10-10T15:39:18Z- AHRS_M2 msg: 1633880358.74 epoch sec; seqNo:131 2021-10-10T15:39:18Z- AHRS_M2 msg: -0.15 phi; 0.01 theta; 1.43 psi 2021-10-10T15:39:18Z- handleDepth()-Depth_Keller msg: 1633880358754 epoch sec; seqNo:133; depth 0.04 2021-10-10T15:39:18Z- handleDvl() - RDI_Pathfinder msg: 1633880358.77 epoch sec; seqNo:64 2021-10-10T15:39:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.45 , 97.45 , 108.32 , 85.23 2021-10-10T15:39:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , 0.45 , -0.51 2021-10-10T15:39:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880358.79 epoch sec; seqNo:134; 4061572.36 north; 594835.85 east 2021-10-10T15:39:19Z- AHRS_M2 msg: 1633880359.13 epoch sec; seqNo:132 2021-10-10T15:39:19Z- AHRS_M2 msg: -0.16 phi; -0.02 theta; 1.46 psi 2021-10-10T15:39:19Z- handleDepth()-Depth_Keller msg: 1633880359133 epoch sec; seqNo:134; depth 0.08 2021-10-10T15:39:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880359.16 epoch sec; seqNo:135; 4061572.36 north; 594835.85 east 2021-10-10T15:39:19Z- AHRS_M2 msg: 1633880359.53 epoch sec; seqNo:133 2021-10-10T15:39:19Z- AHRS_M2 msg: -0.09 phi; -0.04 theta; 1.47 psi 2021-10-10T15:39:19Z- handleDepth()-Depth_Keller msg: 1633880359540 epoch sec; seqNo:135; depth 0.09 2021-10-10T15:39:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:19Z- handleDvl() - RDI_Pathfinder msg: 1633880359.54 epoch sec; seqNo:65 2021-10-10T15:39:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , 0.45 , -0.51 2021-10-10T15:39:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880359.55 epoch sec; seqNo:136; 4061571.98 north; 594835.86 east 2021-10-10T15:39:19Z- AHRS_M2 msg: 1633880359.94 epoch sec; seqNo:134 2021-10-10T15:39:19Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 1.46 psi 2021-10-10T15:39:19Z- handleDepth()-Depth_Keller msg: 1633880359942 epoch sec; seqNo:136; depth 0.09 2021-10-10T15:39:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880359.95 epoch sec; seqNo:137; 4061571.98 north; 594835.86 east 2021-10-10T15:39:20Z- AHRS_M2 msg: 1633880360.34 epoch sec; seqNo:135 2021-10-10T15:39:20Z- AHRS_M2 msg: 0.02 phi; -0.12 theta; 1.45 psi 2021-10-10T15:39:20Z- handleDepth()-Depth_Keller msg: 1633880360351 epoch sec; seqNo:137; depth 0.11 2021-10-10T15:39:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880360.36 epoch sec; seqNo:138; 4061571.61 north; 594835.86 east 2021-10-10T15:39:20Z- AHRS_M2 msg: 1633880360.75 epoch sec; seqNo:136 2021-10-10T15:39:20Z- AHRS_M2 msg: 0.05 phi; -0.10 theta; 1.44 psi 2021-10-10T15:39:20Z- handleDepth()-Depth_Keller msg: 1633880360753 epoch sec; seqNo:138; depth 0.11 2021-10-10T15:39:20Z- handleDvl() - RDI_Pathfinder msg: 1633880360.78 epoch sec; seqNo:66 2021-10-10T15:39:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.38 , 97.38 , 97.38 , 0.00 2021-10-10T15:39:20Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.27 , 0.01 2021-10-10T15:39:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880360.79 epoch sec; seqNo:139; 4061571.98 north; 594835.86 east 2021-10-10T15:39:21Z- AHRS_M2 msg: 1633880361.15 epoch sec; seqNo:137 2021-10-10T15:39:21Z- AHRS_M2 msg: 0.09 phi; -0.12 theta; 1.42 psi 2021-10-10T15:39:21Z- handleDepth()-Depth_Keller msg: 1633880361156 epoch sec; seqNo:139; depth 0.09 2021-10-10T15:39:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880361.17 epoch sec; seqNo:140; 4061571.98 north; 594835.86 east 2021-10-10T15:39:21Z- AHRS_M2 msg: 1633880361.55 epoch sec; seqNo:138 2021-10-10T15:39:21Z- AHRS_M2 msg: 0.13 phi; -0.16 theta; 1.40 psi 2021-10-10T15:39:21Z- handleDepth()-Depth_Keller msg: 1633880361557 epoch sec; seqNo:140; depth 0.10 2021-10-10T15:39:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880361.57 epoch sec; seqNo:141; 4061571.98 north; 594835.86 east 2021-10-10T15:39:21Z- AHRS_M2 msg: 1633880361.96 epoch sec; seqNo:139 2021-10-10T15:39:21Z- AHRS_M2 msg: 0.11 phi; -0.19 theta; 1.40 psi 2021-10-10T15:39:21Z- handleDepth()-Depth_Keller msg: 1633880361964 epoch sec; seqNo:141; depth 0.11 2021-10-10T15:39:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:21Z- handleDvl() - RDI_Pathfinder msg: 1633880361.97 epoch sec; seqNo:67 2021-10-10T15:39:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.27 , 0.01 2021-10-10T15:39:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880361.97 epoch sec; seqNo:142; 4061571.97 north; 594834.64 east 2021-10-10T15:39:22Z- LcmTrn::handleMessages() - handling 44 messages took 0.67 ms and 130 calls... 2021-10-10T15:39:22Z- waiting for 1633880359.79, time is 1633880361.97 2021-10-10T15:39:22Z- LcmTrn::updateTrn() equating pose 1633880361.97 and meas times 1633880361.97 2021-10-10T15:39:22Z- LcmTrn::updateTrn() >>>> pose time 1633880361.97, meas time 1633880361.97 <<<< 2021-10-10T15:39:22Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880361.97, ping # 0. 2021-10-10T15:39:22Z- TerrainNav::Measurement type 1 from time = 1633880361.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:39:22Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594834.64, 0.11) 2021-10-10T15:39:22Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:22Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:22Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:22Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:22Z- AHRS_M2 msg: 1633880362.36 epoch sec; seqNo:140 2021-10-10T15:39:22Z- AHRS_M2 msg: 0.03 phi; -0.15 theta; 1.39 psi 2021-10-10T15:39:22Z- handleDepth()-Depth_Keller msg: 1633880362365 epoch sec; seqNo:142; depth 0.11 2021-10-10T15:39:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880362.38 epoch sec; seqNo:143; 4061571.97 north; 594834.64 east 2021-10-10T15:39:22Z- AHRS_M2 msg: 1633880362.76 epoch sec; seqNo:141 2021-10-10T15:39:22Z- AHRS_M2 msg: -0.08 phi; -0.08 theta; 1.38 psi 2021-10-10T15:39:22Z- handleDepth()-Depth_Keller msg: 1633880362769 epoch sec; seqNo:143; depth 0.10 2021-10-10T15:39:22Z- handleDvl() - RDI_Pathfinder msg: 1633880362.80 epoch sec; seqNo:68 2021-10-10T15:39:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.02 , 83.80 , 90.59 , 96.02 2021-10-10T15:39:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , 0.36 , 0.34 2021-10-10T15:39:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880362.81 epoch sec; seqNo:144; 4061571.97 north; 594834.64 east 2021-10-10T15:39:23Z- AHRS_M2 msg: 1633880363.17 epoch sec; seqNo:142 2021-10-10T15:39:23Z- AHRS_M2 msg: -0.12 phi; -0.04 theta; 1.41 psi 2021-10-10T15:39:23Z- handleDepth()-Depth_Keller msg: 1633880363176 epoch sec; seqNo:144; depth 0.07 2021-10-10T15:39:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:23Z- handleDvl() - RDI_Pathfinder msg: 1633880363.18 epoch sec; seqNo:69 2021-10-10T15:39:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , 0.36 , 0.34 2021-10-10T15:39:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880363.19 epoch sec; seqNo:145; 4061571.59 north; 594834.64 east 2021-10-10T15:39:23Z- AHRS_M2 msg: 1633880363.57 epoch sec; seqNo:143 2021-10-10T15:39:23Z- AHRS_M2 msg: -0.08 phi; -0.06 theta; 1.44 psi 2021-10-10T15:39:23Z- handleDepth()-Depth_Keller msg: 1633880363578 epoch sec; seqNo:145; depth 0.06 2021-10-10T15:39:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880363.59 epoch sec; seqNo:146; 4061571.59 north; 594834.64 east 2021-10-10T15:39:23Z- AHRS_M2 msg: 1633880363.98 epoch sec; seqNo:144 2021-10-10T15:39:23Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 1.44 psi 2021-10-10T15:39:23Z- handleDepth()-Depth_Keller msg: 1633880363981 epoch sec; seqNo:146; depth 0.10 2021-10-10T15:39:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880364.00 epoch sec; seqNo:147; 4061571.59 north; 594834.64 east 2021-10-10T15:39:24Z- AHRS_M2 msg: 1633880364.41 epoch sec; seqNo:145 2021-10-10T15:39:24Z- AHRS_M2 msg: -0.01 phi; 0.00 theta; 1.43 psi 2021-10-10T15:39:24Z- handleDepth()-Depth_Keller msg: 1633880364414 epoch sec; seqNo:147; depth 0.12 2021-10-10T15:39:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:24Z- handleDvl() - RDI_Pathfinder msg: 1633880364.42 epoch sec; seqNo:70 2021-10-10T15:39:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , 0.36 , 0.34 2021-10-10T15:39:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880364.43 epoch sec; seqNo:148; 4061571.21 north; 594834.65 east 2021-10-10T15:39:24Z- AHRS_M2 msg: 1633880364.78 epoch sec; seqNo:146 2021-10-10T15:39:24Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.44 psi 2021-10-10T15:39:24Z- handleDepth()-Depth_Keller msg: 1633880364792 epoch sec; seqNo:148; depth 0.07 2021-10-10T15:39:24Z- handleDvl() - RDI_Pathfinder msg: 1633880364.81 epoch sec; seqNo:71 2021-10-10T15:39:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.61 , 96.50 , 97.72 , 90.39 2021-10-10T15:39:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , -0.28 , -0.55 2021-10-10T15:39:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880364.84 epoch sec; seqNo:149; 4061571.59 north; 594834.64 east 2021-10-10T15:39:25Z- AHRS_M2 msg: 1633880365.19 epoch sec; seqNo:147 2021-10-10T15:39:25Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.43 psi 2021-10-10T15:39:25Z- handleDepth()-Depth_Keller msg: 1633880365194 epoch sec; seqNo:149; depth 0.05 2021-10-10T15:39:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880365.21 epoch sec; seqNo:150; 4061571.59 north; 594834.64 east 2021-10-10T15:39:25Z- AHRS_M2 msg: 1633880365.59 epoch sec; seqNo:148 2021-10-10T15:39:25Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 1.42 psi 2021-10-10T15:39:25Z- handleDepth()-Depth_Keller msg: 1633880365606 epoch sec; seqNo:150; depth 0.07 2021-10-10T15:39:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:25Z- handleDvl() - RDI_Pathfinder msg: 1633880365.61 epoch sec; seqNo:72 2021-10-10T15:39:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , -0.28 , -0.55 2021-10-10T15:39:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880365.62 epoch sec; seqNo:151; 4061571.59 north; 594834.64 east 2021-10-10T15:39:26Z- AHRS_M2 msg: 1633880366.00 epoch sec; seqNo:149 2021-10-10T15:39:26Z- AHRS_M2 msg: 0.02 phi; 0.02 theta; 1.44 psi 2021-10-10T15:39:26Z- handleDepth()-Depth_Keller msg: 1633880366004 epoch sec; seqNo:151; depth 0.08 2021-10-10T15:39:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880366.01 epoch sec; seqNo:152; 4061571.59 north; 594834.64 east 2021-10-10T15:39:26Z- AHRS_M2 msg: 1633880366.40 epoch sec; seqNo:150 2021-10-10T15:39:26Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 1.44 psi 2021-10-10T15:39:26Z- handleDepth()-Depth_Keller msg: 1633880366408 epoch sec; seqNo:152; depth 0.08 2021-10-10T15:39:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880366.42 epoch sec; seqNo:153; 4061571.97 north; 594834.64 east 2021-10-10T15:39:26Z- AHRS_M2 msg: 1633880366.81 epoch sec; seqNo:151 2021-10-10T15:39:26Z- AHRS_M2 msg: -0.05 phi; -0.08 theta; 1.43 psi 2021-10-10T15:39:26Z- handleDepth()-Depth_Keller msg: 1633880366810 epoch sec; seqNo:153; depth 0.09 2021-10-10T15:39:26Z- handleDvl() - RDI_Pathfinder msg: 1633880366.83 epoch sec; seqNo:73 2021-10-10T15:39:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.94 , 93.58 , 97.65 , 86.79 2021-10-10T15:39:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , 0.04 , 0.30 2021-10-10T15:39:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880366.85 epoch sec; seqNo:154; 4061571.59 north; 594834.64 east 2021-10-10T15:39:27Z- LcmTrn::handleMessages() - handling 42 messages took 0.72 ms and 127 calls... 2021-10-10T15:39:27Z- waiting for 1633880364.97, time is 1633880366.85 2021-10-10T15:39:27Z- LcmTrn::updateTrn() equating pose 1633880366.85 and meas times 1633880366.85 2021-10-10T15:39:27Z- LcmTrn::updateTrn() >>>> pose time 1633880366.85, meas time 1633880366.85 <<<< 2021-10-10T15:39:27Z- TerrainNav::Measurement type 1 from time = 1633880366.85 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:39:27Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594834.64, 0.09) 2021-10-10T15:39:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:27Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:27Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:27Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:27Z- AHRS_M2 msg: 1633880367.21 epoch sec; seqNo:152 2021-10-10T15:39:27Z- AHRS_M2 msg: -0.04 phi; -0.09 theta; 1.41 psi 2021-10-10T15:39:27Z- handleDepth()-Depth_Keller msg: 1633880367221 epoch sec; seqNo:154; depth 0.10 2021-10-10T15:39:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880367.24 epoch sec; seqNo:155; 4061571.59 north; 594834.64 east 2021-10-10T15:39:27Z- AHRS_M2 msg: 1633880367.61 epoch sec; seqNo:153 2021-10-10T15:39:27Z- AHRS_M2 msg: -0.02 phi; -0.00 theta; 1.36 psi 2021-10-10T15:39:27Z- handleDepth()-Depth_Keller msg: 1633880367617 epoch sec; seqNo:155; depth 0.11 2021-10-10T15:39:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880367.63 epoch sec; seqNo:156; 4061571.59 north; 594834.64 east 2021-10-10T15:39:28Z- AHRS_M2 msg: 1633880368.02 epoch sec; seqNo:154 2021-10-10T15:39:28Z- AHRS_M2 msg: 0.01 phi; 0.10 theta; 1.35 psi 2021-10-10T15:39:28Z- handleDepth()-Depth_Keller msg: 1633880368021 epoch sec; seqNo:156; depth 0.12 2021-10-10T15:39:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:28Z- handleDvl() - RDI_Pathfinder msg: 1633880368.02 epoch sec; seqNo:74 2021-10-10T15:39:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , 0.04 , 0.30 2021-10-10T15:39:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880368.03 epoch sec; seqNo:157; 4061571.59 north; 594834.64 east 2021-10-10T15:39:28Z- AHRS_M2 msg: 1633880368.42 epoch sec; seqNo:155 2021-10-10T15:39:28Z- AHRS_M2 msg: -0.00 phi; 0.11 theta; 1.39 psi 2021-10-10T15:39:28Z- handleDepth()-Depth_Keller msg: 1633880368427 epoch sec; seqNo:157; depth 0.11 2021-10-10T15:39:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880368.44 epoch sec; seqNo:158; 4061571.59 north; 594834.64 east 2021-10-10T15:39:28Z- AHRS_M2 msg: 1633880368.82 epoch sec; seqNo:156 2021-10-10T15:39:28Z- AHRS_M2 msg: -0.07 phi; 0.04 theta; 1.43 psi 2021-10-10T15:39:28Z- handleDepth()-Depth_Keller msg: 1633880368829 epoch sec; seqNo:158; depth 0.09 2021-10-10T15:39:28Z- handleDvl() - RDI_Pathfinder msg: 1633880368.86 epoch sec; seqNo:75 2021-10-10T15:39:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 95.00 , 97.72 , 103.15 , 84.14 2021-10-10T15:39:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , 0.47 , -0.25 2021-10-10T15:39:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880368.87 epoch sec; seqNo:159; 4061571.59 north; 594834.64 east 2021-10-10T15:39:29Z- AHRS_M2 msg: 1633880369.23 epoch sec; seqNo:157 2021-10-10T15:39:29Z- AHRS_M2 msg: -0.12 phi; 0.01 theta; 1.44 psi 2021-10-10T15:39:29Z- handleDepth()-Depth_Keller msg: 1633880369236 epoch sec; seqNo:159; depth 0.08 2021-10-10T15:39:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:29Z- handleDvl() - RDI_Pathfinder msg: 1633880369.24 epoch sec; seqNo:76 2021-10-10T15:39:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , 0.47 , -0.25 2021-10-10T15:39:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880369.26 epoch sec; seqNo:160; 4061571.21 north; 594834.65 east 2021-10-10T15:39:29Z- AHRS_M2 msg: 1633880369.63 epoch sec; seqNo:158 2021-10-10T15:39:29Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.45 psi 2021-10-10T15:39:29Z- handleDepth()-Depth_Keller msg: 1633880369637 epoch sec; seqNo:160; depth 0.07 2021-10-10T15:39:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880369.65 epoch sec; seqNo:161; 4061571.21 north; 594834.65 east 2021-10-10T15:39:30Z- AHRS_M2 msg: 1633880370.04 epoch sec; seqNo:159 2021-10-10T15:39:30Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 1.46 psi 2021-10-10T15:39:30Z- handleDepth()-Depth_Keller msg: 1633880370042 epoch sec; seqNo:161; depth 0.07 2021-10-10T15:39:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880370.05 epoch sec; seqNo:162; 4061570.83 north; 594834.65 east 2021-10-10T15:39:30Z- AHRS_M2 msg: 1633880370.44 epoch sec; seqNo:160 2021-10-10T15:39:30Z- AHRS_M2 msg: 0.04 phi; -0.05 theta; 1.47 psi 2021-10-10T15:39:30Z- handleDepth()-Depth_Keller msg: 1633880370450 epoch sec; seqNo:162; depth 0.08 2021-10-10T15:39:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:30Z- handleDvl() - RDI_Pathfinder msg: 1633880370.46 epoch sec; seqNo:77 2021-10-10T15:39:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , 0.47 , -0.25 2021-10-10T15:39:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880370.47 epoch sec; seqNo:163; 4061570.85 north; 594835.87 east 2021-10-10T15:39:30Z- AHRS_M2 msg: 1633880370.84 epoch sec; seqNo:161 2021-10-10T15:39:30Z- AHRS_M2 msg: 0.02 phi; -0.08 theta; 1.46 psi 2021-10-10T15:39:30Z- handleDepth()-Depth_Keller msg: 1633880370852 epoch sec; seqNo:163; depth 0.07 2021-10-10T15:39:30Z- handleDvl() - RDI_Pathfinder msg: 1633880370.88 epoch sec; seqNo:78 2021-10-10T15:39:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.58 , 90.79 , 97.58 , 89.44 2021-10-10T15:39:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.67 , -0.38 , 0.40 2021-10-10T15:39:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880370.90 epoch sec; seqNo:164; 4061570.83 north; 594834.65 east 2021-10-10T15:39:31Z- AHRS_M2 msg: 1633880371.25 epoch sec; seqNo:162 2021-10-10T15:39:31Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 1.42 psi 2021-10-10T15:39:31Z- handleDepth()-Depth_Keller msg: 1633880371253 epoch sec; seqNo:164; depth 0.07 2021-10-10T15:39:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880371.27 epoch sec; seqNo:165; 4061571.21 north; 594834.65 east 2021-10-10T15:39:31Z- AHRS_M2 msg: 1633880371.66 epoch sec; seqNo:163 2021-10-10T15:39:31Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 1.41 psi 2021-10-10T15:39:31Z- handleDepth()-Depth_Keller msg: 1633880371665 epoch sec; seqNo:165; depth 0.06 2021-10-10T15:39:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:31Z- handleDvl() - RDI_Pathfinder msg: 1633880371.67 epoch sec; seqNo:79 2021-10-10T15:39:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.67 , -0.38 , 0.40 2021-10-10T15:39:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880371.72 epoch sec; seqNo:166; 4061571.21 north; 594834.65 east 2021-10-10T15:39:32Z- AHRS_M2 msg: 1633880372.06 epoch sec; seqNo:164 2021-10-10T15:39:32Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.40 psi 2021-10-10T15:39:32Z- LcmTrn::handleMessages() - handling 43 messages took 0.70 ms and 128 calls... 2021-10-10T15:39:32Z- waiting for 1633880369.85, time is 1633880372.06 2021-10-10T15:39:32Z- LcmTrn::updateTrn() >>>> pose time 1633880372.06, meas time 1633880371.67 <<<< 2021-10-10T15:39:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880371.67, ping # 0. 2021-10-10T15:39:32Z- TerrainNav::Measurement type 1 from time = 1633880371.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:39:32Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594834.65, 0.06) 2021-10-10T15:39:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:32Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:32Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:32Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:32Z- handleDepth()-Depth_Keller msg: 1633880372064 epoch sec; seqNo:166; depth 0.05 2021-10-10T15:39:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880372.09 epoch sec; seqNo:167; 4061571.21 north; 594834.65 east 2021-10-10T15:39:32Z- AHRS_M2 msg: 1633880372.47 epoch sec; seqNo:165 2021-10-10T15:39:32Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 1.36 psi 2021-10-10T15:39:32Z- handleDepth()-Depth_Keller msg: 1633880372480 epoch sec; seqNo:167; depth 0.04 2021-10-10T15:39:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880372.51 epoch sec; seqNo:168; 4061571.20 north; 594833.43 east 2021-10-10T15:39:32Z- AHRS_M2 msg: 1633880372.87 epoch sec; seqNo:166 2021-10-10T15:39:32Z- AHRS_M2 msg: -0.00 phi; 0.02 theta; 1.36 psi 2021-10-10T15:39:32Z- handleDepth()-Depth_Keller msg: 1633880372872 epoch sec; seqNo:168; depth 0.04 2021-10-10T15:39:32Z- handleDvl() - RDI_Pathfinder msg: 1633880372.91 epoch sec; seqNo:80 2021-10-10T15:39:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.58 , 94.94 , 96.29 , 88.15 2021-10-10T15:39:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.40 , 0.39 2021-10-10T15:39:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880372.93 epoch sec; seqNo:169; 4061571.20 north; 594833.43 east 2021-10-10T15:39:33Z- AHRS_M2 msg: 1633880373.27 epoch sec; seqNo:167 2021-10-10T15:39:33Z- AHRS_M2 msg: -0.03 phi; 0.05 theta; 1.39 psi 2021-10-10T15:39:33Z- handleDepth()-Depth_Keller msg: 1633880373276 epoch sec; seqNo:169; depth 0.04 2021-10-10T15:39:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880373.30 epoch sec; seqNo:170; 4061571.20 north; 594833.43 east 2021-10-10T15:39:33Z- AHRS_M2 msg: 1633880373.67 epoch sec; seqNo:168 2021-10-10T15:39:33Z- AHRS_M2 msg: -0.07 phi; 0.03 theta; 1.40 psi 2021-10-10T15:39:33Z- handleDepth()-Depth_Keller msg: 1633880373694 epoch sec; seqNo:170; depth 0.05 2021-10-10T15:39:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880373.72 epoch sec; seqNo:171; 4061570.83 north; 594834.65 east 2021-10-10T15:39:34Z- AHRS_M2 msg: 1633880374.08 epoch sec; seqNo:169 2021-10-10T15:39:34Z- AHRS_M2 msg: -0.12 phi; 0.04 theta; 1.42 psi 2021-10-10T15:39:34Z- handleDepth()-Depth_Keller msg: 1633880374084 epoch sec; seqNo:171; depth 0.05 2021-10-10T15:39:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:34Z- handleDvl() - RDI_Pathfinder msg: 1633880374.09 epoch sec; seqNo:81 2021-10-10T15:39:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.40 , 0.39 2021-10-10T15:39:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880374.12 epoch sec; seqNo:172; 4061570.83 north; 594834.65 east 2021-10-10T15:39:34Z- AHRS_M2 msg: 1633880374.49 epoch sec; seqNo:170 2021-10-10T15:39:34Z- AHRS_M2 msg: -0.15 phi; 0.04 theta; 1.46 psi 2021-10-10T15:39:34Z- handleDepth()-Depth_Keller msg: 1633880374496 epoch sec; seqNo:172; depth 0.05 2021-10-10T15:39:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880374.52 epoch sec; seqNo:173; 4061570.46 north; 594834.65 east 2021-10-10T15:39:34Z- AHRS_M2 msg: 1633880374.88 epoch sec; seqNo:171 2021-10-10T15:39:34Z- AHRS_M2 msg: -0.12 phi; -0.00 theta; 1.46 psi 2021-10-10T15:39:34Z- handleDepth()-Depth_Keller msg: 1633880374897 epoch sec; seqNo:173; depth 0.06 2021-10-10T15:39:34Z- handleDvl() - RDI_Pathfinder msg: 1633880374.96 epoch sec; seqNo:82 2021-10-10T15:39:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.57 , 103.15 , 101.79 , 84.14 2021-10-10T15:39:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.01 , -0.47 2021-10-10T15:39:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880375.00 epoch sec; seqNo:174; 4061570.46 north; 594834.65 east 2021-10-10T15:39:35Z- AHRS_M2 msg: 1633880375.30 epoch sec; seqNo:172 2021-10-10T15:39:35Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 1.39 psi 2021-10-10T15:39:35Z- handleDepth()-Depth_Keller msg: 1633880375299 epoch sec; seqNo:174; depth 0.07 2021-10-10T15:39:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:35Z- handleDvl() - RDI_Pathfinder msg: 1633880375.30 epoch sec; seqNo:83 2021-10-10T15:39:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.01 , -0.47 2021-10-10T15:39:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880375.35 epoch sec; seqNo:175; 4061570.46 north; 594834.65 east 2021-10-10T15:39:35Z- AHRS_M2 msg: 1633880375.70 epoch sec; seqNo:173 2021-10-10T15:39:35Z- AHRS_M2 msg: 0.08 phi; -0.00 theta; 1.42 psi 2021-10-10T15:39:35Z- handleDepth()-Depth_Keller msg: 1633880375701 epoch sec; seqNo:175; depth 0.06 2021-10-10T15:39:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880375.71 epoch sec; seqNo:176; 4061570.46 north; 594834.65 east 2021-10-10T15:39:36Z- AHRS_M2 msg: 1633880376.10 epoch sec; seqNo:174 2021-10-10T15:39:36Z- AHRS_M2 msg: 0.11 phi; 0.02 theta; 1.45 psi 2021-10-10T15:39:36Z- handleDepth()-Depth_Keller msg: 1633880376108 epoch sec; seqNo:176; depth 0.06 2021-10-10T15:39:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880376.13 epoch sec; seqNo:177; 4061570.46 north; 594834.65 east 2021-10-10T15:39:36Z- AHRS_M2 msg: 1633880376.50 epoch sec; seqNo:175 2021-10-10T15:39:36Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.44 psi 2021-10-10T15:39:36Z- handleDepth()-Depth_Keller msg: 1633880376528 epoch sec; seqNo:177; depth 0.05 2021-10-10T15:39:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:36Z- handleDvl() - RDI_Pathfinder msg: 1633880376.53 epoch sec; seqNo:84 2021-10-10T15:39:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.01 , -0.47 2021-10-10T15:39:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880376.56 epoch sec; seqNo:178; 4061570.46 north; 594834.65 east 2021-10-10T15:39:36Z- AHRS_M2 msg: 1633880376.90 epoch sec; seqNo:176 2021-10-10T15:39:36Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.43 psi 2021-10-10T15:39:36Z- handleDepth()-Depth_Keller msg: 1633880376912 epoch sec; seqNo:178; depth 0.07 2021-10-10T15:39:36Z- handleDvl() - RDI_Pathfinder msg: 1633880376.96 epoch sec; seqNo:85 2021-10-10T15:39:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.23 , 89.44 , 97.59 , 86.72 2021-10-10T15:39:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.14 , -0.22 2021-10-10T15:39:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880377.01 epoch sec; seqNo:179; 4061570.46 north; 594834.65 east 2021-10-10T15:39:37Z- LcmTrn::handleMessages() - handling 44 messages took 0.89 ms and 126 calls... 2021-10-10T15:39:37Z- waiting for 1633880375.06, time is 1633880377.01 2021-10-10T15:39:37Z- LcmTrn::updateTrn() equating pose 1633880377.01 and meas times 1633880377.01 2021-10-10T15:39:37Z- LcmTrn::updateTrn() >>>> pose time 1633880377.01, meas time 1633880377.01 <<<< 2021-10-10T15:39:37Z- TerrainNav::Measurement type 1 from time = 1633880377.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:39:37Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594834.65, 0.07) 2021-10-10T15:39:37Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:37Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:37Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:37Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:37Z- AHRS_M2 msg: 1633880377.31 epoch sec; seqNo:177 2021-10-10T15:39:37Z- AHRS_M2 msg: -0.11 phi; -0.07 theta; 1.43 psi 2021-10-10T15:39:37Z- handleDepth()-Depth_Keller msg: 1633880377324 epoch sec; seqNo:179; depth 0.05 2021-10-10T15:39:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880377.35 epoch sec; seqNo:180; 4061570.44 north; 594833.43 east 2021-10-10T15:39:37Z- AHRS_M2 msg: 1633880377.71 epoch sec; seqNo:178 2021-10-10T15:39:37Z- AHRS_M2 msg: -0.12 phi; -0.10 theta; 1.42 psi 2021-10-10T15:39:37Z- handleDepth()-Depth_Keller msg: 1633880377724 epoch sec; seqNo:180; depth 0.05 2021-10-10T15:39:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:37Z- handleDvl() - RDI_Pathfinder msg: 1633880377.73 epoch sec; seqNo:86 2021-10-10T15:39:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.14 , -0.22 2021-10-10T15:39:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880377.76 epoch sec; seqNo:181; 4061570.82 north; 594833.43 east 2021-10-10T15:39:38Z- AHRS_M2 msg: 1633880378.12 epoch sec; seqNo:179 2021-10-10T15:39:38Z- AHRS_M2 msg: -0.07 phi; -0.07 theta; 1.39 psi 2021-10-10T15:39:38Z- handleDepth()-Depth_Keller msg: 1633880378124 epoch sec; seqNo:181; depth 0.07 2021-10-10T15:39:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880378.17 epoch sec; seqNo:182; 4061570.82 north; 594833.43 east 2021-10-10T15:39:38Z- AHRS_M2 msg: 1633880378.53 epoch sec; seqNo:180 2021-10-10T15:39:38Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.38 psi 2021-10-10T15:39:38Z- handleDepth()-Depth_Keller msg: 1633880378536 epoch sec; seqNo:182; depth 0.06 2021-10-10T15:39:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880378.58 epoch sec; seqNo:183; 4061570.82 north; 594833.43 east 2021-10-10T15:39:38Z- AHRS_M2 msg: 1633880378.93 epoch sec; seqNo:181 2021-10-10T15:39:38Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.38 psi 2021-10-10T15:39:38Z- handleDepth()-Depth_Keller msg: 1633880378936 epoch sec; seqNo:183; depth 0.04 2021-10-10T15:39:38Z- handleDvl() - RDI_Pathfinder msg: 1633880378.97 epoch sec; seqNo:87 2021-10-10T15:39:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.64 , 101.86 , 93.71 , 88.28 2021-10-10T15:39:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , 0.14 , 0.70 2021-10-10T15:39:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880379.02 epoch sec; seqNo:184; 4061570.82 north; 594833.43 east 2021-10-10T15:39:39Z- AHRS_M2 msg: 1633880379.33 epoch sec; seqNo:182 2021-10-10T15:39:39Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 1.37 psi 2021-10-10T15:39:39Z- handleDepth()-Depth_Keller msg: 1633880379340 epoch sec; seqNo:184; depth 0.05 2021-10-10T15:39:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880379.38 epoch sec; seqNo:185; 4061570.44 north; 594833.43 east 2021-10-10T15:39:39Z- AHRS_M2 msg: 1633880379.74 epoch sec; seqNo:183 2021-10-10T15:39:39Z- AHRS_M2 msg: 0.03 phi; 0.04 theta; 1.36 psi 2021-10-10T15:39:39Z- handleDepth()-Depth_Keller msg: 1633880379744 epoch sec; seqNo:185; depth 0.05 2021-10-10T15:39:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880379.79 epoch sec; seqNo:186; 4061570.44 north; 594833.43 east 2021-10-10T15:39:40Z- AHRS_M2 msg: 1633880380.14 epoch sec; seqNo:184 2021-10-10T15:39:40Z- AHRS_M2 msg: 0.01 phi; 0.07 theta; 1.37 psi 2021-10-10T15:39:40Z- handleDepth()-Depth_Keller msg: 1633880380148 epoch sec; seqNo:186; depth 0.04 2021-10-10T15:39:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:40Z- handleDvl() - RDI_Pathfinder msg: 1633880380.15 epoch sec; seqNo:88 2021-10-10T15:39:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , 0.14 , 0.70 2021-10-10T15:39:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880380.21 epoch sec; seqNo:187; 4061570.44 north; 594833.43 east 2021-10-10T15:39:40Z- AHRS_M2 msg: 1633880380.54 epoch sec; seqNo:185 2021-10-10T15:39:40Z- AHRS_M2 msg: 0.00 phi; 0.04 theta; 1.43 psi 2021-10-10T15:39:40Z- handleDepth()-Depth_Keller msg: 1633880380561 epoch sec; seqNo:187; depth 0.02 2021-10-10T15:39:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880380.58 epoch sec; seqNo:188; 4061570.44 north; 594833.43 east 2021-10-10T15:39:40Z- AHRS_M2 msg: 1633880380.95 epoch sec; seqNo:186 2021-10-10T15:39:40Z- AHRS_M2 msg: -0.00 phi; -0.01 theta; 1.42 psi 2021-10-10T15:39:40Z- handleDepth()-Depth_Keller msg: 1633880380956 epoch sec; seqNo:188; depth 0.08 2021-10-10T15:39:40Z- handleDvl() - RDI_Pathfinder msg: 1633880380.99 epoch sec; seqNo:89 2021-10-10T15:39:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 97.72 , 101.79 , 84.14 2021-10-10T15:39:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , 0.34 , -0.31 2021-10-10T15:39:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880381.02 epoch sec; seqNo:189; 4061570.44 north; 594833.43 east 2021-10-10T15:39:41Z- AHRS_M2 msg: 1633880381.35 epoch sec; seqNo:187 2021-10-10T15:39:41Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.41 psi 2021-10-10T15:39:41Z- handleDepth()-Depth_Keller msg: 1633880381364 epoch sec; seqNo:189; depth 0.08 2021-10-10T15:39:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:41Z- handleDvl() - RDI_Pathfinder msg: 1633880381.37 epoch sec; seqNo:90 2021-10-10T15:39:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , 0.34 , -0.31 2021-10-10T15:39:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880381.41 epoch sec; seqNo:190; 4061570.06 north; 594833.44 east 2021-10-10T15:39:41Z- AHRS_M2 msg: 1633880381.76 epoch sec; seqNo:188 2021-10-10T15:39:41Z- AHRS_M2 msg: 0.03 phi; -0.09 theta; 1.39 psi 2021-10-10T15:39:41Z- handleDepth()-Depth_Keller msg: 1633880381768 epoch sec; seqNo:190; depth 0.06 2021-10-10T15:39:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880381.79 epoch sec; seqNo:191; 4061570.06 north; 594833.44 east 2021-10-10T15:39:42Z- LcmTrn::handleMessages() - handling 41 messages took 1.03 ms and 120 calls... 2021-10-10T15:39:42Z- waiting for 1633880380.01, time is 1633880381.79 2021-10-10T15:39:42Z- LcmTrn::updateTrn() >>>> pose time 1633880381.79, meas time 1633880381.37 <<<< 2021-10-10T15:39:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880381.37, ping # 0. 2021-10-10T15:39:42Z- TerrainNav::Measurement type 1 from time = 1633880381.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:39:42Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594833.44, 0.06) 2021-10-10T15:39:42Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:42Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:42Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:42Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:42Z- AHRS_M2 msg: 1633880382.16 epoch sec; seqNo:189 2021-10-10T15:39:42Z- AHRS_M2 msg: 0.11 phi; -0.10 theta; 1.34 psi 2021-10-10T15:39:42Z- handleDepth()-Depth_Keller msg: 1633880382182 epoch sec; seqNo:191; depth 0.08 2021-10-10T15:39:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880382.19 epoch sec; seqNo:192; 4061570.06 north; 594833.44 east 2021-10-10T15:39:42Z- AHRS_M2 msg: 1633880382.56 epoch sec; seqNo:190 2021-10-10T15:39:42Z- AHRS_M2 msg: 0.11 phi; -0.05 theta; 1.32 psi 2021-10-10T15:39:42Z- handleDepth()-Depth_Keller msg: 1633880382576 epoch sec; seqNo:192; depth 0.09 2021-10-10T15:39:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:42Z- handleDvl() - RDI_Pathfinder msg: 1633880382.58 epoch sec; seqNo:91 2021-10-10T15:39:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.24 , 0.34 , -0.31 2021-10-10T15:39:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880382.59 epoch sec; seqNo:193; 4061570.06 north; 594833.44 east 2021-10-10T15:39:42Z- AHRS_M2 msg: 1633880382.97 epoch sec; seqNo:191 2021-10-10T15:39:42Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 1.32 psi 2021-10-10T15:39:42Z- handleDepth()-Depth_Keller msg: 1633880382975 epoch sec; seqNo:193; depth 0.06 2021-10-10T15:39:43Z- handleDvl() - RDI_Pathfinder msg: 1633880382.99 epoch sec; seqNo:92 2021-10-10T15:39:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.52 , 88.01 , 97.52 , 0.00 2021-10-10T15:39:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.31 , -0.26 2021-10-10T15:39:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880383.03 epoch sec; seqNo:194; 4061570.06 north; 594833.44 east 2021-10-10T15:39:43Z- AHRS_M2 msg: 1633880383.38 epoch sec; seqNo:192 2021-10-10T15:39:43Z- AHRS_M2 msg: 0.01 phi; 0.00 theta; 1.35 psi 2021-10-10T15:39:43Z- handleDepth()-Depth_Keller msg: 1633880383385 epoch sec; seqNo:194; depth 0.04 2021-10-10T15:39:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880383.40 epoch sec; seqNo:195; 4061570.06 north; 594833.44 east 2021-10-10T15:39:43Z- AHRS_M2 msg: 1633880383.78 epoch sec; seqNo:193 2021-10-10T15:39:43Z- AHRS_M2 msg: 0.03 phi; -0.00 theta; 1.37 psi 2021-10-10T15:39:43Z- handleDepth()-Depth_Keller msg: 1633880383784 epoch sec; seqNo:195; depth 0.07 2021-10-10T15:39:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:43Z- handleDvl() - RDI_Pathfinder msg: 1633880383.79 epoch sec; seqNo:93 2021-10-10T15:39:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.31 , -0.26 2021-10-10T15:39:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880383.80 epoch sec; seqNo:196; 4061570.06 north; 594833.44 east 2021-10-10T15:39:44Z- AHRS_M2 msg: 1633880384.18 epoch sec; seqNo:194 2021-10-10T15:39:44Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 1.34 psi 2021-10-10T15:39:44Z- handleDepth()-Depth_Keller msg: 1633880384185 epoch sec; seqNo:196; depth 0.06 2021-10-10T15:39:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880384.19 epoch sec; seqNo:197; 4061570.44 north; 594833.43 east 2021-10-10T15:39:44Z- AHRS_M2 msg: 1633880384.59 epoch sec; seqNo:195 2021-10-10T15:39:44Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.32 psi 2021-10-10T15:39:44Z- handleDepth()-Depth_Keller msg: 1633880384596 epoch sec; seqNo:197; depth 0.07 2021-10-10T15:39:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880384.60 epoch sec; seqNo:198; 4061570.44 north; 594833.43 east 2021-10-10T15:39:44Z- AHRS_M2 msg: 1633880384.99 epoch sec; seqNo:196 2021-10-10T15:39:44Z- AHRS_M2 msg: -0.06 phi; -0.03 theta; 1.32 psi 2021-10-10T15:39:45Z- handleDepth()-Depth_Keller msg: 1633880385000 epoch sec; seqNo:198; depth 0.06 2021-10-10T15:39:45Z- handleDvl() - RDI_Pathfinder msg: 1633880385.02 epoch sec; seqNo:94 2021-10-10T15:39:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.65 , 97.65 , 99.01 , 86.79 2021-10-10T15:39:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.34 , -0.07 2021-10-10T15:39:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880385.03 epoch sec; seqNo:199; 4061570.44 north; 594833.43 east 2021-10-10T15:39:45Z- AHRS_M2 msg: 1633880385.39 epoch sec; seqNo:197 2021-10-10T15:39:45Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 1.29 psi 2021-10-10T15:39:45Z- handleDepth()-Depth_Keller msg: 1633880385397 epoch sec; seqNo:199; depth 0.05 2021-10-10T15:39:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880385.42 epoch sec; seqNo:200; 4061570.44 north; 594833.43 east 2021-10-10T15:39:45Z- AHRS_M2 msg: 1633880385.80 epoch sec; seqNo:198 2021-10-10T15:39:45Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 1.27 psi 2021-10-10T15:39:45Z- handleDepth()-Depth_Keller msg: 1633880385808 epoch sec; seqNo:200; depth 0.04 2021-10-10T15:39:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880385.82 epoch sec; seqNo:201; 4061570.82 north; 594833.43 east 2021-10-10T15:39:46Z- AHRS_M2 msg: 1633880386.20 epoch sec; seqNo:199 2021-10-10T15:39:46Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.29 psi 2021-10-10T15:39:46Z- handleDepth()-Depth_Keller msg: 1633880386211 epoch sec; seqNo:201; depth 0.05 2021-10-10T15:39:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:46Z- handleDvl() - RDI_Pathfinder msg: 1633880386.21 epoch sec; seqNo:95 2021-10-10T15:39:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.34 , -0.07 2021-10-10T15:39:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880386.22 epoch sec; seqNo:202; 4061570.81 north; 594832.21 east 2021-10-10T15:39:46Z- AHRS_M2 msg: 1633880386.61 epoch sec; seqNo:200 2021-10-10T15:39:46Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 1.28 psi 2021-10-10T15:39:46Z- handleDepth()-Depth_Keller msg: 1633880386611 epoch sec; seqNo:202; depth 0.04 2021-10-10T15:39:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880386.62 epoch sec; seqNo:203; 4061570.81 north; 594832.21 east 2021-10-10T15:39:47Z- AHRS_M2 msg: 1633880387.01 epoch sec; seqNo:201 2021-10-10T15:39:47Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 1.25 psi 2021-10-10T15:39:47Z- handleDepth()-Depth_Keller msg: 1633880387025 epoch sec; seqNo:203; depth 0.06 2021-10-10T15:39:47Z- handleDvl() - RDI_Pathfinder msg: 1633880387.05 epoch sec; seqNo:96 2021-10-10T15:39:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.08 , 96.16 , 96.16 , 88.01 2021-10-10T15:39:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , 0.22 , 0.15 2021-10-10T15:39:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880387.06 epoch sec; seqNo:204; 4061570.81 north; 594832.21 east 2021-10-10T15:39:47Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T15:39:47Z- waiting for 1633880384.79, time is 1633880387.06 2021-10-10T15:39:47Z- LcmTrn::updateTrn() equating pose 1633880387.06 and meas times 1633880387.06 2021-10-10T15:39:47Z- LcmTrn::updateTrn() >>>> pose time 1633880387.06, meas time 1633880387.06 <<<< 2021-10-10T15:39:47Z- TerrainNav::Measurement type 1 from time = 1633880387.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:39:47Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594832.21, 0.06) 2021-10-10T15:39:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:47Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:47Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:47Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:47Z- AHRS_M2 msg: 1633880387.41 epoch sec; seqNo:202 2021-10-10T15:39:47Z- AHRS_M2 msg: -0.07 phi; 0.01 theta; 1.26 psi 2021-10-10T15:39:47Z- handleDepth()-Depth_Keller msg: 1633880387418 epoch sec; seqNo:204; depth 0.04 2021-10-10T15:39:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:47Z- handleDvl() - RDI_Pathfinder msg: 1633880387.42 epoch sec; seqNo:97 2021-10-10T15:39:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , 0.22 , 0.15 2021-10-10T15:39:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880387.45 epoch sec; seqNo:205; 4061570.81 north; 594832.21 east 2021-10-10T15:39:47Z- AHRS_M2 msg: 1633880387.82 epoch sec; seqNo:203 2021-10-10T15:39:47Z- AHRS_M2 msg: -0.09 phi; -0.04 theta; 1.29 psi 2021-10-10T15:39:47Z- handleDepth()-Depth_Keller msg: 1633880387831 epoch sec; seqNo:205; depth 0.03 2021-10-10T15:39:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880387.84 epoch sec; seqNo:206; 4061570.43 north; 594832.21 east 2021-10-10T15:39:48Z- AHRS_M2 msg: 1633880388.22 epoch sec; seqNo:204 2021-10-10T15:39:48Z- AHRS_M2 msg: -0.12 phi; -0.10 theta; 1.28 psi 2021-10-10T15:39:48Z- handleDepth()-Depth_Keller msg: 1633880388228 epoch sec; seqNo:206; depth 0.06 2021-10-10T15:39:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880388.24 epoch sec; seqNo:207; 4061570.43 north; 594832.21 east 2021-10-10T15:39:48Z- AHRS_M2 msg: 1633880388.62 epoch sec; seqNo:205 2021-10-10T15:39:48Z- AHRS_M2 msg: -0.14 phi; -0.05 theta; 1.24 psi 2021-10-10T15:39:48Z- handleDepth()-Depth_Keller msg: 1633880388629 epoch sec; seqNo:207; depth 0.05 2021-10-10T15:39:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:48Z- handleDvl() - RDI_Pathfinder msg: 1633880388.63 epoch sec; seqNo:98 2021-10-10T15:39:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , 0.22 , 0.15 2021-10-10T15:39:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880388.65 epoch sec; seqNo:208; 4061570.43 north; 594832.21 east 2021-10-10T15:39:49Z- AHRS_M2 msg: 1633880389.03 epoch sec; seqNo:206 2021-10-10T15:39:49Z- AHRS_M2 msg: -0.13 phi; 0.03 theta; 1.23 psi 2021-10-10T15:39:49Z- handleDepth()-Depth_Keller msg: 1633880389033 epoch sec; seqNo:208; depth 0.02 2021-10-10T15:39:49Z- handleDvl() - RDI_Pathfinder msg: 1633880389.06 epoch sec; seqNo:99 2021-10-10T15:39:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.21 , 103.15 , 97.72 , 89.57 2021-10-10T15:39:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.18 , -0.17 2021-10-10T15:39:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880389.07 epoch sec; seqNo:209; 4061570.43 north; 594832.21 east 2021-10-10T15:39:49Z- AHRS_M2 msg: 1633880389.45 epoch sec; seqNo:207 2021-10-10T15:39:49Z- AHRS_M2 msg: -0.06 phi; 0.05 theta; 1.25 psi 2021-10-10T15:39:49Z- handleDepth()-Depth_Keller msg: 1633880389456 epoch sec; seqNo:209; depth 0.03 2021-10-10T15:39:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880389.47 epoch sec; seqNo:210; 4061570.43 north; 594832.21 east 2021-10-10T15:39:49Z- AHRS_M2 msg: 1633880389.84 epoch sec; seqNo:208 2021-10-10T15:39:49Z- AHRS_M2 msg: 0.06 phi; 0.05 theta; 1.24 psi 2021-10-10T15:39:49Z- handleDepth()-Depth_Keller msg: 1633880389849 epoch sec; seqNo:210; depth 0.05 2021-10-10T15:39:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:49Z- handleDvl() - RDI_Pathfinder msg: 1633880389.85 epoch sec; seqNo:100 2021-10-10T15:39:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.18 , -0.17 2021-10-10T15:39:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880389.86 epoch sec; seqNo:211; 4061570.05 north; 594832.22 east 2021-10-10T15:39:50Z- AHRS_M2 msg: 1633880390.24 epoch sec; seqNo:209 2021-10-10T15:39:50Z- AHRS_M2 msg: 0.17 phi; 0.07 theta; 1.23 psi 2021-10-10T15:39:50Z- handleDepth()-Depth_Keller msg: 1633880390251 epoch sec; seqNo:211; depth 0.08 2021-10-10T15:39:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880390.27 epoch sec; seqNo:212; 4061570.05 north; 594832.22 east 2021-10-10T15:39:50Z- AHRS_M2 msg: 1633880390.64 epoch sec; seqNo:210 2021-10-10T15:39:50Z- AHRS_M2 msg: 0.15 phi; 0.06 theta; 1.25 psi 2021-10-10T15:39:50Z- handleDepth()-Depth_Keller msg: 1633880390654 epoch sec; seqNo:212; depth 0.08 2021-10-10T15:39:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880390.66 epoch sec; seqNo:213; 4061570.05 north; 594832.22 east 2021-10-10T15:39:51Z- AHRS_M2 msg: 1633880391.05 epoch sec; seqNo:211 2021-10-10T15:39:51Z- AHRS_M2 msg: 0.02 phi; 0.02 theta; 1.26 psi 2021-10-10T15:39:51Z- handleDepth()-Depth_Keller msg: 1633880391054 epoch sec; seqNo:213; depth 0.09 2021-10-10T15:39:51Z- handleDvl() - RDI_Pathfinder msg: 1633880391.08 epoch sec; seqNo:101 2021-10-10T15:39:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.94 , 0.00 , 103.02 , 79.93 2021-10-10T15:39:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.17 , -0.99 2021-10-10T15:39:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880391.09 epoch sec; seqNo:214; 4061570.05 north; 594832.22 east 2021-10-10T15:39:51Z- AHRS_M2 msg: 1633880391.45 epoch sec; seqNo:212 2021-10-10T15:39:51Z- AHRS_M2 msg: -0.14 phi; -0.04 theta; 1.29 psi 2021-10-10T15:39:51Z- handleDepth()-Depth_Keller msg: 1633880391470 epoch sec; seqNo:214; depth 0.07 2021-10-10T15:39:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880391.49 epoch sec; seqNo:215; 4061570.05 north; 594832.22 east 2021-10-10T15:39:51Z- AHRS_M2 msg: 1633880391.86 epoch sec; seqNo:213 2021-10-10T15:39:51Z- AHRS_M2 msg: -0.19 phi; -0.12 theta; 1.28 psi 2021-10-10T15:39:51Z- handleDepth()-Depth_Keller msg: 1633880391862 epoch sec; seqNo:215; depth 0.09 2021-10-10T15:39:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880391.89 epoch sec; seqNo:216; 4061570.43 north; 594832.21 east 2021-10-10T15:39:52Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls... 2021-10-10T15:39:52Z- waiting for 1633880390.06, time is 1633880391.89 2021-10-10T15:39:52Z- LcmTrn::updateTrn() >>>> pose time 1633880391.89, meas time 1633880391.08 <<<< 2021-10-10T15:39:52Z- TerrainNav::Measurement type 1 from time = 1633880391.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:39:52Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594832.21, 0.09) 2021-10-10T15:39:52Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:52Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:52Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:52Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:52Z- AHRS_M2 msg: 1633880392.27 epoch sec; seqNo:214 2021-10-10T15:39:52Z- AHRS_M2 msg: -0.00 phi; -0.10 theta; 1.22 psi 2021-10-10T15:39:52Z- handleDepth()-Depth_Keller msg: 1633880392272 epoch sec; seqNo:216; depth 0.10 2021-10-10T15:39:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:52Z- handleDvl() - RDI_Pathfinder msg: 1633880392.27 epoch sec; seqNo:102 2021-10-10T15:39:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.17 , -0.99 2021-10-10T15:39:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880392.28 epoch sec; seqNo:217; 4061570.43 north; 594832.21 east 2021-10-10T15:39:52Z- AHRS_M2 msg: 1633880392.69 epoch sec; seqNo:215 2021-10-10T15:39:52Z- AHRS_M2 msg: 0.14 phi; -0.03 theta; 1.19 psi 2021-10-10T15:39:52Z- handleDepth()-Depth_Keller msg: 1633880392704 epoch sec; seqNo:217; depth 0.10 2021-10-10T15:39:52Z- handleDvl() - RDI_Pathfinder msg: 1633880392.75 epoch sec; seqNo:103 2021-10-10T15:39:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.36 , 105.81 , 92.22 , 97.66 2021-10-10T15:39:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -0.33 , 1.21 2021-10-10T15:39:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880392.78 epoch sec; seqNo:218; 4061570.43 north; 594832.21 east 2021-10-10T15:39:53Z- AHRS_M2 msg: 1633880393.07 epoch sec; seqNo:216 2021-10-10T15:39:53Z- AHRS_M2 msg: 0.19 phi; 0.00 theta; 1.17 psi 2021-10-10T15:39:53Z- handleDepth()-Depth_Keller msg: 1633880393074 epoch sec; seqNo:218; depth 0.10 2021-10-10T15:39:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880393.09 epoch sec; seqNo:219; 4061570.43 north; 594832.21 east 2021-10-10T15:39:53Z- AHRS_M2 msg: 1633880393.48 epoch sec; seqNo:217 2021-10-10T15:39:53Z- AHRS_M2 msg: 0.13 phi; -0.07 theta; 1.17 psi 2021-10-10T15:39:53Z- handleDepth()-Depth_Keller msg: 1633880393481 epoch sec; seqNo:219; depth 0.07 2021-10-10T15:39:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:53Z- handleDvl() - RDI_Pathfinder msg: 1633880393.48 epoch sec; seqNo:104 2021-10-10T15:39:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -0.33 , 1.21 2021-10-10T15:39:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880393.49 epoch sec; seqNo:220; 4061570.81 north; 594832.21 east 2021-10-10T15:39:53Z- AHRS_M2 msg: 1633880393.88 epoch sec; seqNo:218 2021-10-10T15:39:53Z- AHRS_M2 msg: 0.01 phi; -0.11 theta; 1.19 psi 2021-10-10T15:39:53Z- handleDepth()-Depth_Keller msg: 1633880393887 epoch sec; seqNo:220; depth 0.06 2021-10-10T15:39:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880393.90 epoch sec; seqNo:221; 4061570.79 north; 594830.99 east 2021-10-10T15:39:54Z- AHRS_M2 msg: 1633880394.28 epoch sec; seqNo:219 2021-10-10T15:39:54Z- AHRS_M2 msg: -0.09 phi; -0.03 theta; 1.19 psi 2021-10-10T15:39:54Z- handleDepth()-Depth_Keller msg: 1633880394285 epoch sec; seqNo:221; depth 0.04 2021-10-10T15:39:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880394.30 epoch sec; seqNo:222; 4061570.79 north; 594830.99 east 2021-10-10T15:39:54Z- AHRS_M2 msg: 1633880394.72 epoch sec; seqNo:220 2021-10-10T15:39:54Z- AHRS_M2 msg: -0.13 phi; 0.09 theta; 1.19 psi 2021-10-10T15:39:54Z- handleDepth()-Depth_Keller msg: 1633880394734 epoch sec; seqNo:222; depth 0.04 2021-10-10T15:39:54Z- handleDvl() - RDI_Pathfinder msg: 1633880394.75 epoch sec; seqNo:105 2021-10-10T15:39:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.65 , 97.65 , 97.65 , 92.22 2021-10-10T15:39:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.32 , 0.78 , -0.15 2021-10-10T15:39:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880394.78 epoch sec; seqNo:223; 4061570.42 north; 594830.99 east 2021-10-10T15:39:55Z- AHRS_M2 msg: 1633880395.09 epoch sec; seqNo:221 2021-10-10T15:39:55Z- AHRS_M2 msg: -0.12 phi; 0.08 theta; 1.23 psi 2021-10-10T15:39:55Z- handleDepth()-Depth_Keller msg: 1633880395093 epoch sec; seqNo:223; depth 0.04 2021-10-10T15:39:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880395.11 epoch sec; seqNo:224; 4061570.42 north; 594830.99 east 2021-10-10T15:39:55Z- AHRS_M2 msg: 1633880395.49 epoch sec; seqNo:222 2021-10-10T15:39:55Z- AHRS_M2 msg: -0.07 phi; 0.02 theta; 1.25 psi 2021-10-10T15:39:55Z- handleDepth()-Depth_Keller msg: 1633880395499 epoch sec; seqNo:224; depth 0.06 2021-10-10T15:39:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880395.51 epoch sec; seqNo:225; 4061570.05 north; 594832.22 east 2021-10-10T15:39:55Z- AHRS_M2 msg: 1633880395.90 epoch sec; seqNo:223 2021-10-10T15:39:55Z- AHRS_M2 msg: -0.04 phi; -0.02 theta; 1.24 psi 2021-10-10T15:39:55Z- handleDepth()-Depth_Keller msg: 1633880395909 epoch sec; seqNo:225; depth 0.10 2021-10-10T15:39:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:55Z- handleDvl() - RDI_Pathfinder msg: 1633880395.91 epoch sec; seqNo:106 2021-10-10T15:39:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.32 , 0.78 , -0.15 2021-10-10T15:39:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880395.92 epoch sec; seqNo:226; 4061569.67 north; 594832.22 east 2021-10-10T15:39:56Z- AHRS_M2 msg: 1633880396.30 epoch sec; seqNo:224 2021-10-10T15:39:56Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.20 psi 2021-10-10T15:39:56Z- handleDepth()-Depth_Keller msg: 1633880396311 epoch sec; seqNo:226; depth 0.11 2021-10-10T15:39:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880396.33 epoch sec; seqNo:227; 4061569.67 north; 594832.22 east 2021-10-10T15:39:56Z- AHRS_M2 msg: 1633880396.73 epoch sec; seqNo:225 2021-10-10T15:39:56Z- AHRS_M2 msg: -0.02 phi; 0.01 theta; 1.18 psi 2021-10-10T15:39:56Z- handleDepth()-Depth_Keller msg: 1633880396742 epoch sec; seqNo:227; depth 0.07 2021-10-10T15:39:56Z- handleDvl() - RDI_Pathfinder msg: 1633880396.76 epoch sec; seqNo:107 2021-10-10T15:39:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.02 , 96.10 , 97.45 , 87.95 2021-10-10T15:39:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.26 , -0.54 2021-10-10T15:39:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880396.78 epoch sec; seqNo:228; 4061569.67 north; 594832.22 east 2021-10-10T15:39:57Z- AHRS_M2 msg: 1633880397.11 epoch sec; seqNo:226 2021-10-10T15:39:57Z- AHRS_M2 msg: 0.01 phi; 0.03 theta; 1.19 psi 2021-10-10T15:39:57Z- handleDepth()-Depth_Keller msg: 1633880397120 epoch sec; seqNo:228; depth 0.06 2021-10-10T15:39:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:57Z- handleDvl() - RDI_Pathfinder msg: 1633880397.12 epoch sec; seqNo:108 2021-10-10T15:39:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.26 , -0.54 2021-10-10T15:39:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880397.14 epoch sec; seqNo:229; 4061569.67 north; 594832.22 east 2021-10-10T15:39:57Z- LcmTrn::handleMessages() - handling 46 messages took 0.69 ms and 132 calls... 2021-10-10T15:39:57Z- waiting for 1633880394.89, time is 1633880397.14 2021-10-10T15:39:57Z- LcmTrn::updateTrn() equating pose 1633880397.14 and meas times 1633880397.14 2021-10-10T15:39:57Z- LcmTrn::updateTrn() >>>> pose time 1633880397.14, meas time 1633880397.14 <<<< 2021-10-10T15:39:57Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880397.14, ping # 0. 2021-10-10T15:39:57Z- TerrainNav::Measurement type 1 from time = 1633880397.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:39:57Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594832.22, 0.06) 2021-10-10T15:39:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:39:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:39:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:39:57Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:39:57Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:39:57Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:39:57Z- AHRS_M2 msg: 1633880397.51 epoch sec; seqNo:227 2021-10-10T15:39:57Z- AHRS_M2 msg: 0.01 phi; 0.01 theta; 1.20 psi 2021-10-10T15:39:57Z- handleDepth()-Depth_Keller msg: 1633880397529 epoch sec; seqNo:229; depth 0.07 2021-10-10T15:39:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880397.54 epoch sec; seqNo:230; 4061569.67 north; 594832.22 east 2021-10-10T15:39:57Z- AHRS_M2 msg: 1633880397.92 epoch sec; seqNo:228 2021-10-10T15:39:57Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 1.21 psi 2021-10-10T15:39:57Z- handleDepth()-Depth_Keller msg: 1633880397927 epoch sec; seqNo:230; depth 0.04 2021-10-10T15:39:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880397.94 epoch sec; seqNo:231; 4061569.67 north; 594832.22 east 2021-10-10T15:39:58Z- AHRS_M2 msg: 1633880398.32 epoch sec; seqNo:229 2021-10-10T15:39:58Z- AHRS_M2 msg: 0.07 phi; -0.07 theta; 1.21 psi 2021-10-10T15:39:58Z- handleDepth()-Depth_Keller msg: 1633880398325 epoch sec; seqNo:231; depth 0.05 2021-10-10T15:39:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:58Z- handleDvl() - RDI_Pathfinder msg: 1633880398.33 epoch sec; seqNo:109 2021-10-10T15:39:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.26 , -0.54 2021-10-10T15:39:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880398.34 epoch sec; seqNo:232; 4061570.05 north; 594832.22 east 2021-10-10T15:39:58Z- AHRS_M2 msg: 1633880398.74 epoch sec; seqNo:230 2021-10-10T15:39:58Z- AHRS_M2 msg: 0.05 phi; -0.01 theta; 1.18 psi 2021-10-10T15:39:58Z- handleDepth()-Depth_Keller msg: 1633880398745 epoch sec; seqNo:232; depth 0.08 2021-10-10T15:39:58Z- handleDvl() - RDI_Pathfinder msg: 1633880398.77 epoch sec; seqNo:110 2021-10-10T15:39:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 97.72 , 97.72 , 86.86 2021-10-10T15:39:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.13 , -0.43 2021-10-10T15:39:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880398.80 epoch sec; seqNo:233; 4061569.67 north; 594832.22 east 2021-10-10T15:39:59Z- AHRS_M2 msg: 1633880399.13 epoch sec; seqNo:231 2021-10-10T15:39:59Z- AHRS_M2 msg: -0.01 phi; 0.00 theta; 1.16 psi 2021-10-10T15:39:59Z- handleDepth()-Depth_Keller msg: 1633880399133 epoch sec; seqNo:233; depth 0.09 2021-10-10T15:39:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880399.16 epoch sec; seqNo:234; 4061569.66 north; 594831.00 east 2021-10-10T15:39:59Z- AHRS_M2 msg: 1633880399.53 epoch sec; seqNo:232 2021-10-10T15:39:59Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 1.16 psi 2021-10-10T15:39:59Z- handleDepth()-Depth_Keller msg: 1633880399544 epoch sec; seqNo:234; depth 0.06 2021-10-10T15:39:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:39:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:39:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:39:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:39:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:39:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:39:59Z- handleDvl() - RDI_Pathfinder msg: 1633880399.55 epoch sec; seqNo:111 2021-10-10T15:39:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:39:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.13 , -0.43 2021-10-10T15:39:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880399.55 epoch sec; seqNo:235; 4061569.66 north; 594831.00 east 2021-10-10T15:39:59Z- AHRS_M2 msg: 1633880399.94 epoch sec; seqNo:233 2021-10-10T15:39:59Z- AHRS_M2 msg: -0.12 phi; -0.07 theta; 1.18 psi 2021-10-10T15:39:59Z- handleDepth()-Depth_Keller msg: 1633880399947 epoch sec; seqNo:235; depth 0.06 2021-10-10T15:39:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880399.96 epoch sec; seqNo:236; 4061569.66 north; 594831.00 east 2021-10-10T15:40:00Z- AHRS_M2 msg: 1633880400.34 epoch sec; seqNo:234 2021-10-10T15:40:00Z- AHRS_M2 msg: -0.11 phi; -0.08 theta; 1.18 psi 2021-10-10T15:40:00Z- handleDepth()-Depth_Keller msg: 1633880400346 epoch sec; seqNo:236; depth 0.05 2021-10-10T15:40:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880400.36 epoch sec; seqNo:237; 4061569.66 north; 594831.00 east 2021-10-10T15:40:00Z- AHRS_M2 msg: 1633880400.74 epoch sec; seqNo:235 2021-10-10T15:40:00Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 1.13 psi 2021-10-10T15:40:00Z- handleDepth()-Depth_Keller msg: 1633880400750 epoch sec; seqNo:237; depth 0.06 2021-10-10T15:40:00Z- handleDvl() - RDI_Pathfinder msg: 1633880400.78 epoch sec; seqNo:112 2021-10-10T15:40:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.11 , 104.38 , 94.87 , 90.79 2021-10-10T15:40:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.00 , 0.16 2021-10-10T15:40:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880400.79 epoch sec; seqNo:238; 4061569.66 north; 594831.00 east 2021-10-10T15:40:01Z- AHRS_M2 msg: 1633880401.15 epoch sec; seqNo:236 2021-10-10T15:40:01Z- AHRS_M2 msg: 0.00 phi; 0.06 theta; 1.12 psi 2021-10-10T15:40:01Z- handleDepth()-Depth_Keller msg: 1633880401159 epoch sec; seqNo:238; depth 0.04 2021-10-10T15:40:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880401.18 epoch sec; seqNo:239; 4061569.66 north; 594831.00 east 2021-10-10T15:40:01Z- AHRS_M2 msg: 1633880401.55 epoch sec; seqNo:237 2021-10-10T15:40:01Z- AHRS_M2 msg: 0.09 phi; 0.03 theta; 1.14 psi 2021-10-10T15:40:01Z- handleDepth()-Depth_Keller msg: 1633880401557 epoch sec; seqNo:239; depth 0.04 2021-10-10T15:40:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880401.57 epoch sec; seqNo:240; 4061569.66 north; 594831.00 east 2021-10-10T15:40:01Z- AHRS_M2 msg: 1633880401.96 epoch sec; seqNo:238 2021-10-10T15:40:01Z- AHRS_M2 msg: 0.10 phi; -0.03 theta; 1.14 psi 2021-10-10T15:40:01Z- handleDepth()-Depth_Keller msg: 1633880401968 epoch sec; seqNo:240; depth 0.05 2021-10-10T15:40:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:01Z- handleDvl() - RDI_Pathfinder msg: 1633880401.97 epoch sec; seqNo:113 2021-10-10T15:40:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.00 , 0.16 2021-10-10T15:40:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880401.98 epoch sec; seqNo:241; 4061569.66 north; 594831.00 east 2021-10-10T15:40:02Z- LcmTrn::handleMessages() - handling 41 messages took 0.63 ms and 128 calls... 2021-10-10T15:40:02Z- waiting for 1633880400.14, time is 1633880401.98 2021-10-10T15:40:02Z- LcmTrn::updateTrn() equating pose 1633880401.98 and meas times 1633880401.98 2021-10-10T15:40:02Z- LcmTrn::updateTrn() >>>> pose time 1633880401.98, meas time 1633880401.98 <<<< 2021-10-10T15:40:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880401.98, ping # 0. 2021-10-10T15:40:02Z- TerrainNav::Measurement type 1 from time = 1633880401.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:40:02Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594831.00, 0.05) 2021-10-10T15:40:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:02Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:02Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:02Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:02Z- AHRS_M2 msg: 1633880402.36 epoch sec; seqNo:239 2021-10-10T15:40:02Z- AHRS_M2 msg: 0.07 phi; -0.03 theta; 1.11 psi 2021-10-10T15:40:02Z- handleDepth()-Depth_Keller msg: 1633880402368 epoch sec; seqNo:241; depth 0.05 2021-10-10T15:40:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880402.38 epoch sec; seqNo:242; 4061569.66 north; 594831.00 east 2021-10-10T15:40:02Z- AHRS_M2 msg: 1633880402.76 epoch sec; seqNo:240 2021-10-10T15:40:02Z- AHRS_M2 msg: -0.00 phi; 0.01 theta; 1.11 psi 2021-10-10T15:40:02Z- handleDepth()-Depth_Keller msg: 1633880402775 epoch sec; seqNo:242; depth 0.04 2021-10-10T15:40:02Z- handleDvl() - RDI_Pathfinder msg: 1633880402.80 epoch sec; seqNo:114 2021-10-10T15:40:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.71 , 97.79 , 97.79 , 88.28 2021-10-10T15:40:02Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.08 , -0.44 2021-10-10T15:40:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880402.82 epoch sec; seqNo:243; 4061569.66 north; 594831.00 east 2021-10-10T15:40:03Z- AHRS_M2 msg: 1633880403.17 epoch sec; seqNo:241 2021-10-10T15:40:03Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.13 psi 2021-10-10T15:40:03Z- handleDepth()-Depth_Keller msg: 1633880403174 epoch sec; seqNo:243; depth 0.05 2021-10-10T15:40:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:03Z- handleDvl() - RDI_Pathfinder msg: 1633880403.18 epoch sec; seqNo:115 2021-10-10T15:40:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.08 , -0.44 2021-10-10T15:40:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880403.19 epoch sec; seqNo:244; 4061569.66 north; 594831.00 east 2021-10-10T15:40:03Z- AHRS_M2 msg: 1633880403.57 epoch sec; seqNo:242 2021-10-10T15:40:03Z- AHRS_M2 msg: -0.10 phi; -0.08 theta; 1.12 psi 2021-10-10T15:40:03Z- handleDepth()-Depth_Keller msg: 1633880403583 epoch sec; seqNo:244; depth 0.06 2021-10-10T15:40:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880403.60 epoch sec; seqNo:245; 4061569.66 north; 594831.00 east 2021-10-10T15:40:03Z- AHRS_M2 msg: 1633880403.98 epoch sec; seqNo:243 2021-10-10T15:40:03Z- AHRS_M2 msg: -0.14 phi; -0.05 theta; 1.07 psi 2021-10-10T15:40:03Z- handleDepth()-Depth_Keller msg: 1633880403981 epoch sec; seqNo:245; depth 0.10 2021-10-10T15:40:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880404.00 epoch sec; seqNo:246; 4061569.66 north; 594831.00 east 2021-10-10T15:40:04Z- AHRS_M2 msg: 1633880404.38 epoch sec; seqNo:244 2021-10-10T15:40:04Z- AHRS_M2 msg: -0.15 phi; 0.04 theta; 1.04 psi 2021-10-10T15:40:04Z- handleDepth()-Depth_Keller msg: 1633880404388 epoch sec; seqNo:246; depth 0.08 2021-10-10T15:40:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:04Z- handleDvl() - RDI_Pathfinder msg: 1633880404.39 epoch sec; seqNo:116 2021-10-10T15:40:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.08 , -0.44 2021-10-10T15:40:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880404.40 epoch sec; seqNo:247; 4061569.27 north; 594829.78 east 2021-10-10T15:40:04Z- AHRS_M2 msg: 1633880404.79 epoch sec; seqNo:245 2021-10-10T15:40:04Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.06 psi 2021-10-10T15:40:04Z- handleDepth()-Depth_Keller msg: 1633880404791 epoch sec; seqNo:247; depth 0.05 2021-10-10T15:40:04Z- handleDvl() - RDI_Pathfinder msg: 1633880404.81 epoch sec; seqNo:117 2021-10-10T15:40:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.72 , 107.17 , 97.66 , 0.00 2021-10-10T15:40:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , -0.28 , 0.26 2021-10-10T15:40:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880404.83 epoch sec; seqNo:248; 4061569.64 north; 594829.78 east 2021-10-10T15:40:05Z- AHRS_M2 msg: 1633880405.19 epoch sec; seqNo:246 2021-10-10T15:40:05Z- AHRS_M2 msg: 0.12 phi; -0.03 theta; 1.07 psi 2021-10-10T15:40:05Z- handleDepth()-Depth_Keller msg: 1633880405199 epoch sec; seqNo:248; depth 0.05 2021-10-10T15:40:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880405.22 epoch sec; seqNo:249; 4061569.64 north; 594829.78 east 2021-10-10T15:40:05Z- AHRS_M2 msg: 1633880405.60 epoch sec; seqNo:247 2021-10-10T15:40:05Z- AHRS_M2 msg: 0.19 phi; -0.04 theta; 1.03 psi 2021-10-10T15:40:05Z- handleDepth()-Depth_Keller msg: 1633880405603 epoch sec; seqNo:249; depth 0.08 2021-10-10T15:40:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:05Z- handleDvl() - RDI_Pathfinder msg: 1633880405.61 epoch sec; seqNo:118 2021-10-10T15:40:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , -0.28 , 0.26 2021-10-10T15:40:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880405.61 epoch sec; seqNo:250; 4061569.64 north; 594829.78 east 2021-10-10T15:40:06Z- AHRS_M2 msg: 1633880406.00 epoch sec; seqNo:248 2021-10-10T15:40:06Z- AHRS_M2 msg: 0.11 phi; -0.01 theta; 1.00 psi 2021-10-10T15:40:06Z- handleDepth()-Depth_Keller msg: 1633880406004 epoch sec; seqNo:250; depth 0.04 2021-10-10T15:40:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880406.01 epoch sec; seqNo:251; 4061570.02 north; 594829.78 east 2021-10-10T15:40:06Z- AHRS_M2 msg: 1633880406.40 epoch sec; seqNo:249 2021-10-10T15:40:06Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 0.98 psi 2021-10-10T15:40:06Z- handleDepth()-Depth_Keller msg: 1633880406414 epoch sec; seqNo:251; depth 0.03 2021-10-10T15:40:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880406.42 epoch sec; seqNo:252; 4061570.02 north; 594829.78 east 2021-10-10T15:40:06Z- AHRS_M2 msg: 1633880406.81 epoch sec; seqNo:250 2021-10-10T15:40:06Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 0.97 psi 2021-10-10T15:40:06Z- handleDepth()-Depth_Keller msg: 1633880406809 epoch sec; seqNo:252; depth 0.05 2021-10-10T15:40:06Z- handleDvl() - RDI_Pathfinder msg: 1633880406.84 epoch sec; seqNo:119 2021-10-10T15:40:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.08 , 92.08 , 98.88 , 88.01 2021-10-10T15:40:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , 0.14 , 0.23 2021-10-10T15:40:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880406.85 epoch sec; seqNo:253; 4061570.02 north; 594829.78 east 2021-10-10T15:40:07Z- AHRS_M2 msg: 1633880407.21 epoch sec; seqNo:251 2021-10-10T15:40:07Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 0.94 psi 2021-10-10T15:40:07Z- handleDepth()-Depth_Keller msg: 1633880407216 epoch sec; seqNo:253; depth 0.04 2021-10-10T15:40:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880407.25 epoch sec; seqNo:254; 4061569.64 north; 594829.78 east 2021-10-10T15:40:07Z- LcmTrn::handleMessages() - handling 45 messages took 0.67 ms and 131 calls... 2021-10-10T15:40:07Z- waiting for 1633880404.98, time is 1633880407.25 2021-10-10T15:40:07Z- LcmTrn::updateTrn() >>>> pose time 1633880407.25, meas time 1633880406.84 <<<< 2021-10-10T15:40:07Z- TerrainNav::Measurement type 1 from time = 1633880406.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:40:07Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594829.78, 0.04) 2021-10-10T15:40:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:07Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:07Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:07Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:07Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:07Z- AHRS_M2 msg: 1633880407.62 epoch sec; seqNo:252 2021-10-10T15:40:07Z- AHRS_M2 msg: -0.12 phi; -0.03 theta; 0.92 psi 2021-10-10T15:40:07Z- handleDepth()-Depth_Keller msg: 1633880407624 epoch sec; seqNo:254; depth 0.04 2021-10-10T15:40:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880407.63 epoch sec; seqNo:255; 4061569.64 north; 594829.78 east 2021-10-10T15:40:08Z- AHRS_M2 msg: 1633880408.02 epoch sec; seqNo:253 2021-10-10T15:40:08Z- AHRS_M2 msg: -0.11 phi; -0.06 theta; 0.92 psi 2021-10-10T15:40:08Z- handleDepth()-Depth_Keller msg: 1633880408029 epoch sec; seqNo:255; depth 0.07 2021-10-10T15:40:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:08Z- handleDvl() - RDI_Pathfinder msg: 1633880408.03 epoch sec; seqNo:120 2021-10-10T15:40:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , 0.14 , 0.23 2021-10-10T15:40:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880408.04 epoch sec; seqNo:256; 4061569.64 north; 594829.78 east 2021-10-10T15:40:08Z- AHRS_M2 msg: 1633880408.42 epoch sec; seqNo:254 2021-10-10T15:40:08Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 0.93 psi 2021-10-10T15:40:08Z- handleDepth()-Depth_Keller msg: 1633880408428 epoch sec; seqNo:256; depth 0.11 2021-10-10T15:40:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880408.46 epoch sec; seqNo:257; 4061569.64 north; 594829.78 east 2021-10-10T15:40:08Z- AHRS_M2 msg: 1633880408.83 epoch sec; seqNo:255 2021-10-10T15:40:08Z- AHRS_M2 msg: -0.07 phi; 0.03 theta; 0.94 psi 2021-10-10T15:40:08Z- handleDepth()-Depth_Keller msg: 1633880408831 epoch sec; seqNo:257; depth 0.08 2021-10-10T15:40:08Z- handleDvl() - RDI_Pathfinder msg: 1633880408.86 epoch sec; seqNo:121 2021-10-10T15:40:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.21 , 103.22 , 97.79 , 89.64 2021-10-10T15:40:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.27 , -0.55 2021-10-10T15:40:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880408.87 epoch sec; seqNo:258; 4061569.64 north; 594829.78 east 2021-10-10T15:40:09Z- AHRS_M2 msg: 1633880409.23 epoch sec; seqNo:256 2021-10-10T15:40:09Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 0.94 psi 2021-10-10T15:40:09Z- handleDepth()-Depth_Keller msg: 1633880409248 epoch sec; seqNo:258; depth 0.06 2021-10-10T15:40:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:09Z- handleDvl() - RDI_Pathfinder msg: 1633880409.25 epoch sec; seqNo:122 2021-10-10T15:40:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.27 , -0.55 2021-10-10T15:40:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880409.27 epoch sec; seqNo:259; 4061570.02 north; 594829.78 east 2021-10-10T15:40:09Z- AHRS_M2 msg: 1633880409.64 epoch sec; seqNo:257 2021-10-10T15:40:09Z- AHRS_M2 msg: 0.11 phi; -0.04 theta; 0.90 psi 2021-10-10T15:40:09Z- handleDepth()-Depth_Keller msg: 1633880409643 epoch sec; seqNo:259; depth 0.08 2021-10-10T15:40:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880409.65 epoch sec; seqNo:260; 4061570.02 north; 594829.78 east 2021-10-10T15:40:10Z- AHRS_M2 msg: 1633880410.04 epoch sec; seqNo:258 2021-10-10T15:40:10Z- AHRS_M2 msg: 0.13 phi; -0.04 theta; 0.91 psi 2021-10-10T15:40:10Z- handleDepth()-Depth_Keller msg: 1633880410046 epoch sec; seqNo:260; depth 0.08 2021-10-10T15:40:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880410.06 epoch sec; seqNo:261; 4061570.02 north; 594829.78 east 2021-10-10T15:40:10Z- AHRS_M2 msg: 1633880410.44 epoch sec; seqNo:259 2021-10-10T15:40:10Z- AHRS_M2 msg: 0.09 phi; -0.05 theta; 0.88 psi 2021-10-10T15:40:10Z- handleDepth()-Depth_Keller msg: 1633880410455 epoch sec; seqNo:261; depth 0.06 2021-10-10T15:40:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:10Z- handleDvl() - RDI_Pathfinder msg: 1633880410.46 epoch sec; seqNo:123 2021-10-10T15:40:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.27 , -0.55 2021-10-10T15:40:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880410.47 epoch sec; seqNo:262; 4061570.40 north; 594829.77 east 2021-10-10T15:40:10Z- AHRS_M2 msg: 1633880410.84 epoch sec; seqNo:260 2021-10-10T15:40:10Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 0.82 psi 2021-10-10T15:40:10Z- handleDepth()-Depth_Keller msg: 1633880410852 epoch sec; seqNo:262; depth 0.04 2021-10-10T15:40:10Z- handleDvl() - RDI_Pathfinder msg: 1633880410.88 epoch sec; seqNo:124 2021-10-10T15:40:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.22 , 92.22 , 96.30 , 88.15 2021-10-10T15:40:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.18 , 0.46 2021-10-10T15:40:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880410.89 epoch sec; seqNo:263; 4061570.40 north; 594829.77 east 2021-10-10T15:40:11Z- AHRS_M2 msg: 1633880411.25 epoch sec; seqNo:261 2021-10-10T15:40:11Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 0.81 psi 2021-10-10T15:40:11Z- handleDepth()-Depth_Keller msg: 1633880411256 epoch sec; seqNo:263; depth 0.01 2021-10-10T15:40:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880411.29 epoch sec; seqNo:264; 4061570.02 north; 594829.78 east 2021-10-10T15:40:11Z- AHRS_M2 msg: 1633880411.65 epoch sec; seqNo:262 2021-10-10T15:40:11Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 0.82 psi 2021-10-10T15:40:11Z- handleDepth()-Depth_Keller msg: 1633880411671 epoch sec; seqNo:264; depth 0.03 2021-10-10T15:40:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:11Z- handleDvl() - RDI_Pathfinder msg: 1633880411.67 epoch sec; seqNo:125 2021-10-10T15:40:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.18 , 0.46 2021-10-10T15:40:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880411.69 epoch sec; seqNo:265; 4061570.02 north; 594829.78 east 2021-10-10T15:40:12Z- AHRS_M2 msg: 1633880412.06 epoch sec; seqNo:263 2021-10-10T15:40:12Z- AHRS_M2 msg: -0.09 phi; 0.04 theta; 0.79 psi 2021-10-10T15:40:12Z- handleDepth()-Depth_Keller msg: 1633880412064 epoch sec; seqNo:265; depth 0.04 2021-10-10T15:40:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880412.08 epoch sec; seqNo:266; 4061570.02 north; 594829.78 east 2021-10-10T15:40:12Z- LcmTrn::handleMessages() - handling 42 messages took 0.64 ms and 129 calls... 2021-10-10T15:40:12Z- waiting for 1633880410.25, time is 1633880412.08 2021-10-10T15:40:12Z- LcmTrn::updateTrn() >>>> pose time 1633880412.08, meas time 1633880411.67 <<<< 2021-10-10T15:40:12Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880411.67, ping # 0. 2021-10-10T15:40:12Z- TerrainNav::Measurement type 1 from time = 1633880411.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:40:12Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594829.78, 0.04) 2021-10-10T15:40:12Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:12Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:12Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:12Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:12Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:12Z- AHRS_M2 msg: 1633880412.46 epoch sec; seqNo:264 2021-10-10T15:40:12Z- AHRS_M2 msg: -0.11 phi; 0.06 theta; 0.80 psi 2021-10-10T15:40:12Z- handleDepth()-Depth_Keller msg: 1633880412475 epoch sec; seqNo:266; depth 0.04 2021-10-10T15:40:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880412.49 epoch sec; seqNo:267; 4061570.02 north; 594829.78 east 2021-10-10T15:40:12Z- AHRS_M2 msg: 1633880412.86 epoch sec; seqNo:265 2021-10-10T15:40:12Z- AHRS_M2 msg: -0.14 phi; 0.06 theta; 0.83 psi 2021-10-10T15:40:12Z- handleDepth()-Depth_Keller msg: 1633880412872 epoch sec; seqNo:267; depth 0.04 2021-10-10T15:40:12Z- handleDvl() - RDI_Pathfinder msg: 1633880412.92 epoch sec; seqNo:126 2021-10-10T15:40:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.21 , 96.43 , 97.79 , 86.92 2021-10-10T15:40:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.42 , -0.05 2021-10-10T15:40:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880412.95 epoch sec; seqNo:268; 4061570.02 north; 594829.78 east 2021-10-10T15:40:13Z- AHRS_M2 msg: 1633880413.27 epoch sec; seqNo:266 2021-10-10T15:40:13Z- AHRS_M2 msg: -0.16 phi; 0.02 theta; 0.82 psi 2021-10-10T15:40:13Z- handleDepth()-Depth_Keller msg: 1633880413273 epoch sec; seqNo:268; depth 0.06 2021-10-10T15:40:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880413.31 epoch sec; seqNo:269; 4061570.02 north; 594829.78 east 2021-10-10T15:40:13Z- AHRS_M2 msg: 1633880413.68 epoch sec; seqNo:267 2021-10-10T15:40:13Z- AHRS_M2 msg: -0.14 phi; -0.06 theta; 0.82 psi 2021-10-10T15:40:13Z- handleDepth()-Depth_Keller msg: 1633880413688 epoch sec; seqNo:269; depth 0.05 2021-10-10T15:40:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880413.70 epoch sec; seqNo:270; 4061570.02 north; 594829.78 east 2021-10-10T15:40:14Z- AHRS_M2 msg: 1633880414.08 epoch sec; seqNo:268 2021-10-10T15:40:14Z- AHRS_M2 msg: -0.11 phi; -0.04 theta; 0.83 psi 2021-10-10T15:40:14Z- handleDepth()-Depth_Keller msg: 1633880414088 epoch sec; seqNo:270; depth 0.06 2021-10-10T15:40:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:14Z- handleDvl() - RDI_Pathfinder msg: 1633880414.09 epoch sec; seqNo:127 2021-10-10T15:40:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.42 , -0.05 2021-10-10T15:40:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880414.12 epoch sec; seqNo:271; 4061570.02 north; 594829.78 east 2021-10-10T15:40:14Z- AHRS_M2 msg: 1633880414.48 epoch sec; seqNo:269 2021-10-10T15:40:14Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 0.81 psi 2021-10-10T15:40:14Z- handleDepth()-Depth_Keller msg: 1633880414488 epoch sec; seqNo:271; depth 0.05 2021-10-10T15:40:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880414.52 epoch sec; seqNo:272; 4061570.04 north; 594831.00 east 2021-10-10T15:40:14Z- AHRS_M2 msg: 1633880414.89 epoch sec; seqNo:270 2021-10-10T15:40:14Z- AHRS_M2 msg: -0.07 phi; 0.00 theta; 0.80 psi 2021-10-10T15:40:14Z- handleDepth()-Depth_Keller msg: 1633880414896 epoch sec; seqNo:272; depth 0.06 2021-10-10T15:40:14Z- handleDvl() - RDI_Pathfinder msg: 1633880414.93 epoch sec; seqNo:128 2021-10-10T15:40:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.88 , 106.34 , 94.12 , 97.79 2021-10-10T15:40:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.22 , -0.34 2021-10-10T15:40:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880414.94 epoch sec; seqNo:273; 4061570.04 north; 594831.00 east 2021-10-10T15:40:15Z- AHRS_M2 msg: 1633880415.29 epoch sec; seqNo:271 2021-10-10T15:40:15Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 0.82 psi 2021-10-10T15:40:15Z- handleDepth()-Depth_Keller msg: 1633880415296 epoch sec; seqNo:273; depth 0.03 2021-10-10T15:40:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:15Z- handleDvl() - RDI_Pathfinder msg: 1633880415.30 epoch sec; seqNo:129 2021-10-10T15:40:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.22 , -0.34 2021-10-10T15:40:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880415.31 epoch sec; seqNo:274; 4061570.02 north; 594829.78 east 2021-10-10T15:40:15Z- AHRS_M2 msg: 1633880415.70 epoch sec; seqNo:272 2021-10-10T15:40:15Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 0.81 psi 2021-10-10T15:40:15Z- handleDepth()-Depth_Keller msg: 1633880415709 epoch sec; seqNo:274; depth 0.03 2021-10-10T15:40:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880415.72 epoch sec; seqNo:275; 4061570.02 north; 594829.78 east 2021-10-10T15:40:16Z- AHRS_M2 msg: 1633880416.10 epoch sec; seqNo:273 2021-10-10T15:40:16Z- AHRS_M2 msg: 0.01 phi; -0.00 theta; 0.78 psi 2021-10-10T15:40:16Z- handleDepth()-Depth_Keller msg: 1633880416101 epoch sec; seqNo:275; depth 0.06 2021-10-10T15:40:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880416.12 epoch sec; seqNo:276; 4061570.02 north; 594829.78 east 2021-10-10T15:40:16Z- AHRS_M2 msg: 1633880416.50 epoch sec; seqNo:274 2021-10-10T15:40:16Z- AHRS_M2 msg: 0.02 phi; 0.04 theta; 0.79 psi 2021-10-10T15:40:16Z- handleDepth()-Depth_Keller msg: 1633880416508 epoch sec; seqNo:276; depth 0.06 2021-10-10T15:40:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:16Z- handleDvl() - RDI_Pathfinder msg: 1633880416.51 epoch sec; seqNo:130 2021-10-10T15:40:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.22 , -0.34 2021-10-10T15:40:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880416.52 epoch sec; seqNo:277; 4061570.02 north; 594829.78 east 2021-10-10T15:40:16Z- AHRS_M2 msg: 1633880416.90 epoch sec; seqNo:275 2021-10-10T15:40:16Z- AHRS_M2 msg: 0.01 phi; 0.03 theta; 0.80 psi 2021-10-10T15:40:16Z- handleDepth()-Depth_Keller msg: 1633880416921 epoch sec; seqNo:277; depth 0.06 2021-10-10T15:40:16Z- handleDvl() - RDI_Pathfinder msg: 1633880416.94 epoch sec; seqNo:131 2021-10-10T15:40:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.15 , 96.29 , 97.65 , 86.79 2021-10-10T15:40:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , -0.19 , 0.05 2021-10-10T15:40:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880416.95 epoch sec; seqNo:278; 4061570.02 north; 594829.78 east 2021-10-10T15:40:17Z- AHRS_M2 msg: 1633880417.31 epoch sec; seqNo:276 2021-10-10T15:40:17Z- AHRS_M2 msg: -0.04 phi; -0.06 theta; 0.77 psi 2021-10-10T15:40:17Z- LcmTrn::handleMessages() - handling 43 messages took 0.72 ms and 128 calls... 2021-10-10T15:40:17Z- waiting for 1633880415.08, time is 1633880417.31 2021-10-10T15:40:17Z- LcmTrn::updateTrn() >>>> pose time 1633880417.31, meas time 1633880416.94 <<<< 2021-10-10T15:40:17Z- TerrainNav::Measurement type 1 from time = 1633880416.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:40:17Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594829.78, 0.06) 2021-10-10T15:40:17Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:17Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:17Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:17Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:17Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:17Z- handleDepth()-Depth_Keller msg: 1633880417313 epoch sec; seqNo:278; depth 0.08 2021-10-10T15:40:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880417.34 epoch sec; seqNo:279; 4061570.02 north; 594829.78 east 2021-10-10T15:40:17Z- AHRS_M2 msg: 1633880417.71 epoch sec; seqNo:277 2021-10-10T15:40:17Z- AHRS_M2 msg: -0.09 phi; -0.05 theta; 0.78 psi 2021-10-10T15:40:17Z- handleDepth()-Depth_Keller msg: 1633880417720 epoch sec; seqNo:279; depth 0.08 2021-10-10T15:40:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:17Z- handleDvl() - RDI_Pathfinder msg: 1633880417.72 epoch sec; seqNo:132 2021-10-10T15:40:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , -0.19 , 0.05 2021-10-10T15:40:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880417.73 epoch sec; seqNo:280; 4061570.02 north; 594829.78 east 2021-10-10T15:40:18Z- AHRS_M2 msg: 1633880418.12 epoch sec; seqNo:278 2021-10-10T15:40:18Z- AHRS_M2 msg: -0.13 phi; 0.05 theta; 0.81 psi 2021-10-10T15:40:18Z- handleDepth()-Depth_Keller msg: 1633880418124 epoch sec; seqNo:280; depth 0.06 2021-10-10T15:40:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880418.13 epoch sec; seqNo:281; 4061570.02 north; 594829.78 east 2021-10-10T15:40:18Z- AHRS_M2 msg: 1633880418.52 epoch sec; seqNo:279 2021-10-10T15:40:18Z- AHRS_M2 msg: -0.12 phi; 0.06 theta; 0.79 psi 2021-10-10T15:40:18Z- handleDepth()-Depth_Keller msg: 1633880418526 epoch sec; seqNo:281; depth 0.05 2021-10-10T15:40:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880418.54 epoch sec; seqNo:282; 4061570.02 north; 594829.78 east 2021-10-10T15:40:18Z- AHRS_M2 msg: 1633880418.92 epoch sec; seqNo:280 2021-10-10T15:40:18Z- AHRS_M2 msg: -0.14 phi; -0.01 theta; 0.76 psi 2021-10-10T15:40:18Z- handleDepth()-Depth_Keller msg: 1633880418932 epoch sec; seqNo:282; depth 0.04 2021-10-10T15:40:18Z- handleDvl() - RDI_Pathfinder msg: 1633880418.96 epoch sec; seqNo:133 2021-10-10T15:40:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.49 , 104.58 , 97.79 , 84.21 2021-10-10T15:40:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.21 , -0.07 2021-10-10T15:40:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880418.98 epoch sec; seqNo:283; 4061570.40 north; 594829.77 east 2021-10-10T15:40:19Z- AHRS_M2 msg: 1633880419.33 epoch sec; seqNo:281 2021-10-10T15:40:19Z- AHRS_M2 msg: -0.12 phi; -0.06 theta; 0.76 psi 2021-10-10T15:40:19Z- handleDepth()-Depth_Keller msg: 1633880419335 epoch sec; seqNo:283; depth 0.06 2021-10-10T15:40:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880419.35 epoch sec; seqNo:284; 4061570.40 north; 594829.77 east 2021-10-10T15:40:19Z- AHRS_M2 msg: 1633880419.73 epoch sec; seqNo:282 2021-10-10T15:40:19Z- AHRS_M2 msg: -0.06 phi; -0.05 theta; 0.76 psi 2021-10-10T15:40:19Z- handleDepth()-Depth_Keller msg: 1633880419737 epoch sec; seqNo:284; depth 0.03 2021-10-10T15:40:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880419.75 epoch sec; seqNo:285; 4061570.40 north; 594829.77 east 2021-10-10T15:40:20Z- AHRS_M2 msg: 1633880420.14 epoch sec; seqNo:283 2021-10-10T15:40:20Z- AHRS_M2 msg: 0.02 phi; -0.06 theta; 0.78 psi 2021-10-10T15:40:20Z- handleDepth()-Depth_Keller msg: 1633880420144 epoch sec; seqNo:285; depth 0.03 2021-10-10T15:40:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:20Z- handleDvl() - RDI_Pathfinder msg: 1633880420.15 epoch sec; seqNo:134 2021-10-10T15:40:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.21 , -0.07 2021-10-10T15:40:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880420.15 epoch sec; seqNo:286; 4061570.40 north; 594829.77 east 2021-10-10T15:40:20Z- AHRS_M2 msg: 1633880420.55 epoch sec; seqNo:284 2021-10-10T15:40:20Z- AHRS_M2 msg: 0.11 phi; -0.03 theta; 0.77 psi 2021-10-10T15:40:20Z- handleDepth()-Depth_Keller msg: 1633880420551 epoch sec; seqNo:286; depth 0.05 2021-10-10T15:40:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880420.56 epoch sec; seqNo:287; 4061570.78 north; 594829.77 east 2021-10-10T15:40:20Z- AHRS_M2 msg: 1633880420.94 epoch sec; seqNo:285 2021-10-10T15:40:20Z- AHRS_M2 msg: 0.09 phi; 0.05 theta; 0.74 psi 2021-10-10T15:40:20Z- handleDepth()-Depth_Keller msg: 1633880420952 epoch sec; seqNo:287; depth 0.06 2021-10-10T15:40:20Z- handleDvl() - RDI_Pathfinder msg: 1633880420.98 epoch sec; seqNo:135 2021-10-10T15:40:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.94 , 97.72 , 94.05 , 89.17 2021-10-10T15:40:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.22 , 0.52 2021-10-10T15:40:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880420.99 epoch sec; seqNo:288; 4061570.78 north; 594829.77 east 2021-10-10T15:40:21Z- AHRS_M2 msg: 1633880421.35 epoch sec; seqNo:286 2021-10-10T15:40:21Z- AHRS_M2 msg: -0.00 phi; 0.08 theta; 0.75 psi 2021-10-10T15:40:21Z- handleDepth()-Depth_Keller msg: 1633880421352 epoch sec; seqNo:288; depth 0.04 2021-10-10T15:40:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:21Z- handleDvl() - RDI_Pathfinder msg: 1633880421.36 epoch sec; seqNo:136 2021-10-10T15:40:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.22 , 0.52 2021-10-10T15:40:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880421.37 epoch sec; seqNo:289; 4061570.40 north; 594829.77 east 2021-10-10T15:40:21Z- AHRS_M2 msg: 1633880421.75 epoch sec; seqNo:287 2021-10-10T15:40:21Z- AHRS_M2 msg: -0.09 phi; -0.01 theta; 0.78 psi 2021-10-10T15:40:21Z- handleDepth()-Depth_Keller msg: 1633880421757 epoch sec; seqNo:289; depth 0.04 2021-10-10T15:40:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880421.77 epoch sec; seqNo:290; 4061570.40 north; 594829.77 east 2021-10-10T15:40:22Z- AHRS_M2 msg: 1633880422.16 epoch sec; seqNo:288 2021-10-10T15:40:22Z- AHRS_M2 msg: -0.15 phi; -0.06 theta; 0.81 psi 2021-10-10T15:40:22Z- handleDepth()-Depth_Keller msg: 1633880422167 epoch sec; seqNo:290; depth 0.06 2021-10-10T15:40:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880422.18 epoch sec; seqNo:291; 4061570.40 north; 594829.77 east 2021-10-10T15:40:22Z- LcmTrn::handleMessages() - handling 43 messages took 0.66 ms and 129 calls... 2021-10-10T15:40:22Z- waiting for 1633880420.31, time is 1633880422.18 2021-10-10T15:40:22Z- LcmTrn::updateTrn() >>>> pose time 1633880422.18, meas time 1633880421.36 <<<< 2021-10-10T15:40:22Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880421.36, ping # 0. 2021-10-10T15:40:22Z- TerrainNav::Measurement type 1 from time = 1633880421.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:40:22Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594829.77, 0.06) 2021-10-10T15:40:22Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:22Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:22Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:22Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:22Z- AHRS_M2 msg: 1633880422.56 epoch sec; seqNo:289 2021-10-10T15:40:22Z- AHRS_M2 msg: -0.16 phi; -0.02 theta; 0.81 psi 2021-10-10T15:40:22Z- handleDepth()-Depth_Keller msg: 1633880422568 epoch sec; seqNo:291; depth 0.06 2021-10-10T15:40:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:22Z- handleDvl() - RDI_Pathfinder msg: 1633880422.57 epoch sec; seqNo:137 2021-10-10T15:40:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.22 , 0.52 2021-10-10T15:40:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880422.59 epoch sec; seqNo:292; 4061570.40 north; 594829.77 east 2021-10-10T15:40:22Z- AHRS_M2 msg: 1633880422.96 epoch sec; seqNo:290 2021-10-10T15:40:22Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 0.82 psi 2021-10-10T15:40:22Z- handleDepth()-Depth_Keller msg: 1633880422972 epoch sec; seqNo:292; depth 0.06 2021-10-10T15:40:23Z- handleDvl() - RDI_Pathfinder msg: 1633880423.00 epoch sec; seqNo:138 2021-10-10T15:40:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.53 , 107.30 , 97.79 , 89.64 2021-10-10T15:40:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , 0.01 , -0.40 2021-10-10T15:40:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880423.01 epoch sec; seqNo:293; 4061570.40 north; 594829.77 east 2021-10-10T15:40:23Z- AHRS_M2 msg: 1633880423.37 epoch sec; seqNo:291 2021-10-10T15:40:23Z- AHRS_M2 msg: -0.03 phi; -0.05 theta; 0.80 psi 2021-10-10T15:40:23Z- handleDepth()-Depth_Keller msg: 1633880423376 epoch sec; seqNo:293; depth 0.08 2021-10-10T15:40:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880423.39 epoch sec; seqNo:294; 4061570.40 north; 594829.77 east 2021-10-10T15:40:23Z- AHRS_M2 msg: 1633880423.77 epoch sec; seqNo:292 2021-10-10T15:40:23Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 0.79 psi 2021-10-10T15:40:23Z- handleDepth()-Depth_Keller msg: 1633880423778 epoch sec; seqNo:294; depth 0.08 2021-10-10T15:40:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:23Z- handleDvl() - RDI_Pathfinder msg: 1633880423.78 epoch sec; seqNo:139 2021-10-10T15:40:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , 0.01 , -0.40 2021-10-10T15:40:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880423.79 epoch sec; seqNo:295; 4061570.40 north; 594829.77 east 2021-10-10T15:40:24Z- AHRS_M2 msg: 1633880424.18 epoch sec; seqNo:293 2021-10-10T15:40:24Z- AHRS_M2 msg: 0.09 phi; -0.05 theta; 0.78 psi 2021-10-10T15:40:24Z- handleDepth()-Depth_Keller msg: 1633880424184 epoch sec; seqNo:295; depth 0.07 2021-10-10T15:40:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880424.21 epoch sec; seqNo:296; 4061570.02 north; 594829.78 east 2021-10-10T15:40:24Z- AHRS_M2 msg: 1633880424.58 epoch sec; seqNo:294 2021-10-10T15:40:24Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 0.77 psi 2021-10-10T15:40:24Z- handleDepth()-Depth_Keller msg: 1633880424585 epoch sec; seqNo:296; depth 0.06 2021-10-10T15:40:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880424.60 epoch sec; seqNo:297; 4061570.02 north; 594829.78 east 2021-10-10T15:40:24Z- AHRS_M2 msg: 1633880424.98 epoch sec; seqNo:295 2021-10-10T15:40:25Z- AHRS_M2 msg: 0.07 phi; -0.08 theta; 0.78 psi 2021-10-10T15:40:25Z- handleDepth()-Depth_Keller msg: 1633880424992 epoch sec; seqNo:297; depth 0.06 2021-10-10T15:40:25Z- handleDvl() - RDI_Pathfinder msg: 1633880425.01 epoch sec; seqNo:140 2021-10-10T15:40:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.29 , 93.65 , 97.72 , 88.22 2021-10-10T15:40:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.04 , -0.02 , 0.12 2021-10-10T15:40:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880425.05 epoch sec; seqNo:298; 4061570.02 north; 594829.78 east 2021-10-10T15:40:25Z- AHRS_M2 msg: 1633880425.39 epoch sec; seqNo:296 2021-10-10T15:40:25Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 0.76 psi 2021-10-10T15:40:25Z- handleDepth()-Depth_Keller msg: 1633880425396 epoch sec; seqNo:298; depth 0.06 2021-10-10T15:40:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880425.41 epoch sec; seqNo:299; 4061570.02 north; 594829.78 east 2021-10-10T15:40:25Z- AHRS_M2 msg: 1633880425.79 epoch sec; seqNo:297 2021-10-10T15:40:25Z- AHRS_M2 msg: -0.14 phi; 0.02 theta; 0.75 psi 2021-10-10T15:40:25Z- handleDepth()-Depth_Keller msg: 1633880425805 epoch sec; seqNo:299; depth 0.04 2021-10-10T15:40:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880425.82 epoch sec; seqNo:300; 4061570.02 north; 594829.78 east 2021-10-10T15:40:26Z- AHRS_M2 msg: 1633880426.20 epoch sec; seqNo:298 2021-10-10T15:40:26Z- AHRS_M2 msg: -0.24 phi; 0.02 theta; 0.78 psi 2021-10-10T15:40:26Z- handleDepth()-Depth_Keller msg: 1633880426204 epoch sec; seqNo:300; depth 0.03 2021-10-10T15:40:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:26Z- handleDvl() - RDI_Pathfinder msg: 1633880426.21 epoch sec; seqNo:141 2021-10-10T15:40:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.04 , -0.02 , 0.12 2021-10-10T15:40:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880426.23 epoch sec; seqNo:301; 4061570.02 north; 594829.78 east 2021-10-10T15:40:26Z- AHRS_M2 msg: 1633880426.60 epoch sec; seqNo:299 2021-10-10T15:40:26Z- AHRS_M2 msg: -0.17 phi; -0.03 theta; 0.79 psi 2021-10-10T15:40:26Z- handleDepth()-Depth_Keller msg: 1633880426609 epoch sec; seqNo:301; depth 0.06 2021-10-10T15:40:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880426.62 epoch sec; seqNo:302; 4061570.02 north; 594829.78 east 2021-10-10T15:40:27Z- AHRS_M2 msg: 1633880427.01 epoch sec; seqNo:300 2021-10-10T15:40:27Z- AHRS_M2 msg: -0.01 phi; -0.00 theta; 0.78 psi 2021-10-10T15:40:27Z- handleDepth()-Depth_Keller msg: 1633880427021 epoch sec; seqNo:302; depth 0.08 2021-10-10T15:40:27Z- handleDvl() - RDI_Pathfinder msg: 1633880427.04 epoch sec; seqNo:142 2021-10-10T15:40:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.25 , 112.67 , 96.37 , 88.22 2021-10-10T15:40:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.30 , -0.30 2021-10-10T15:40:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880427.05 epoch sec; seqNo:303; 4061570.02 north; 594829.78 east 2021-10-10T15:40:27Z- LcmTrn::handleMessages() - handling 42 messages took 0.67 ms and 128 calls... 2021-10-10T15:40:27Z- waiting for 1633880425.18, time is 1633880427.05 2021-10-10T15:40:27Z- LcmTrn::updateTrn() equating pose 1633880427.05 and meas times 1633880427.05 2021-10-10T15:40:27Z- LcmTrn::updateTrn() >>>> pose time 1633880427.05, meas time 1633880427.05 <<<< 2021-10-10T15:40:27Z- TerrainNav::Measurement type 1 from time = 1633880427.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:40:27Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594829.78, 0.08) 2021-10-10T15:40:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:27Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:27Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:27Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:27Z- AHRS_M2 msg: 1633880427.41 epoch sec; seqNo:301 2021-10-10T15:40:27Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 0.79 psi 2021-10-10T15:40:27Z- handleDepth()-Depth_Keller msg: 1633880427414 epoch sec; seqNo:303; depth 0.07 2021-10-10T15:40:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:27Z- handleDvl() - RDI_Pathfinder msg: 1633880427.42 epoch sec; seqNo:143 2021-10-10T15:40:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.30 , -0.30 2021-10-10T15:40:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880427.45 epoch sec; seqNo:304; 4061570.02 north; 594829.78 east 2021-10-10T15:40:27Z- AHRS_M2 msg: 1633880427.81 epoch sec; seqNo:302 2021-10-10T15:40:27Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 0.77 psi 2021-10-10T15:40:27Z- handleDepth()-Depth_Keller msg: 1633880427818 epoch sec; seqNo:304; depth 0.08 2021-10-10T15:40:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880427.83 epoch sec; seqNo:305; 4061570.02 north; 594829.78 east 2021-10-10T15:40:28Z- AHRS_M2 msg: 1633880428.22 epoch sec; seqNo:303 2021-10-10T15:40:28Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 0.76 psi 2021-10-10T15:40:28Z- handleDepth()-Depth_Keller msg: 1633880428223 epoch sec; seqNo:305; depth 0.08 2021-10-10T15:40:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880428.23 epoch sec; seqNo:306; 4061570.01 north; 594828.56 east 2021-10-10T15:40:28Z- AHRS_M2 msg: 1633880428.62 epoch sec; seqNo:304 2021-10-10T15:40:28Z- AHRS_M2 msg: 0.00 phi; 0.02 theta; 0.78 psi 2021-10-10T15:40:28Z- handleDepth()-Depth_Keller msg: 1633880428628 epoch sec; seqNo:306; depth 0.05 2021-10-10T15:40:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:28Z- handleDvl() - RDI_Pathfinder msg: 1633880428.63 epoch sec; seqNo:144 2021-10-10T15:40:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.30 , -0.30 2021-10-10T15:40:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880428.65 epoch sec; seqNo:307; 4061570.01 north; 594828.56 east 2021-10-10T15:40:29Z- AHRS_M2 msg: 1633880429.03 epoch sec; seqNo:305 2021-10-10T15:40:29Z- AHRS_M2 msg: 0.11 phi; -0.01 theta; 0.81 psi 2021-10-10T15:40:29Z- handleDepth()-Depth_Keller msg: 1633880429029 epoch sec; seqNo:307; depth 0.06 2021-10-10T15:40:29Z- handleDvl() - RDI_Pathfinder msg: 1633880429.05 epoch sec; seqNo:145 2021-10-10T15:40:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.86 , 96.36 , 97.72 , 86.86 2021-10-10T15:40:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.41 , 0.04 2021-10-10T15:40:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880429.07 epoch sec; seqNo:308; 4061570.39 north; 594828.55 east 2021-10-10T15:40:29Z- AHRS_M2 msg: 1633880429.46 epoch sec; seqNo:306 2021-10-10T15:40:29Z- AHRS_M2 msg: 0.13 phi; -0.02 theta; 0.82 psi 2021-10-10T15:40:29Z- handleDepth()-Depth_Keller msg: 1633880429461 epoch sec; seqNo:308; depth 0.08 2021-10-10T15:40:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880429.49 epoch sec; seqNo:309; 4061570.39 north; 594828.55 east 2021-10-10T15:40:29Z- AHRS_M2 msg: 1633880429.83 epoch sec; seqNo:307 2021-10-10T15:40:29Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 0.79 psi 2021-10-10T15:40:29Z- handleDepth()-Depth_Keller msg: 1633880429838 epoch sec; seqNo:309; depth 0.07 2021-10-10T15:40:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:29Z- handleDvl() - RDI_Pathfinder msg: 1633880429.84 epoch sec; seqNo:146 2021-10-10T15:40:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.41 , 0.04 2021-10-10T15:40:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880429.85 epoch sec; seqNo:310; 4061570.39 north; 594828.55 east 2021-10-10T15:40:30Z- AHRS_M2 msg: 1633880430.24 epoch sec; seqNo:308 2021-10-10T15:40:30Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 0.75 psi 2021-10-10T15:40:30Z- handleDepth()-Depth_Keller msg: 1633880430245 epoch sec; seqNo:310; depth 0.05 2021-10-10T15:40:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880430.26 epoch sec; seqNo:311; 4061570.77 north; 594828.55 east 2021-10-10T15:40:30Z- AHRS_M2 msg: 1633880430.64 epoch sec; seqNo:309 2021-10-10T15:40:30Z- AHRS_M2 msg: -0.14 phi; -0.01 theta; 0.74 psi 2021-10-10T15:40:30Z- handleDepth()-Depth_Keller msg: 1633880430646 epoch sec; seqNo:311; depth 0.03 2021-10-10T15:40:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880430.66 epoch sec; seqNo:312; 4061570.77 north; 594828.55 east 2021-10-10T15:40:31Z- AHRS_M2 msg: 1633880431.04 epoch sec; seqNo:310 2021-10-10T15:40:31Z- AHRS_M2 msg: -0.14 phi; -0.01 theta; 0.75 psi 2021-10-10T15:40:31Z- handleDepth()-Depth_Keller msg: 1633880431052 epoch sec; seqNo:312; depth 0.03 2021-10-10T15:40:31Z- handleDvl() - RDI_Pathfinder msg: 1633880431.07 epoch sec; seqNo:147 2021-10-10T15:40:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.39 , 97.72 , 97.72 , 0.00 2021-10-10T15:40:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.10 , 0.30 2021-10-10T15:40:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880431.10 epoch sec; seqNo:313; 4061570.77 north; 594828.55 east 2021-10-10T15:40:31Z- AHRS_M2 msg: 1633880431.45 epoch sec; seqNo:311 2021-10-10T15:40:31Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 0.75 psi 2021-10-10T15:40:31Z- handleDepth()-Depth_Keller msg: 1633880431458 epoch sec; seqNo:313; depth 0.03 2021-10-10T15:40:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880431.48 epoch sec; seqNo:314; 4061570.77 north; 594828.55 east 2021-10-10T15:40:31Z- AHRS_M2 msg: 1633880431.85 epoch sec; seqNo:312 2021-10-10T15:40:31Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 0.76 psi 2021-10-10T15:40:31Z- handleDepth()-Depth_Keller msg: 1633880431865 epoch sec; seqNo:314; depth 0.05 2021-10-10T15:40:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880431.87 epoch sec; seqNo:315; 4061570.39 north; 594828.55 east 2021-10-10T15:40:32Z- AHRS_M2 msg: 1633880432.26 epoch sec; seqNo:313 2021-10-10T15:40:32Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 0.77 psi 2021-10-10T15:40:32Z- handleDepth()-Depth_Keller msg: 1633880432264 epoch sec; seqNo:315; depth 0.06 2021-10-10T15:40:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:32Z- handleDvl() - RDI_Pathfinder msg: 1633880432.27 epoch sec; seqNo:148 2021-10-10T15:40:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.10 , 0.30 2021-10-10T15:40:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880432.27 epoch sec; seqNo:316; 4061570.39 north; 594828.55 east 2021-10-10T15:40:32Z- LcmTrn::handleMessages() - handling 45 messages took 0.79 ms and 129 calls... 2021-10-10T15:40:32Z- waiting for 1633880430.05, time is 1633880432.27 2021-10-10T15:40:32Z- LcmTrn::updateTrn() equating pose 1633880432.27 and meas times 1633880432.27 2021-10-10T15:40:32Z- LcmTrn::updateTrn() >>>> pose time 1633880432.27, meas time 1633880432.27 <<<< 2021-10-10T15:40:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880432.27, ping # 0. 2021-10-10T15:40:32Z- TerrainNav::Measurement type 1 from time = 1633880432.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:40:32Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594828.55, 0.06) 2021-10-10T15:40:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:32Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:32Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:32Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:32Z- AHRS_M2 msg: 1633880432.66 epoch sec; seqNo:314 2021-10-10T15:40:32Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 0.75 psi 2021-10-10T15:40:32Z- handleDepth()-Depth_Keller msg: 1633880432678 epoch sec; seqNo:316; depth 0.06 2021-10-10T15:40:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880432.74 epoch sec; seqNo:317; 4061570.37 north; 594827.33 east 2021-10-10T15:40:33Z- AHRS_M2 msg: 1633880433.07 epoch sec; seqNo:315 2021-10-10T15:40:33Z- AHRS_M2 msg: -0.09 phi; -0.05 theta; 0.74 psi 2021-10-10T15:40:33Z- handleDepth()-Depth_Keller msg: 1633880433070 epoch sec; seqNo:317; depth 0.04 2021-10-10T15:40:33Z- handleDvl() - RDI_Pathfinder msg: 1633880433.09 epoch sec; seqNo:149 2021-10-10T15:40:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.37 , 96.16 , 97.52 , 88.01 2021-10-10T15:40:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.11 , -0.31 2021-10-10T15:40:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880433.10 epoch sec; seqNo:318; 4061570.37 north; 594827.33 east 2021-10-10T15:40:33Z- AHRS_M2 msg: 1633880433.47 epoch sec; seqNo:316 2021-10-10T15:40:33Z- AHRS_M2 msg: -0.13 phi; -0.03 theta; 0.75 psi 2021-10-10T15:40:33Z- handleDepth()-Depth_Keller msg: 1633880433479 epoch sec; seqNo:318; depth 0.07 2021-10-10T15:40:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:33Z- handleDvl() - RDI_Pathfinder msg: 1633880433.48 epoch sec; seqNo:150 2021-10-10T15:40:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.11 , -0.31 2021-10-10T15:40:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880433.50 epoch sec; seqNo:319; 4061570.37 north; 594827.33 east 2021-10-10T15:40:33Z- AHRS_M2 msg: 1633880433.87 epoch sec; seqNo:317 2021-10-10T15:40:33Z- AHRS_M2 msg: -0.14 phi; 0.00 theta; 0.74 psi 2021-10-10T15:40:33Z- handleDepth()-Depth_Keller msg: 1633880433880 epoch sec; seqNo:319; depth 0.06 2021-10-10T15:40:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880433.90 epoch sec; seqNo:320; 4061570.37 north; 594827.33 east 2021-10-10T15:40:34Z- AHRS_M2 msg: 1633880434.28 epoch sec; seqNo:318 2021-10-10T15:40:34Z- AHRS_M2 msg: -0.11 phi; 0.02 theta; 0.74 psi 2021-10-10T15:40:34Z- handleDepth()-Depth_Keller msg: 1633880434284 epoch sec; seqNo:320; depth 0.06 2021-10-10T15:40:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880434.29 epoch sec; seqNo:321; 4061570.37 north; 594827.33 east 2021-10-10T15:40:34Z- AHRS_M2 msg: 1633880434.74 epoch sec; seqNo:319 2021-10-10T15:40:34Z- AHRS_M2 msg: -0.09 phi; 0.06 theta; 0.76 psi 2021-10-10T15:40:34Z- handleDepth()-Depth_Keller msg: 1633880434741 epoch sec; seqNo:321; depth 0.04 2021-10-10T15:40:34Z- handleDvl() - RDI_Pathfinder msg: 1633880434.76 epoch sec; seqNo:151 2021-10-10T15:40:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.47 , 105.94 , 96.43 , 86.92 2021-10-10T15:40:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.19 , -0.00 , -0.20 2021-10-10T15:40:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880434.78 epoch sec; seqNo:322; 4061570.37 north; 594827.33 east 2021-10-10T15:40:35Z- AHRS_M2 msg: 1633880435.08 epoch sec; seqNo:320 2021-10-10T15:40:35Z- AHRS_M2 msg: -0.08 phi; 0.03 theta; 0.78 psi 2021-10-10T15:40:35Z- handleDepth()-Depth_Keller msg: 1633880435092 epoch sec; seqNo:322; depth 0.05 2021-10-10T15:40:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880435.11 epoch sec; seqNo:323; 4061570.37 north; 594827.33 east 2021-10-10T15:40:35Z- AHRS_M2 msg: 1633880435.49 epoch sec; seqNo:321 2021-10-10T15:40:35Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 0.78 psi 2021-10-10T15:40:35Z- handleDepth()-Depth_Keller msg: 1633880435493 epoch sec; seqNo:323; depth 0.05 2021-10-10T15:40:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880435.50 epoch sec; seqNo:324; 4061570.37 north; 594827.33 east 2021-10-10T15:40:35Z- AHRS_M2 msg: 1633880435.89 epoch sec; seqNo:322 2021-10-10T15:40:35Z- AHRS_M2 msg: -0.09 phi; -0.00 theta; 0.81 psi 2021-10-10T15:40:35Z- handleDepth()-Depth_Keller msg: 1633880435900 epoch sec; seqNo:324; depth 0.06 2021-10-10T15:40:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:35Z- handleDvl() - RDI_Pathfinder msg: 1633880435.90 epoch sec; seqNo:152 2021-10-10T15:40:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.19 , -0.00 , -0.20 2021-10-10T15:40:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880435.91 epoch sec; seqNo:325; 4061570.39 north; 594828.55 east 2021-10-10T15:40:36Z- AHRS_M2 msg: 1633880436.30 epoch sec; seqNo:323 2021-10-10T15:40:36Z- AHRS_M2 msg: -0.07 phi; 0.03 theta; 0.82 psi 2021-10-10T15:40:36Z- handleDepth()-Depth_Keller msg: 1633880436303 epoch sec; seqNo:325; depth 0.05 2021-10-10T15:40:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880436.32 epoch sec; seqNo:326; 4061570.39 north; 594828.55 east 2021-10-10T15:40:36Z- AHRS_M2 msg: 1633880436.74 epoch sec; seqNo:324 2021-10-10T15:40:36Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 0.83 psi 2021-10-10T15:40:36Z- handleDepth()-Depth_Keller msg: 1633880436742 epoch sec; seqNo:326; depth 0.04 2021-10-10T15:40:36Z- handleDvl() - RDI_Pathfinder msg: 1633880436.76 epoch sec; seqNo:153 2021-10-10T15:40:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.28 , 103.83 , 98.94 , 86.72 2021-10-10T15:40:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.37 , 0.11 2021-10-10T15:40:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880436.79 epoch sec; seqNo:327; 4061570.75 north; 594827.33 east 2021-10-10T15:40:37Z- AHRS_M2 msg: 1633880437.10 epoch sec; seqNo:325 2021-10-10T15:40:37Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 0.82 psi 2021-10-10T15:40:37Z- handleDepth()-Depth_Keller msg: 1633880437112 epoch sec; seqNo:327; depth 0.06 2021-10-10T15:40:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:37Z- handleDvl() - RDI_Pathfinder msg: 1633880437.11 epoch sec; seqNo:154 2021-10-10T15:40:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.37 , 0.11 2021-10-10T15:40:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880437.14 epoch sec; seqNo:328; 4061570.75 north; 594827.33 east 2021-10-10T15:40:37Z- LcmTrn::handleMessages() - handling 42 messages took 0.65 ms and 129 calls... 2021-10-10T15:40:37Z- waiting for 1633880435.27, time is 1633880437.14 2021-10-10T15:40:37Z- LcmTrn::updateTrn() equating pose 1633880437.14 and meas times 1633880437.14 2021-10-10T15:40:37Z- LcmTrn::updateTrn() >>>> pose time 1633880437.14, meas time 1633880437.14 <<<< 2021-10-10T15:40:37Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880437.14, ping # 0. 2021-10-10T15:40:37Z- TerrainNav::Measurement type 1 from time = 1633880437.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:40:37Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594827.33, 0.06) 2021-10-10T15:40:37Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:37Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:37Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:37Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:37Z- AHRS_M2 msg: 1633880437.51 epoch sec; seqNo:326 2021-10-10T15:40:37Z- AHRS_M2 msg: -0.03 phi; -0.07 theta; 0.81 psi 2021-10-10T15:40:37Z- handleDepth()-Depth_Keller msg: 1633880437516 epoch sec; seqNo:328; depth 0.05 2021-10-10T15:40:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880437.53 epoch sec; seqNo:329; 4061570.75 north; 594827.33 east 2021-10-10T15:40:37Z- AHRS_M2 msg: 1633880437.91 epoch sec; seqNo:327 2021-10-10T15:40:37Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 0.81 psi 2021-10-10T15:40:37Z- handleDepth()-Depth_Keller msg: 1633880437919 epoch sec; seqNo:329; depth 0.04 2021-10-10T15:40:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880437.93 epoch sec; seqNo:330; 4061570.75 north; 594827.33 east 2021-10-10T15:40:38Z- AHRS_M2 msg: 1633880438.32 epoch sec; seqNo:328 2021-10-10T15:40:38Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 0.83 psi 2021-10-10T15:40:38Z- handleDepth()-Depth_Keller msg: 1633880438321 epoch sec; seqNo:330; depth 0.03 2021-10-10T15:40:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:38Z- handleDvl() - RDI_Pathfinder msg: 1633880438.33 epoch sec; seqNo:155 2021-10-10T15:40:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.37 , 0.11 2021-10-10T15:40:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880438.34 epoch sec; seqNo:331; 4061570.75 north; 594827.33 east 2021-10-10T15:40:38Z- AHRS_M2 msg: 1633880438.75 epoch sec; seqNo:329 2021-10-10T15:40:38Z- AHRS_M2 msg: -0.08 phi; 0.03 theta; 0.85 psi 2021-10-10T15:40:38Z- handleDepth()-Depth_Keller msg: 1633880438753 epoch sec; seqNo:331; depth 0.03 2021-10-10T15:40:38Z- handleDvl() - RDI_Pathfinder msg: 1633880438.77 epoch sec; seqNo:156 2021-10-10T15:40:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.86 , 99.08 , 96.36 , 86.86 2021-10-10T15:40:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.36 , 0.23 2021-10-10T15:40:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880438.81 epoch sec; seqNo:332; 4061570.75 north; 594827.33 east 2021-10-10T15:40:39Z- AHRS_M2 msg: 1633880439.12 epoch sec; seqNo:330 2021-10-10T15:40:39Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 0.83 psi 2021-10-10T15:40:39Z- handleDepth()-Depth_Keller msg: 1633880439129 epoch sec; seqNo:332; depth 0.02 2021-10-10T15:40:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880439.14 epoch sec; seqNo:333; 4061570.75 north; 594827.33 east 2021-10-10T15:40:39Z- AHRS_M2 msg: 1633880439.53 epoch sec; seqNo:331 2021-10-10T15:40:39Z- AHRS_M2 msg: -0.14 phi; -0.04 theta; 0.83 psi 2021-10-10T15:40:39Z- handleDepth()-Depth_Keller msg: 1633880439536 epoch sec; seqNo:333; depth 0.04 2021-10-10T15:40:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:39Z- handleDvl() - RDI_Pathfinder msg: 1633880439.54 epoch sec; seqNo:157 2021-10-10T15:40:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.36 , 0.23 2021-10-10T15:40:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880439.55 epoch sec; seqNo:334; 4061570.75 north; 594827.33 east 2021-10-10T15:40:39Z- AHRS_M2 msg: 1633880439.93 epoch sec; seqNo:332 2021-10-10T15:40:39Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 0.86 psi 2021-10-10T15:40:39Z- handleDepth()-Depth_Keller msg: 1633880439947 epoch sec; seqNo:334; depth 0.06 2021-10-10T15:40:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880439.96 epoch sec; seqNo:335; 4061570.37 north; 594827.33 east 2021-10-10T15:40:40Z- AHRS_M2 msg: 1633880440.34 epoch sec; seqNo:333 2021-10-10T15:40:40Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 0.89 psi 2021-10-10T15:40:40Z- handleDepth()-Depth_Keller msg: 1633880440341 epoch sec; seqNo:335; depth 0.07 2021-10-10T15:40:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880440.35 epoch sec; seqNo:336; 4061570.39 north; 594828.55 east 2021-10-10T15:40:40Z- AHRS_M2 msg: 1633880440.75 epoch sec; seqNo:334 2021-10-10T15:40:40Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 0.91 psi 2021-10-10T15:40:40Z- handleDepth()-Depth_Keller msg: 1633880440754 epoch sec; seqNo:336; depth 0.07 2021-10-10T15:40:40Z- handleDvl() - RDI_Pathfinder msg: 1633880440.79 epoch sec; seqNo:158 2021-10-10T15:40:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.21 , 100.50 , 97.79 , 0.00 2021-10-10T15:40:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.17 , -0.06 2021-10-10T15:40:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880440.80 epoch sec; seqNo:337; 4061570.39 north; 594828.55 east 2021-10-10T15:40:41Z- AHRS_M2 msg: 1633880441.14 epoch sec; seqNo:335 2021-10-10T15:40:41Z- AHRS_M2 msg: -0.09 phi; -0.08 theta; 0.90 psi 2021-10-10T15:40:41Z- handleDepth()-Depth_Keller msg: 1633880441152 epoch sec; seqNo:337; depth 0.07 2021-10-10T15:40:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880441.17 epoch sec; seqNo:338; 4061570.39 north; 594828.55 east 2021-10-10T15:40:41Z- AHRS_M2 msg: 1633880441.55 epoch sec; seqNo:336 2021-10-10T15:40:41Z- AHRS_M2 msg: -0.09 phi; -0.08 theta; 0.89 psi 2021-10-10T15:40:41Z- handleDepth()-Depth_Keller msg: 1633880441558 epoch sec; seqNo:338; depth 0.07 2021-10-10T15:40:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880441.57 epoch sec; seqNo:339; 4061570.39 north; 594828.55 east 2021-10-10T15:40:41Z- AHRS_M2 msg: 1633880441.95 epoch sec; seqNo:337 2021-10-10T15:40:41Z- AHRS_M2 msg: -0.11 phi; -0.07 theta; 0.92 psi 2021-10-10T15:40:41Z- handleDepth()-Depth_Keller msg: 1633880441960 epoch sec; seqNo:339; depth 0.06 2021-10-10T15:40:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:41Z- handleDvl() - RDI_Pathfinder msg: 1633880441.96 epoch sec; seqNo:159 2021-10-10T15:40:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.17 , -0.06 2021-10-10T15:40:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880441.97 epoch sec; seqNo:340; 4061570.39 north; 594828.55 east 2021-10-10T15:40:42Z- AHRS_M2 msg: 1633880442.36 epoch sec; seqNo:338 2021-10-10T15:40:42Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 0.97 psi 2021-10-10T15:40:42Z- handleDepth()-Depth_Keller msg: 1633880442364 epoch sec; seqNo:340; depth 0.06 2021-10-10T15:40:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880442.37 epoch sec; seqNo:341; 4061570.39 north; 594828.55 east 2021-10-10T15:40:42Z- LcmTrn::handleMessages() - handling 44 messages took 0.67 ms and 130 calls... 2021-10-10T15:40:42Z- waiting for 1633880440.14, time is 1633880442.37 2021-10-10T15:40:42Z- LcmTrn::updateTrn() >>>> pose time 1633880442.37, meas time 1633880441.96 <<<< 2021-10-10T15:40:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880441.96, ping # 0. 2021-10-10T15:40:42Z- TerrainNav::Measurement type 1 from time = 1633880441.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:40:42Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594828.55, 0.06) 2021-10-10T15:40:42Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:42Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:42Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:42Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:42Z- AHRS_M2 msg: 1633880442.77 epoch sec; seqNo:339 2021-10-10T15:40:42Z- AHRS_M2 msg: -0.00 phi; -0.00 theta; 0.99 psi 2021-10-10T15:40:42Z- handleDepth()-Depth_Keller msg: 1633880442776 epoch sec; seqNo:341; depth 0.08 2021-10-10T15:40:42Z- handleDvl() - RDI_Pathfinder msg: 1633880442.80 epoch sec; seqNo:160 2021-10-10T15:40:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.52 , 104.44 , 97.65 , 86.79 2021-10-10T15:40:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.22 , -0.24 2021-10-10T15:40:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880442.83 epoch sec; seqNo:342; 4061570.39 north; 594828.55 east 2021-10-10T15:40:43Z- AHRS_M2 msg: 1633880443.16 epoch sec; seqNo:340 2021-10-10T15:40:43Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 0.99 psi 2021-10-10T15:40:43Z- handleDepth()-Depth_Keller msg: 1633880443168 epoch sec; seqNo:342; depth 0.06 2021-10-10T15:40:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:43Z- handleDvl() - RDI_Pathfinder msg: 1633880443.18 epoch sec; seqNo:161 2021-10-10T15:40:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.22 , -0.24 2021-10-10T15:40:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880443.20 epoch sec; seqNo:343; 4061570.39 north; 594828.55 east 2021-10-10T15:40:43Z- AHRS_M2 msg: 1633880443.57 epoch sec; seqNo:341 2021-10-10T15:40:43Z- AHRS_M2 msg: -0.05 phi; -0.04 theta; 0.98 psi 2021-10-10T15:40:43Z- handleDepth()-Depth_Keller msg: 1633880443578 epoch sec; seqNo:343; depth 0.07 2021-10-10T15:40:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880443.60 epoch sec; seqNo:344; 4061570.39 north; 594828.55 east 2021-10-10T15:40:43Z- AHRS_M2 msg: 1633880443.98 epoch sec; seqNo:342 2021-10-10T15:40:43Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 1.02 psi 2021-10-10T15:40:43Z- handleDepth()-Depth_Keller msg: 1633880443986 epoch sec; seqNo:344; depth 0.04 2021-10-10T15:40:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880444.00 epoch sec; seqNo:345; 4061570.39 north; 594828.55 east 2021-10-10T15:40:44Z- AHRS_M2 msg: 1633880444.38 epoch sec; seqNo:343 2021-10-10T15:40:44Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 1.01 psi 2021-10-10T15:40:44Z- handleDepth()-Depth_Keller msg: 1633880444390 epoch sec; seqNo:345; depth 0.06 2021-10-10T15:40:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:44Z- handleDvl() - RDI_Pathfinder msg: 1633880444.39 epoch sec; seqNo:162 2021-10-10T15:40:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.22 , -0.24 2021-10-10T15:40:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880444.40 epoch sec; seqNo:346; 4061570.77 north; 594828.55 east 2021-10-10T15:40:44Z- AHRS_M2 msg: 1633880444.78 epoch sec; seqNo:344 2021-10-10T15:40:44Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 1.00 psi 2021-10-10T15:40:44Z- handleDepth()-Depth_Keller msg: 1633880444786 epoch sec; seqNo:346; depth 0.06 2021-10-10T15:40:44Z- handleDvl() - RDI_Pathfinder msg: 1633880444.82 epoch sec; seqNo:163 2021-10-10T15:40:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.05 , 96.50 , 96.50 , 86.72 2021-10-10T15:40:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.17 , 0.16 2021-10-10T15:40:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880444.83 epoch sec; seqNo:347; 4061570.75 north; 594827.33 east 2021-10-10T15:40:45Z- AHRS_M2 msg: 1633880445.18 epoch sec; seqNo:345 2021-10-10T15:40:45Z- AHRS_M2 msg: 0.00 phi; -0.04 theta; 1.00 psi 2021-10-10T15:40:45Z- handleDepth()-Depth_Keller msg: 1633880445196 epoch sec; seqNo:347; depth 0.06 2021-10-10T15:40:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880445.23 epoch sec; seqNo:348; 4061570.75 north; 594827.33 east 2021-10-10T15:40:45Z- AHRS_M2 msg: 1633880445.59 epoch sec; seqNo:346 2021-10-10T15:40:45Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 1.02 psi 2021-10-10T15:40:45Z- handleDepth()-Depth_Keller msg: 1633880445596 epoch sec; seqNo:348; depth 0.06 2021-10-10T15:40:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:45Z- handleDvl() - RDI_Pathfinder msg: 1633880445.60 epoch sec; seqNo:164 2021-10-10T15:40:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.17 , 0.16 2021-10-10T15:40:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880445.61 epoch sec; seqNo:349; 4061570.75 north; 594827.33 east 2021-10-10T15:40:46Z- AHRS_M2 msg: 1633880445.99 epoch sec; seqNo:347 2021-10-10T15:40:46Z- AHRS_M2 msg: -0.09 phi; -0.07 theta; 1.04 psi 2021-10-10T15:40:46Z- handleDepth()-Depth_Keller msg: 1633880446000 epoch sec; seqNo:349; depth 0.06 2021-10-10T15:40:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880446.02 epoch sec; seqNo:350; 4061570.37 north; 594827.33 east 2021-10-10T15:40:46Z- AHRS_M2 msg: 1633880446.40 epoch sec; seqNo:348 2021-10-10T15:40:46Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 1.07 psi 2021-10-10T15:40:46Z- handleDepth()-Depth_Keller msg: 1633880446401 epoch sec; seqNo:350; depth 0.05 2021-10-10T15:40:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880446.43 epoch sec; seqNo:351; 4061570.37 north; 594827.33 east 2021-10-10T15:40:46Z- AHRS_M2 msg: 1633880446.80 epoch sec; seqNo:349 2021-10-10T15:40:46Z- AHRS_M2 msg: -0.04 phi; -0.02 theta; 1.08 psi 2021-10-10T15:40:46Z- handleDepth()-Depth_Keller msg: 1633880446808 epoch sec; seqNo:351; depth 0.05 2021-10-10T15:40:46Z- handleDvl() - RDI_Pathfinder msg: 1633880446.86 epoch sec; seqNo:165 2021-10-10T15:40:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.57 , 102.68 , 92.90 , 91.68 2021-10-10T15:40:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.37 , 0.07 2021-10-10T15:40:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880446.90 epoch sec; seqNo:352; 4061570.37 north; 594827.33 east 2021-10-10T15:40:47Z- AHRS_M2 msg: 1633880447.20 epoch sec; seqNo:350 2021-10-10T15:40:47Z- AHRS_M2 msg: 0.00 phi; -0.04 theta; 1.08 psi 2021-10-10T15:40:47Z- handleDepth()-Depth_Keller msg: 1633880447212 epoch sec; seqNo:352; depth 0.06 2021-10-10T15:40:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880447.26 epoch sec; seqNo:353; 4061570.37 north; 594827.33 east 2021-10-10T15:40:47Z- LcmTrn::handleMessages() - handling 42 messages took 0.73 ms and 127 calls... 2021-10-10T15:40:47Z- waiting for 1633880445.37, time is 1633880447.26 2021-10-10T15:40:47Z- LcmTrn::updateTrn() >>>> pose time 1633880447.26, meas time 1633880446.86 <<<< 2021-10-10T15:40:47Z- TerrainNav::Measurement type 1 from time = 1633880446.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:40:47Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594827.33, 0.06) 2021-10-10T15:40:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:47Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:47Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:47Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:47Z- AHRS_M2 msg: 1633880447.61 epoch sec; seqNo:351 2021-10-10T15:40:47Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 1.10 psi 2021-10-10T15:40:47Z- handleDepth()-Depth_Keller msg: 1633880447621 epoch sec; seqNo:353; depth 0.04 2021-10-10T15:40:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880447.64 epoch sec; seqNo:354; 4061570.37 north; 594827.33 east 2021-10-10T15:40:48Z- AHRS_M2 msg: 1633880448.01 epoch sec; seqNo:352 2021-10-10T15:40:48Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.13 psi 2021-10-10T15:40:48Z- handleDepth()-Depth_Keller msg: 1633880448029 epoch sec; seqNo:354; depth 0.06 2021-10-10T15:40:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:48Z- handleDvl() - RDI_Pathfinder msg: 1633880448.03 epoch sec; seqNo:166 2021-10-10T15:40:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.37 , 0.07 2021-10-10T15:40:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880448.05 epoch sec; seqNo:355; 4061570.00 north; 594827.34 east 2021-10-10T15:40:48Z- AHRS_M2 msg: 1633880448.42 epoch sec; seqNo:353 2021-10-10T15:40:48Z- AHRS_M2 msg: -0.07 phi; 0.08 theta; 1.14 psi 2021-10-10T15:40:48Z- handleDepth()-Depth_Keller msg: 1633880448424 epoch sec; seqNo:355; depth 0.07 2021-10-10T15:40:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880448.46 epoch sec; seqNo:356; 4061570.01 north; 594828.56 east 2021-10-10T15:40:48Z- AHRS_M2 msg: 1633880448.83 epoch sec; seqNo:354 2021-10-10T15:40:48Z- AHRS_M2 msg: -0.12 phi; 0.06 theta; 1.17 psi 2021-10-10T15:40:48Z- handleDepth()-Depth_Keller msg: 1633880448836 epoch sec; seqNo:356; depth 0.06 2021-10-10T15:40:48Z- handleDvl() - RDI_Pathfinder msg: 1633880448.88 epoch sec; seqNo:167 2021-10-10T15:40:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.93 , 95.00 , 97.72 , 85.50 2021-10-10T15:40:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.16 , -0.49 2021-10-10T15:40:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880448.90 epoch sec; seqNo:357; 4061570.01 north; 594828.56 east 2021-10-10T15:40:49Z- AHRS_M2 msg: 1633880449.23 epoch sec; seqNo:355 2021-10-10T15:40:49Z- AHRS_M2 msg: -0.15 phi; 0.03 theta; 1.23 psi 2021-10-10T15:40:49Z- handleDepth()-Depth_Keller msg: 1633880449240 epoch sec; seqNo:357; depth 0.06 2021-10-10T15:40:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:49Z- handleDvl() - RDI_Pathfinder msg: 1633880449.24 epoch sec; seqNo:168 2021-10-10T15:40:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.16 , -0.49 2021-10-10T15:40:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880449.26 epoch sec; seqNo:358; 4061570.01 north; 594828.56 east 2021-10-10T15:40:49Z- AHRS_M2 msg: 1633880449.63 epoch sec; seqNo:356 2021-10-10T15:40:49Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 1.24 psi 2021-10-10T15:40:49Z- handleDepth()-Depth_Keller msg: 1633880449640 epoch sec; seqNo:358; depth 0.05 2021-10-10T15:40:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880449.66 epoch sec; seqNo:359; 4061570.01 north; 594828.56 east 2021-10-10T15:40:50Z- AHRS_M2 msg: 1633880450.04 epoch sec; seqNo:357 2021-10-10T15:40:50Z- AHRS_M2 msg: -0.11 phi; -0.11 theta; 1.23 psi 2021-10-10T15:40:50Z- handleDepth()-Depth_Keller msg: 1633880450045 epoch sec; seqNo:359; depth 0.05 2021-10-10T15:40:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880450.05 epoch sec; seqNo:360; 4061570.01 north; 594828.56 east 2021-10-10T15:40:50Z- AHRS_M2 msg: 1633880450.44 epoch sec; seqNo:358 2021-10-10T15:40:50Z- AHRS_M2 msg: -0.06 phi; -0.12 theta; 1.24 psi 2021-10-10T15:40:50Z- handleDepth()-Depth_Keller msg: 1633880450449 epoch sec; seqNo:360; depth 0.08 2021-10-10T15:40:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:50Z- handleDvl() - RDI_Pathfinder msg: 1633880450.45 epoch sec; seqNo:169 2021-10-10T15:40:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.16 , -0.49 2021-10-10T15:40:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880450.46 epoch sec; seqNo:361; 4061570.01 north; 594828.56 east 2021-10-10T15:40:50Z- AHRS_M2 msg: 1633880450.85 epoch sec; seqNo:359 2021-10-10T15:40:50Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 1.25 psi 2021-10-10T15:40:50Z- handleDepth()-Depth_Keller msg: 1633880450856 epoch sec; seqNo:361; depth 0.09 2021-10-10T15:40:50Z- handleDvl() - RDI_Pathfinder msg: 1633880450.88 epoch sec; seqNo:170 2021-10-10T15:40:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.85 , 101.87 , 97.79 , 0.00 2021-10-10T15:40:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.76 , -0.53 , 0.04 2021-10-10T15:40:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880450.89 epoch sec; seqNo:362; 4061570.00 north; 594827.34 east 2021-10-10T15:40:51Z- AHRS_M2 msg: 1633880451.25 epoch sec; seqNo:360 2021-10-10T15:40:51Z- AHRS_M2 msg: 0.03 phi; -0.07 theta; 1.27 psi 2021-10-10T15:40:51Z- handleDepth()-Depth_Keller msg: 1633880451253 epoch sec; seqNo:362; depth 0.06 2021-10-10T15:40:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880451.28 epoch sec; seqNo:363; 4061570.00 north; 594827.34 east 2021-10-10T15:40:51Z- AHRS_M2 msg: 1633880451.65 epoch sec; seqNo:361 2021-10-10T15:40:51Z- AHRS_M2 msg: 0.07 phi; -0.12 theta; 1.30 psi 2021-10-10T15:40:51Z- handleDepth()-Depth_Keller msg: 1633880451663 epoch sec; seqNo:363; depth 0.05 2021-10-10T15:40:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:51Z- handleDvl() - RDI_Pathfinder msg: 1633880451.67 epoch sec; seqNo:171 2021-10-10T15:40:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.76 , -0.53 , 0.04 2021-10-10T15:40:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880451.67 epoch sec; seqNo:364; 4061570.37 north; 594827.33 east 2021-10-10T15:40:52Z- AHRS_M2 msg: 1633880452.06 epoch sec; seqNo:362 2021-10-10T15:40:52Z- AHRS_M2 msg: 0.12 phi; -0.07 theta; 1.26 psi 2021-10-10T15:40:52Z- handleDepth()-Depth_Keller msg: 1633880452063 epoch sec; seqNo:364; depth 0.07 2021-10-10T15:40:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880452.07 epoch sec; seqNo:365; 4061570.37 north; 594827.33 east 2021-10-10T15:40:52Z- AHRS_M2 msg: 1633880452.46 epoch sec; seqNo:363 2021-10-10T15:40:52Z- AHRS_M2 msg: 0.13 phi; 0.01 theta; 1.25 psi 2021-10-10T15:40:52Z- handleDepth()-Depth_Keller msg: 1633880452484 epoch sec; seqNo:365; depth 0.05 2021-10-10T15:40:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880452.49 epoch sec; seqNo:366; 4061570.36 north; 594826.11 east 2021-10-10T15:40:52Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T15:40:52Z- waiting for 1633880450.26, time is 1633880452.49 2021-10-10T15:40:52Z- LcmTrn::updateTrn() >>>> pose time 1633880452.49, meas time 1633880451.67 <<<< 2021-10-10T15:40:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880451.67, ping # 0. 2021-10-10T15:40:52Z- TerrainNav::Measurement type 1 from time = 1633880451.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:40:52Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594826.11, 0.05) 2021-10-10T15:40:52Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:52Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:52Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:52Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:52Z- AHRS_M2 msg: 1633880452.86 epoch sec; seqNo:364 2021-10-10T15:40:52Z- AHRS_M2 msg: 0.11 phi; 0.05 theta; 1.29 psi 2021-10-10T15:40:52Z- handleDepth()-Depth_Keller msg: 1633880452869 epoch sec; seqNo:366; depth 0.05 2021-10-10T15:40:52Z- handleDvl() - RDI_Pathfinder msg: 1633880452.90 epoch sec; seqNo:172 2021-10-10T15:40:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.22 , 84.07 , 97.65 , 89.50 2021-10-10T15:40:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , 0.16 , 0.50 2021-10-10T15:40:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880452.91 epoch sec; seqNo:367; 4061570.36 north; 594826.11 east 2021-10-10T15:40:53Z- AHRS_M2 msg: 1633880453.27 epoch sec; seqNo:365 2021-10-10T15:40:53Z- AHRS_M2 msg: 0.06 phi; 0.06 theta; 1.36 psi 2021-10-10T15:40:53Z- handleDepth()-Depth_Keller msg: 1633880453276 epoch sec; seqNo:367; depth 0.05 2021-10-10T15:40:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880453.29 epoch sec; seqNo:368; 4061570.37 north; 594827.33 east 2021-10-10T15:40:53Z- AHRS_M2 msg: 1633880453.67 epoch sec; seqNo:366 2021-10-10T15:40:53Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.36 psi 2021-10-10T15:40:53Z- handleDepth()-Depth_Keller msg: 1633880453687 epoch sec; seqNo:368; depth 0.05 2021-10-10T15:40:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880453.70 epoch sec; seqNo:369; 4061570.37 north; 594827.33 east 2021-10-10T15:40:54Z- AHRS_M2 msg: 1633880454.08 epoch sec; seqNo:367 2021-10-10T15:40:54Z- AHRS_M2 msg: -0.11 phi; -0.07 theta; 1.32 psi 2021-10-10T15:40:54Z- handleDepth()-Depth_Keller msg: 1633880454087 epoch sec; seqNo:369; depth 0.08 2021-10-10T15:40:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:54Z- handleDvl() - RDI_Pathfinder msg: 1633880454.09 epoch sec; seqNo:173 2021-10-10T15:40:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , 0.16 , 0.50 2021-10-10T15:40:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880454.11 epoch sec; seqNo:370; 4061570.37 north; 594827.33 east 2021-10-10T15:40:54Z- AHRS_M2 msg: 1633880454.49 epoch sec; seqNo:368 2021-10-10T15:40:54Z- AHRS_M2 msg: -0.17 phi; 0.01 theta; 1.30 psi 2021-10-10T15:40:54Z- handleDepth()-Depth_Keller msg: 1633880454495 epoch sec; seqNo:370; depth 0.08 2021-10-10T15:40:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880454.51 epoch sec; seqNo:371; 4061570.37 north; 594827.33 east 2021-10-10T15:40:54Z- AHRS_M2 msg: 1633880454.88 epoch sec; seqNo:369 2021-10-10T15:40:54Z- AHRS_M2 msg: -0.17 phi; 0.04 theta; 1.33 psi 2021-10-10T15:40:54Z- handleDepth()-Depth_Keller msg: 1633880454890 epoch sec; seqNo:371; depth 0.08 2021-10-10T15:40:54Z- handleDvl() - RDI_Pathfinder msg: 1633880454.91 epoch sec; seqNo:174 2021-10-10T15:40:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 101.46 , 95.35 , 89.24 2021-10-10T15:40:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.23 , -0.47 2021-10-10T15:40:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880454.92 epoch sec; seqNo:372; 4061570.37 north; 594827.33 east 2021-10-10T15:40:55Z- AHRS_M2 msg: 1633880455.29 epoch sec; seqNo:370 2021-10-10T15:40:55Z- AHRS_M2 msg: -0.12 phi; -0.03 theta; 1.33 psi 2021-10-10T15:40:55Z- handleDepth()-Depth_Keller msg: 1633880455298 epoch sec; seqNo:372; depth 0.08 2021-10-10T15:40:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:55Z- handleDvl() - RDI_Pathfinder msg: 1633880455.30 epoch sec; seqNo:175 2021-10-10T15:40:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.23 , -0.47 2021-10-10T15:40:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880455.32 epoch sec; seqNo:373; 4061570.75 north; 594827.33 east 2021-10-10T15:40:55Z- AHRS_M2 msg: 1633880455.69 epoch sec; seqNo:371 2021-10-10T15:40:55Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 1.33 psi 2021-10-10T15:40:55Z- handleDepth()-Depth_Keller msg: 1633880455703 epoch sec; seqNo:373; depth 0.09 2021-10-10T15:40:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880455.72 epoch sec; seqNo:374; 4061570.75 north; 594827.33 east 2021-10-10T15:40:56Z- AHRS_M2 msg: 1633880456.10 epoch sec; seqNo:372 2021-10-10T15:40:56Z- AHRS_M2 msg: 0.04 phi; -0.11 theta; 1.33 psi 2021-10-10T15:40:56Z- handleDepth()-Depth_Keller msg: 1633880456101 epoch sec; seqNo:374; depth 0.08 2021-10-10T15:40:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880456.11 epoch sec; seqNo:375; 4061570.75 north; 594827.33 east 2021-10-10T15:40:56Z- AHRS_M2 msg: 1633880456.50 epoch sec; seqNo:373 2021-10-10T15:40:56Z- AHRS_M2 msg: 0.03 phi; -0.10 theta; 1.31 psi 2021-10-10T15:40:56Z- handleDepth()-Depth_Keller msg: 1633880456511 epoch sec; seqNo:375; depth 0.05 2021-10-10T15:40:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:56Z- handleDvl() - RDI_Pathfinder msg: 1633880456.51 epoch sec; seqNo:176 2021-10-10T15:40:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.23 , -0.47 2021-10-10T15:40:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880456.52 epoch sec; seqNo:376; 4061570.75 north; 594827.33 east 2021-10-10T15:40:56Z- AHRS_M2 msg: 1633880456.90 epoch sec; seqNo:374 2021-10-10T15:40:56Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 1.30 psi 2021-10-10T15:40:56Z- handleDepth()-Depth_Keller msg: 1633880456917 epoch sec; seqNo:376; depth 0.05 2021-10-10T15:40:56Z- handleDvl() - RDI_Pathfinder msg: 1633880456.94 epoch sec; seqNo:177 2021-10-10T15:40:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.73 , 89.37 , 93.44 , 89.37 2021-10-10T15:40:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , 0.03 , -0.12 2021-10-10T15:40:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880456.95 epoch sec; seqNo:377; 4061570.75 north; 594827.33 east 2021-10-10T15:40:57Z- AHRS_M2 msg: 1633880457.31 epoch sec; seqNo:375 2021-10-10T15:40:57Z- AHRS_M2 msg: -0.02 phi; 0.00 theta; 1.30 psi 2021-10-10T15:40:57Z- handleDepth()-Depth_Keller msg: 1633880457319 epoch sec; seqNo:377; depth 0.02 2021-10-10T15:40:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880457.34 epoch sec; seqNo:378; 4061570.75 north; 594827.33 east 2021-10-10T15:40:57Z- LcmTrn::handleMessages() - handling 42 messages took 0.65 ms and 129 calls... 2021-10-10T15:40:57Z- waiting for 1633880455.49, time is 1633880457.34 2021-10-10T15:40:57Z- LcmTrn::updateTrn() >>>> pose time 1633880457.34, meas time 1633880456.94 <<<< 2021-10-10T15:40:57Z- TerrainNav::Measurement type 1 from time = 1633880456.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:40:57Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594827.33, 0.02) 2021-10-10T15:40:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:40:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:40:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:40:57Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:40:57Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:40:57Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:40:57Z- AHRS_M2 msg: 1633880457.71 epoch sec; seqNo:376 2021-10-10T15:40:57Z- AHRS_M2 msg: 0.00 phi; -0.01 theta; 1.30 psi 2021-10-10T15:40:57Z- handleDepth()-Depth_Keller msg: 1633880457723 epoch sec; seqNo:378; depth 0.05 2021-10-10T15:40:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:40:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:40:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:40:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:40:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:40:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:40:57Z- handleDvl() - RDI_Pathfinder msg: 1633880457.73 epoch sec; seqNo:178 2021-10-10T15:40:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:40:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , 0.03 , -0.12 2021-10-10T15:40:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880457.73 epoch sec; seqNo:379; 4061570.75 north; 594827.33 east 2021-10-10T15:40:58Z- AHRS_M2 msg: 1633880458.12 epoch sec; seqNo:377 2021-10-10T15:40:58Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 1.30 psi 2021-10-10T15:40:58Z- handleDepth()-Depth_Keller msg: 1633880458128 epoch sec; seqNo:379; depth 0.06 2021-10-10T15:40:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880458.14 epoch sec; seqNo:380; 4061570.75 north; 594827.33 east 2021-10-10T15:40:58Z- AHRS_M2 msg: 1633880458.52 epoch sec; seqNo:378 2021-10-10T15:40:58Z- AHRS_M2 msg: -0.15 phi; -0.04 theta; 1.29 psi 2021-10-10T15:40:58Z- handleDepth()-Depth_Keller msg: 1633880458526 epoch sec; seqNo:380; depth 0.03 2021-10-10T15:40:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880458.54 epoch sec; seqNo:381; 4061570.75 north; 594827.33 east 2021-10-10T15:40:58Z- AHRS_M2 msg: 1633880458.92 epoch sec; seqNo:379 2021-10-10T15:40:58Z- AHRS_M2 msg: -0.16 phi; -0.01 theta; 1.28 psi 2021-10-10T15:40:58Z- handleDepth()-Depth_Keller msg: 1633880458929 epoch sec; seqNo:381; depth 0.02 2021-10-10T15:40:58Z- handleDvl() - RDI_Pathfinder msg: 1633880458.96 epoch sec; seqNo:179 2021-10-10T15:40:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.24 , 97.79 , 97.79 , 86.79 2021-10-10T15:40:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , 0.24 , -0.06 2021-10-10T15:40:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880458.97 epoch sec; seqNo:382; 4061570.74 north; 594826.11 east 2021-10-10T15:40:59Z- AHRS_M2 msg: 1633880459.33 epoch sec; seqNo:380 2021-10-10T15:40:59Z- AHRS_M2 msg: -0.11 phi; 0.00 theta; 1.31 psi 2021-10-10T15:40:59Z- handleDepth()-Depth_Keller msg: 1633880459339 epoch sec; seqNo:382; depth 0.04 2021-10-10T15:40:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880459.36 epoch sec; seqNo:383; 4061570.36 north; 594826.11 east 2021-10-10T15:40:59Z- AHRS_M2 msg: 1633880459.73 epoch sec; seqNo:381 2021-10-10T15:40:59Z- AHRS_M2 msg: -0.07 phi; 0.02 theta; 1.33 psi 2021-10-10T15:40:59Z- handleDepth()-Depth_Keller msg: 1633880459740 epoch sec; seqNo:383; depth 0.05 2021-10-10T15:40:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880459.75 epoch sec; seqNo:384; 4061570.36 north; 594826.11 east 2021-10-10T15:41:00Z- AHRS_M2 msg: 1633880460.14 epoch sec; seqNo:382 2021-10-10T15:41:00Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 1.33 psi 2021-10-10T15:41:00Z- handleDepth()-Depth_Keller msg: 1633880460150 epoch sec; seqNo:384; depth 0.07 2021-10-10T15:41:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:00Z- handleDvl() - RDI_Pathfinder msg: 1633880460.15 epoch sec; seqNo:180 2021-10-10T15:41:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , 0.24 , -0.06 2021-10-10T15:41:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880460.16 epoch sec; seqNo:385; 4061570.36 north; 594826.11 east 2021-10-10T15:41:00Z- AHRS_M2 msg: 1633880460.54 epoch sec; seqNo:383 2021-10-10T15:41:00Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 1.34 psi 2021-10-10T15:41:00Z- handleDepth()-Depth_Keller msg: 1633880460554 epoch sec; seqNo:385; depth 0.06 2021-10-10T15:41:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880460.57 epoch sec; seqNo:386; 4061569.98 north; 594826.12 east 2021-10-10T15:41:00Z- AHRS_M2 msg: 1633880460.95 epoch sec; seqNo:384 2021-10-10T15:41:00Z- AHRS_M2 msg: 0.04 phi; -0.06 theta; 1.33 psi 2021-10-10T15:41:00Z- handleDepth()-Depth_Keller msg: 1633880460955 epoch sec; seqNo:386; depth 0.07 2021-10-10T15:41:00Z- handleDvl() - RDI_Pathfinder msg: 1633880460.98 epoch sec; seqNo:181 2021-10-10T15:41:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.64 , 99.15 , 99.15 , 85.57 2021-10-10T15:41:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.36 , 0.01 2021-10-10T15:41:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880461.00 epoch sec; seqNo:387; 4061570.36 north; 594826.11 east 2021-10-10T15:41:01Z- AHRS_M2 msg: 1633880461.35 epoch sec; seqNo:385 2021-10-10T15:41:01Z- AHRS_M2 msg: -0.00 phi; -0.03 theta; 1.32 psi 2021-10-10T15:41:01Z- handleDepth()-Depth_Keller msg: 1633880461358 epoch sec; seqNo:387; depth 0.07 2021-10-10T15:41:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:01Z- handleDvl() - RDI_Pathfinder msg: 1633880461.36 epoch sec; seqNo:182 2021-10-10T15:41:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.36 , 0.01 2021-10-10T15:41:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880461.38 epoch sec; seqNo:388; 4061570.36 north; 594826.11 east 2021-10-10T15:41:01Z- AHRS_M2 msg: 1633880461.75 epoch sec; seqNo:386 2021-10-10T15:41:01Z- AHRS_M2 msg: -0.07 phi; -0.00 theta; 1.33 psi 2021-10-10T15:41:01Z- handleDepth()-Depth_Keller msg: 1633880461759 epoch sec; seqNo:388; depth 0.06 2021-10-10T15:41:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880461.77 epoch sec; seqNo:389; 4061570.36 north; 594826.11 east 2021-10-10T15:41:02Z- AHRS_M2 msg: 1633880462.16 epoch sec; seqNo:387 2021-10-10T15:41:02Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.36 psi 2021-10-10T15:41:02Z- handleDepth()-Depth_Keller msg: 1633880462173 epoch sec; seqNo:389; depth 0.04 2021-10-10T15:41:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880462.18 epoch sec; seqNo:390; 4061570.36 north; 594826.11 east 2021-10-10T15:41:02Z- AHRS_M2 msg: 1633880462.56 epoch sec; seqNo:388 2021-10-10T15:41:02Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.36 psi 2021-10-10T15:41:02Z- handleDepth()-Depth_Keller msg: 1633880462571 epoch sec; seqNo:390; depth 0.03 2021-10-10T15:41:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:02Z- handleDvl() - RDI_Pathfinder msg: 1633880462.57 epoch sec; seqNo:183 2021-10-10T15:41:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:02Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.36 , 0.01 2021-10-10T15:41:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880462.58 epoch sec; seqNo:391; 4061570.74 north; 594826.11 east 2021-10-10T15:41:02Z- LcmTrn::handleMessages() - handling 45 messages took 0.71 ms and 130 calls... 2021-10-10T15:41:02Z- waiting for 1633880460.34, time is 1633880462.58 2021-10-10T15:41:02Z- LcmTrn::updateTrn() equating pose 1633880462.58 and meas times 1633880462.58 2021-10-10T15:41:02Z- LcmTrn::updateTrn() >>>> pose time 1633880462.58, meas time 1633880462.58 <<<< 2021-10-10T15:41:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880462.58, ping # 0. 2021-10-10T15:41:02Z- TerrainNav::Measurement type 1 from time = 1633880462.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:02Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594826.11, 0.03) 2021-10-10T15:41:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:02Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:02Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:02Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:02Z- AHRS_M2 msg: 1633880462.96 epoch sec; seqNo:389 2021-10-10T15:41:02Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 1.33 psi 2021-10-10T15:41:02Z- handleDepth()-Depth_Keller msg: 1633880462970 epoch sec; seqNo:391; depth 0.06 2021-10-10T15:41:03Z- handleDvl() - RDI_Pathfinder msg: 1633880462.99 epoch sec; seqNo:184 2021-10-10T15:41:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.57 , 97.72 , 96.36 , 85.50 2021-10-10T15:41:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.12 , 0.31 2021-10-10T15:41:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880463.02 epoch sec; seqNo:392; 4061570.74 north; 594826.11 east 2021-10-10T15:41:03Z- AHRS_M2 msg: 1633880463.37 epoch sec; seqNo:390 2021-10-10T15:41:03Z- AHRS_M2 msg: 0.00 phi; 0.01 theta; 1.33 psi 2021-10-10T15:41:03Z- handleDepth()-Depth_Keller msg: 1633880463376 epoch sec; seqNo:392; depth 0.05 2021-10-10T15:41:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880463.39 epoch sec; seqNo:393; 4061570.36 north; 594826.11 east 2021-10-10T15:41:03Z- AHRS_M2 msg: 1633880463.77 epoch sec; seqNo:391 2021-10-10T15:41:03Z- AHRS_M2 msg: -0.03 phi; 0.00 theta; 1.33 psi 2021-10-10T15:41:03Z- handleDepth()-Depth_Keller msg: 1633880463779 epoch sec; seqNo:393; depth 0.04 2021-10-10T15:41:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:03Z- handleDvl() - RDI_Pathfinder msg: 1633880463.78 epoch sec; seqNo:185 2021-10-10T15:41:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.12 , 0.31 2021-10-10T15:41:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880463.80 epoch sec; seqNo:394; 4061570.36 north; 594826.11 east 2021-10-10T15:41:04Z- AHRS_M2 msg: 1633880464.18 epoch sec; seqNo:392 2021-10-10T15:41:04Z- AHRS_M2 msg: -0.09 phi; -0.05 theta; 1.33 psi 2021-10-10T15:41:04Z- handleDepth()-Depth_Keller msg: 1633880464182 epoch sec; seqNo:394; depth 0.04 2021-10-10T15:41:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880464.19 epoch sec; seqNo:395; 4061570.35 north; 594824.89 east 2021-10-10T15:41:04Z- AHRS_M2 msg: 1633880464.59 epoch sec; seqNo:393 2021-10-10T15:41:04Z- AHRS_M2 msg: -0.16 phi; -0.06 theta; 1.33 psi 2021-10-10T15:41:04Z- handleDepth()-Depth_Keller msg: 1633880464589 epoch sec; seqNo:395; depth 0.06 2021-10-10T15:41:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880464.60 epoch sec; seqNo:396; 4061570.35 north; 594824.89 east 2021-10-10T15:41:04Z- AHRS_M2 msg: 1633880464.98 epoch sec; seqNo:394 2021-10-10T15:41:04Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 1.35 psi 2021-10-10T15:41:05Z- handleDepth()-Depth_Keller msg: 1633880465001 epoch sec; seqNo:396; depth 0.04 2021-10-10T15:41:05Z- handleDvl() - RDI_Pathfinder msg: 1633880465.02 epoch sec; seqNo:186 2021-10-10T15:41:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.00 , 96.43 , 97.79 , 85.57 2021-10-10T15:41:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.16 , -0.21 2021-10-10T15:41:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880465.03 epoch sec; seqNo:397; 4061570.35 north; 594824.89 east 2021-10-10T15:41:05Z- AHRS_M2 msg: 1633880465.39 epoch sec; seqNo:395 2021-10-10T15:41:05Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.34 psi 2021-10-10T15:41:05Z- handleDepth()-Depth_Keller msg: 1633880465399 epoch sec; seqNo:397; depth 0.02 2021-10-10T15:41:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880465.41 epoch sec; seqNo:398; 4061570.35 north; 594824.89 east 2021-10-10T15:41:05Z- AHRS_M2 msg: 1633880465.79 epoch sec; seqNo:396 2021-10-10T15:41:05Z- AHRS_M2 msg: 0.08 phi; 0.04 theta; 1.34 psi 2021-10-10T15:41:05Z- handleDepth()-Depth_Keller msg: 1633880465798 epoch sec; seqNo:398; depth 0.05 2021-10-10T15:41:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880465.81 epoch sec; seqNo:399; 4061569.97 north; 594824.90 east 2021-10-10T15:41:06Z- AHRS_M2 msg: 1633880466.20 epoch sec; seqNo:397 2021-10-10T15:41:06Z- AHRS_M2 msg: 0.17 phi; 0.03 theta; 1.34 psi 2021-10-10T15:41:06Z- handleDepth()-Depth_Keller msg: 1633880466208 epoch sec; seqNo:399; depth 0.07 2021-10-10T15:41:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880466.22 epoch sec; seqNo:400; 4061569.97 north; 594824.90 east 2021-10-10T15:41:06Z- AHRS_M2 msg: 1633880466.60 epoch sec; seqNo:398 2021-10-10T15:41:06Z- AHRS_M2 msg: 0.14 phi; 0.02 theta; 1.36 psi 2021-10-10T15:41:06Z- handleDepth()-Depth_Keller msg: 1633880466606 epoch sec; seqNo:400; depth 0.08 2021-10-10T15:41:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880466.63 epoch sec; seqNo:401; 4061569.97 north; 594824.90 east 2021-10-10T15:41:07Z- AHRS_M2 msg: 1633880467.00 epoch sec; seqNo:399 2021-10-10T15:41:07Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 1.37 psi 2021-10-10T15:41:07Z- handleDepth()-Depth_Keller msg: 1633880467009 epoch sec; seqNo:401; depth 0.07 2021-10-10T15:41:07Z- handleDvl() - RDI_Pathfinder msg: 1633880467.03 epoch sec; seqNo:187 2021-10-10T15:41:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:41:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880467.06 epoch sec; seqNo:402; 4061569.97 north; 594824.90 east 2021-10-10T15:41:07Z- AHRS_M2 msg: 1633880467.41 epoch sec; seqNo:400 2021-10-10T15:41:07Z- AHRS_M2 msg: -0.09 phi; -0.01 theta; 1.38 psi 2021-10-10T15:41:07Z- handleDepth()-Depth_Keller msg: 1633880467420 epoch sec; seqNo:402; depth 0.05 2021-10-10T15:41:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:07Z- handleDvl() - RDI_Pathfinder msg: 1633880467.42 epoch sec; seqNo:188 2021-10-10T15:41:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:41:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880467.44 epoch sec; seqNo:403; 4061569.59 north; 594824.90 east 2021-10-10T15:41:07Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls... 2021-10-10T15:41:07Z- waiting for 1633880465.58, time is 1633880467.44 2021-10-10T15:41:07Z- LcmTrn::updateTrn() equating pose 1633880467.44 and meas times 1633880467.44 2021-10-10T15:41:07Z- LcmTrn::updateTrn() >>>> pose time 1633880467.44, meas time 1633880467.44 <<<< 2021-10-10T15:41:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880467.44, ping # 0. 2021-10-10T15:41:07Z- TerrainNav::Measurement type 1 from time = 1633880467.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:07Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594824.90, 0.05) 2021-10-10T15:41:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:07Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:07Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:07Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:07Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:07Z- AHRS_M2 msg: 1633880467.81 epoch sec; seqNo:401 2021-10-10T15:41:07Z- AHRS_M2 msg: -0.13 phi; -0.04 theta; 1.40 psi 2021-10-10T15:41:07Z- handleDepth()-Depth_Keller msg: 1633880467824 epoch sec; seqNo:403; depth 0.05 2021-10-10T15:41:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880467.83 epoch sec; seqNo:404; 4061569.59 north; 594824.90 east 2021-10-10T15:41:08Z- AHRS_M2 msg: 1633880468.22 epoch sec; seqNo:402 2021-10-10T15:41:08Z- AHRS_M2 msg: -0.09 phi; -0.07 theta; 1.38 psi 2021-10-10T15:41:08Z- handleDepth()-Depth_Keller msg: 1633880468224 epoch sec; seqNo:404; depth 0.05 2021-10-10T15:41:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880468.24 epoch sec; seqNo:405; 4061569.59 north; 594824.90 east 2021-10-10T15:41:08Z- AHRS_M2 msg: 1633880468.62 epoch sec; seqNo:403 2021-10-10T15:41:08Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 1.35 psi 2021-10-10T15:41:08Z- handleDepth()-Depth_Keller msg: 1633880468631 epoch sec; seqNo:405; depth 0.06 2021-10-10T15:41:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:08Z- handleDvl() - RDI_Pathfinder msg: 1633880468.63 epoch sec; seqNo:189 2021-10-10T15:41:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:08Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:41:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880468.64 epoch sec; seqNo:406; 4061569.59 north; 594824.90 east 2021-10-10T15:41:09Z- AHRS_M2 msg: 1633880469.03 epoch sec; seqNo:404 2021-10-10T15:41:09Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.34 psi 2021-10-10T15:41:09Z- handleDepth()-Depth_Keller msg: 1633880469030 epoch sec; seqNo:406; depth 0.07 2021-10-10T15:41:09Z- handleDvl() - RDI_Pathfinder msg: 1633880469.06 epoch sec; seqNo:190 2021-10-10T15:41:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.93 , 103.23 , 96.43 , 88.29 2021-10-10T15:41:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.00 , 0.25 2021-10-10T15:41:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880469.10 epoch sec; seqNo:407; 4061569.59 north; 594824.90 east 2021-10-10T15:41:09Z- AHRS_M2 msg: 1633880469.43 epoch sec; seqNo:405 2021-10-10T15:41:09Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 1.34 psi 2021-10-10T15:41:09Z- handleDepth()-Depth_Keller msg: 1633880469442 epoch sec; seqNo:407; depth 0.02 2021-10-10T15:41:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880469.46 epoch sec; seqNo:408; 4061569.59 north; 594824.90 east 2021-10-10T15:41:09Z- AHRS_M2 msg: 1633880469.83 epoch sec; seqNo:406 2021-10-10T15:41:09Z- AHRS_M2 msg: 0.08 phi; -0.03 theta; 1.31 psi 2021-10-10T15:41:09Z- handleDepth()-Depth_Keller msg: 1633880469843 epoch sec; seqNo:408; depth 0.04 2021-10-10T15:41:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:09Z- handleDvl() - RDI_Pathfinder msg: 1633880469.85 epoch sec; seqNo:191 2021-10-10T15:41:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.00 , 0.25 2021-10-10T15:41:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880469.86 epoch sec; seqNo:409; 4061569.59 north; 594824.90 east 2021-10-10T15:41:10Z- AHRS_M2 msg: 1633880470.24 epoch sec; seqNo:407 2021-10-10T15:41:10Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 1.29 psi 2021-10-10T15:41:10Z- handleDepth()-Depth_Keller msg: 1633880470241 epoch sec; seqNo:409; depth 0.07 2021-10-10T15:41:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880470.25 epoch sec; seqNo:410; 4061569.20 north; 594823.68 east 2021-10-10T15:41:10Z- AHRS_M2 msg: 1633880470.65 epoch sec; seqNo:408 2021-10-10T15:41:10Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 1.34 psi 2021-10-10T15:41:10Z- handleDepth()-Depth_Keller msg: 1633880470654 epoch sec; seqNo:410; depth 0.06 2021-10-10T15:41:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880470.67 epoch sec; seqNo:411; 4061569.20 north; 594823.68 east 2021-10-10T15:41:11Z- AHRS_M2 msg: 1633880471.04 epoch sec; seqNo:409 2021-10-10T15:41:11Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 1.41 psi 2021-10-10T15:41:11Z- handleDepth()-Depth_Keller msg: 1633880471058 epoch sec; seqNo:411; depth 0.04 2021-10-10T15:41:11Z- handleDvl() - RDI_Pathfinder msg: 1633880471.08 epoch sec; seqNo:192 2021-10-10T15:41:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.65 , 0.00 , 96.29 , 88.15 2021-10-10T15:41:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.03 , 0.38 , -0.20 2021-10-10T15:41:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880471.09 epoch sec; seqNo:412; 4061569.20 north; 594823.68 east 2021-10-10T15:41:11Z- AHRS_M2 msg: 1633880471.45 epoch sec; seqNo:410 2021-10-10T15:41:11Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 1.38 psi 2021-10-10T15:41:11Z- handleDepth()-Depth_Keller msg: 1633880471457 epoch sec; seqNo:412; depth 0.08 2021-10-10T15:41:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880471.48 epoch sec; seqNo:413; 4061569.20 north; 594823.68 east 2021-10-10T15:41:11Z- AHRS_M2 msg: 1633880471.85 epoch sec; seqNo:411 2021-10-10T15:41:11Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 1.34 psi 2021-10-10T15:41:11Z- handleDepth()-Depth_Keller msg: 1633880471858 epoch sec; seqNo:413; depth 0.10 2021-10-10T15:41:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880471.87 epoch sec; seqNo:414; 4061568.82 north; 594823.69 east 2021-10-10T15:41:12Z- AHRS_M2 msg: 1633880472.26 epoch sec; seqNo:412 2021-10-10T15:41:12Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 1.33 psi 2021-10-10T15:41:12Z- handleDepth()-Depth_Keller msg: 1633880472263 epoch sec; seqNo:414; depth 0.08 2021-10-10T15:41:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:12Z- handleDvl() - RDI_Pathfinder msg: 1633880472.27 epoch sec; seqNo:193 2021-10-10T15:41:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.03 , 0.38 , -0.20 2021-10-10T15:41:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880472.27 epoch sec; seqNo:415; 4061568.82 north; 594823.69 east 2021-10-10T15:41:12Z- LcmTrn::handleMessages() - handling 41 messages took 0.68 ms and 127 calls... 2021-10-10T15:41:12Z- waiting for 1633880470.44, time is 1633880472.27 2021-10-10T15:41:12Z- LcmTrn::updateTrn() equating pose 1633880472.27 and meas times 1633880472.27 2021-10-10T15:41:12Z- LcmTrn::updateTrn() >>>> pose time 1633880472.27, meas time 1633880472.27 <<<< 2021-10-10T15:41:12Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880472.27, ping # 0. 2021-10-10T15:41:12Z- TerrainNav::Measurement type 1 from time = 1633880472.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:12Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594823.69, 0.08) 2021-10-10T15:41:12Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:12Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:12Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:12Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:12Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:12Z- AHRS_M2 msg: 1633880472.66 epoch sec; seqNo:413 2021-10-10T15:41:12Z- AHRS_M2 msg: 0.06 phi; -0.03 theta; 1.32 psi 2021-10-10T15:41:12Z- handleDepth()-Depth_Keller msg: 1633880472698 epoch sec; seqNo:415; depth 0.08 2021-10-10T15:41:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880472.74 epoch sec; seqNo:416; 4061568.44 north; 594823.69 east 2021-10-10T15:41:13Z- AHRS_M2 msg: 1633880473.06 epoch sec; seqNo:414 2021-10-10T15:41:13Z- AHRS_M2 msg: 0.10 phi; 0.01 theta; 1.30 psi 2021-10-10T15:41:13Z- handleDepth()-Depth_Keller msg: 1633880473076 epoch sec; seqNo:416; depth 0.08 2021-10-10T15:41:13Z- handleDvl() - RDI_Pathfinder msg: 1633880473.10 epoch sec; seqNo:194 2021-10-10T15:41:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.15 , 100.37 , 100.37 , 79.52 2021-10-10T15:41:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.36 , -0.05 2021-10-10T15:41:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880473.12 epoch sec; seqNo:417; 4061568.82 north; 594823.69 east 2021-10-10T15:41:13Z- AHRS_M2 msg: 1633880473.47 epoch sec; seqNo:415 2021-10-10T15:41:13Z- AHRS_M2 msg: 0.07 phi; 0.05 theta; 1.29 psi 2021-10-10T15:41:13Z- handleDepth()-Depth_Keller msg: 1633880473476 epoch sec; seqNo:417; depth 0.06 2021-10-10T15:41:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:13Z- handleDvl() - RDI_Pathfinder msg: 1633880473.48 epoch sec; seqNo:195 2021-10-10T15:41:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.36 , -0.05 2021-10-10T15:41:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880473.49 epoch sec; seqNo:418; 4061568.82 north; 594823.69 east 2021-10-10T15:41:13Z- AHRS_M2 msg: 1633880473.87 epoch sec; seqNo:416 2021-10-10T15:41:13Z- AHRS_M2 msg: 0.02 phi; 0.04 theta; 1.30 psi 2021-10-10T15:41:13Z- handleDepth()-Depth_Keller msg: 1633880473883 epoch sec; seqNo:418; depth 0.05 2021-10-10T15:41:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880473.89 epoch sec; seqNo:419; 4061568.82 north; 594823.69 east 2021-10-10T15:41:14Z- AHRS_M2 msg: 1633880474.28 epoch sec; seqNo:417 2021-10-10T15:41:14Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.31 psi 2021-10-10T15:41:14Z- handleDepth()-Depth_Keller msg: 1633880474281 epoch sec; seqNo:419; depth 0.03 2021-10-10T15:41:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880474.29 epoch sec; seqNo:420; 4061569.20 north; 594823.68 east 2021-10-10T15:41:14Z- AHRS_M2 msg: 1633880474.72 epoch sec; seqNo:418 2021-10-10T15:41:14Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.29 psi 2021-10-10T15:41:14Z- handleDepth()-Depth_Keller msg: 1633880474733 epoch sec; seqNo:420; depth 0.07 2021-10-10T15:41:14Z- handleDvl() - RDI_Pathfinder msg: 1633880474.75 epoch sec; seqNo:196 2021-10-10T15:41:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 92.83 , 96.50 , 79.53 2021-10-10T15:41:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.03 , -0.41 2021-10-10T15:41:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880474.78 epoch sec; seqNo:421; 4061569.20 north; 594823.68 east 2021-10-10T15:41:15Z- AHRS_M2 msg: 1633880475.09 epoch sec; seqNo:419 2021-10-10T15:41:15Z- AHRS_M2 msg: -0.00 phi; -0.04 theta; 1.29 psi 2021-10-10T15:41:15Z- handleDepth()-Depth_Keller msg: 1633880475095 epoch sec; seqNo:421; depth 0.07 2021-10-10T15:41:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880475.11 epoch sec; seqNo:422; 4061568.82 north; 594823.69 east 2021-10-10T15:41:15Z- AHRS_M2 msg: 1633880475.49 epoch sec; seqNo:420 2021-10-10T15:41:15Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 1.28 psi 2021-10-10T15:41:15Z- handleDepth()-Depth_Keller msg: 1633880475496 epoch sec; seqNo:422; depth 0.05 2021-10-10T15:41:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880475.51 epoch sec; seqNo:423; 4061568.82 north; 594823.69 east 2021-10-10T15:41:15Z- AHRS_M2 msg: 1633880475.90 epoch sec; seqNo:421 2021-10-10T15:41:15Z- AHRS_M2 msg: 0.03 phi; -0.09 theta; 1.27 psi 2021-10-10T15:41:15Z- handleDepth()-Depth_Keller msg: 1633880475917 epoch sec; seqNo:423; depth 0.07 2021-10-10T15:41:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:15Z- handleDvl() - RDI_Pathfinder msg: 1633880475.92 epoch sec; seqNo:197 2021-10-10T15:41:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.03 , -0.41 2021-10-10T15:41:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880475.93 epoch sec; seqNo:424; 4061568.82 north; 594823.69 east 2021-10-10T15:41:16Z- AHRS_M2 msg: 1633880476.30 epoch sec; seqNo:422 2021-10-10T15:41:16Z- AHRS_M2 msg: 0.07 phi; -0.10 theta; 1.26 psi 2021-10-10T15:41:16Z- handleDepth()-Depth_Keller msg: 1633880476301 epoch sec; seqNo:424; depth 0.11 2021-10-10T15:41:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880476.31 epoch sec; seqNo:425; 4061568.82 north; 594823.69 east 2021-10-10T15:41:16Z- AHRS_M2 msg: 1633880476.73 epoch sec; seqNo:423 2021-10-10T15:41:16Z- AHRS_M2 msg: 0.05 phi; -0.09 theta; 1.23 psi 2021-10-10T15:41:16Z- handleDepth()-Depth_Keller msg: 1633880476746 epoch sec; seqNo:425; depth 0.08 2021-10-10T15:41:16Z- handleDvl() - RDI_Pathfinder msg: 1633880476.77 epoch sec; seqNo:198 2021-10-10T15:41:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.39 , 89.17 , 97.72 , 89.17 2021-10-10T15:41:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.04 , 0.30 2021-10-10T15:41:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880476.78 epoch sec; seqNo:426; 4061568.82 north; 594823.69 east 2021-10-10T15:41:17Z- AHRS_M2 msg: 1633880477.11 epoch sec; seqNo:424 2021-10-10T15:41:17Z- AHRS_M2 msg: -0.00 phi; -0.11 theta; 1.22 psi 2021-10-10T15:41:17Z- handleDepth()-Depth_Keller msg: 1633880477111 epoch sec; seqNo:426; depth 0.08 2021-10-10T15:41:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:17Z- handleDvl() - RDI_Pathfinder msg: 1633880477.11 epoch sec; seqNo:199 2021-10-10T15:41:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.04 , 0.30 2021-10-10T15:41:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880477.13 epoch sec; seqNo:427; 4061568.81 north; 594822.47 east 2021-10-10T15:41:17Z- AHRS_M2 msg: 1633880477.51 epoch sec; seqNo:425 2021-10-10T15:41:17Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 1.21 psi 2021-10-10T15:41:17Z- handleDepth()-Depth_Keller msg: 1633880477521 epoch sec; seqNo:427; depth 0.09 2021-10-10T15:41:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880477.54 epoch sec; seqNo:428; 4061568.81 north; 594822.47 east 2021-10-10T15:41:17Z- LcmTrn::handleMessages() - handling 45 messages took 0.71 ms and 130 calls... 2021-10-10T15:41:17Z- waiting for 1633880475.27, time is 1633880477.54 2021-10-10T15:41:17Z- LcmTrn::updateTrn() >>>> pose time 1633880477.54, meas time 1633880477.11 <<<< 2021-10-10T15:41:17Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880477.11, ping # 0. 2021-10-10T15:41:17Z- TerrainNav::Measurement type 1 from time = 1633880477.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:17Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594822.47, 0.09) 2021-10-10T15:41:17Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:17Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:17Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:17Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:17Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:17Z- AHRS_M2 msg: 1633880477.92 epoch sec; seqNo:426 2021-10-10T15:41:17Z- AHRS_M2 msg: -0.06 phi; -0.06 theta; 1.18 psi 2021-10-10T15:41:17Z- handleDepth()-Depth_Keller msg: 1633880477926 epoch sec; seqNo:428; depth 0.05 2021-10-10T15:41:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880477.95 epoch sec; seqNo:429; 4061568.81 north; 594822.47 east 2021-10-10T15:41:18Z- AHRS_M2 msg: 1633880478.33 epoch sec; seqNo:427 2021-10-10T15:41:18Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 1.20 psi 2021-10-10T15:41:18Z- handleDepth()-Depth_Keller msg: 1633880478342 epoch sec; seqNo:429; depth 0.05 2021-10-10T15:41:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:18Z- handleDvl() - RDI_Pathfinder msg: 1633880478.35 epoch sec; seqNo:200 2021-10-10T15:41:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , -0.04 , 0.30 2021-10-10T15:41:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880478.37 epoch sec; seqNo:430; 4061568.81 north; 594822.47 east 2021-10-10T15:41:18Z- AHRS_M2 msg: 1633880478.74 epoch sec; seqNo:428 2021-10-10T15:41:18Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.22 psi 2021-10-10T15:41:18Z- handleDepth()-Depth_Keller msg: 1633880478745 epoch sec; seqNo:430; depth 0.06 2021-10-10T15:41:18Z- handleDvl() - RDI_Pathfinder msg: 1633880478.77 epoch sec; seqNo:201 2021-10-10T15:41:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.50 , 96.50 , 96.50 , 87.94 2021-10-10T15:41:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.23 , -0.11 2021-10-10T15:41:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880478.79 epoch sec; seqNo:431; 4061568.43 north; 594822.47 east 2021-10-10T15:41:19Z- AHRS_M2 msg: 1633880479.12 epoch sec; seqNo:429 2021-10-10T15:41:19Z- AHRS_M2 msg: -0.03 phi; -0.00 theta; 1.21 psi 2021-10-10T15:41:19Z- handleDepth()-Depth_Keller msg: 1633880479143 epoch sec; seqNo:431; depth 0.06 2021-10-10T15:41:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880479.16 epoch sec; seqNo:432; 4061568.43 north; 594822.47 east 2021-10-10T15:41:19Z- AHRS_M2 msg: 1633880479.53 epoch sec; seqNo:430 2021-10-10T15:41:19Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.19 psi 2021-10-10T15:41:19Z- handleDepth()-Depth_Keller msg: 1633880479536 epoch sec; seqNo:432; depth 0.03 2021-10-10T15:41:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:19Z- handleDvl() - RDI_Pathfinder msg: 1633880479.54 epoch sec; seqNo:202 2021-10-10T15:41:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.23 , -0.11 2021-10-10T15:41:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880479.57 epoch sec; seqNo:433; 4061568.43 north; 594822.47 east 2021-10-10T15:41:19Z- AHRS_M2 msg: 1633880479.94 epoch sec; seqNo:431 2021-10-10T15:41:19Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 1.19 psi 2021-10-10T15:41:19Z- handleDepth()-Depth_Keller msg: 1633880479957 epoch sec; seqNo:433; depth 0.04 2021-10-10T15:41:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880479.97 epoch sec; seqNo:434; 4061568.43 north; 594822.47 east 2021-10-10T15:41:20Z- AHRS_M2 msg: 1633880480.34 epoch sec; seqNo:432 2021-10-10T15:41:20Z- AHRS_M2 msg: -0.08 phi; 0.03 theta; 1.23 psi 2021-10-10T15:41:20Z- handleDepth()-Depth_Keller msg: 1633880480354 epoch sec; seqNo:434; depth 0.04 2021-10-10T15:41:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880480.39 epoch sec; seqNo:435; 4061568.43 north; 594822.47 east 2021-10-10T15:41:20Z- AHRS_M2 msg: 1633880480.74 epoch sec; seqNo:433 2021-10-10T15:41:20Z- AHRS_M2 msg: -0.03 phi; 0.05 theta; 1.26 psi 2021-10-10T15:41:20Z- handleDepth()-Depth_Keller msg: 1633880480752 epoch sec; seqNo:435; depth 0.04 2021-10-10T15:41:20Z- handleDvl() - RDI_Pathfinder msg: 1633880480.81 epoch sec; seqNo:203 2021-10-10T15:41:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.28 , 96.50 , 100.17 , 85.50 2021-10-10T15:41:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.36 , -0.31 2021-10-10T15:41:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880480.90 epoch sec; seqNo:436; 4061568.43 north; 594822.47 east 2021-10-10T15:41:21Z- AHRS_M2 msg: 1633880481.14 epoch sec; seqNo:434 2021-10-10T15:41:21Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 1.25 psi 2021-10-10T15:41:21Z- handleDepth()-Depth_Keller msg: 1633880481152 epoch sec; seqNo:436; depth 0.05 2021-10-10T15:41:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880481.20 epoch sec; seqNo:437; 4061568.43 north; 594822.47 east 2021-10-10T15:41:21Z- AHRS_M2 msg: 1633880481.55 epoch sec; seqNo:435 2021-10-10T15:41:21Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 1.23 psi 2021-10-10T15:41:21Z- handleDepth()-Depth_Keller msg: 1633880481556 epoch sec; seqNo:437; depth 0.07 2021-10-10T15:41:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880481.57 epoch sec; seqNo:438; 4061568.81 north; 594822.47 east 2021-10-10T15:41:21Z- AHRS_M2 msg: 1633880481.95 epoch sec; seqNo:436 2021-10-10T15:41:21Z- AHRS_M2 msg: 0.03 phi; -0.11 theta; 1.22 psi 2021-10-10T15:41:21Z- handleDepth()-Depth_Keller msg: 1633880481984 epoch sec; seqNo:438; depth 0.08 2021-10-10T15:41:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:21Z- handleDvl() - RDI_Pathfinder msg: 1633880481.99 epoch sec; seqNo:204 2021-10-10T15:41:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.36 , -0.31 2021-10-10T15:41:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880482.00 epoch sec; seqNo:439; 4061568.81 north; 594822.47 east 2021-10-10T15:41:22Z- AHRS_M2 msg: 1633880482.36 epoch sec; seqNo:437 2021-10-10T15:41:22Z- AHRS_M2 msg: 0.09 phi; -0.13 theta; 1.20 psi 2021-10-10T15:41:22Z- handleDepth()-Depth_Keller msg: 1633880482363 epoch sec; seqNo:439; depth 0.07 2021-10-10T15:41:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880482.41 epoch sec; seqNo:440; 4061569.18 north; 594822.46 east 2021-10-10T15:41:22Z- LcmTrn::handleMessages() - handling 41 messages took 0.73 ms and 126 calls... 2021-10-10T15:41:22Z- waiting for 1633880480.54, time is 1633880482.41 2021-10-10T15:41:22Z- LcmTrn::updateTrn() >>>> pose time 1633880482.41, meas time 1633880481.99 <<<< 2021-10-10T15:41:22Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880481.99, ping # 0. 2021-10-10T15:41:22Z- TerrainNav::Measurement type 1 from time = 1633880481.99 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:22Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594822.46, 0.07) 2021-10-10T15:41:22Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:22Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:22Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:22Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:22Z- AHRS_M2 msg: 1633880482.77 epoch sec; seqNo:438 2021-10-10T15:41:22Z- AHRS_M2 msg: 0.11 phi; -0.15 theta; 1.18 psi 2021-10-10T15:41:22Z- handleDepth()-Depth_Keller msg: 1633880482780 epoch sec; seqNo:440; depth 0.05 2021-10-10T15:41:22Z- handleDvl() - RDI_Pathfinder msg: 1633880482.86 epoch sec; seqNo:205 2021-10-10T15:41:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.94 , 92.83 , 92.83 , 90.39 2021-10-10T15:41:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.17 , 0.92 2021-10-10T15:41:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880482.92 epoch sec; seqNo:441; 4061569.18 north; 594822.46 east 2021-10-10T15:41:23Z- AHRS_M2 msg: 1633880483.17 epoch sec; seqNo:439 2021-10-10T15:41:23Z- AHRS_M2 msg: 0.10 phi; -0.13 theta; 1.16 psi 2021-10-10T15:41:23Z- handleDepth()-Depth_Keller msg: 1633880483176 epoch sec; seqNo:441; depth 0.06 2021-10-10T15:41:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:23Z- handleDvl() - RDI_Pathfinder msg: 1633880483.18 epoch sec; seqNo:206 2021-10-10T15:41:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.17 , 0.92 2021-10-10T15:41:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880483.23 epoch sec; seqNo:442; 4061569.18 north; 594822.46 east 2021-10-10T15:41:23Z- AHRS_M2 msg: 1633880483.57 epoch sec; seqNo:440 2021-10-10T15:41:23Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.15 psi 2021-10-10T15:41:23Z- handleDepth()-Depth_Keller msg: 1633880483579 epoch sec; seqNo:442; depth 0.07 2021-10-10T15:41:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880483.62 epoch sec; seqNo:443; 4061569.18 north; 594822.46 east 2021-10-10T15:41:23Z- AHRS_M2 msg: 1633880483.98 epoch sec; seqNo:441 2021-10-10T15:41:23Z- AHRS_M2 msg: -0.10 phi; 0.05 theta; 1.14 psi 2021-10-10T15:41:23Z- handleDepth()-Depth_Keller msg: 1633880483984 epoch sec; seqNo:443; depth 0.04 2021-10-10T15:41:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880484.00 epoch sec; seqNo:444; 4061568.81 north; 594822.47 east 2021-10-10T15:41:24Z- AHRS_M2 msg: 1633880484.38 epoch sec; seqNo:442 2021-10-10T15:41:24Z- AHRS_M2 msg: -0.13 phi; 0.08 theta; 1.18 psi 2021-10-10T15:41:24Z- handleDepth()-Depth_Keller msg: 1633880484388 epoch sec; seqNo:444; depth 0.02 2021-10-10T15:41:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:24Z- handleDvl() - RDI_Pathfinder msg: 1633880484.39 epoch sec; seqNo:207 2021-10-10T15:41:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.17 , 0.92 2021-10-10T15:41:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880484.40 epoch sec; seqNo:445; 4061568.79 north; 594821.25 east 2021-10-10T15:41:24Z- AHRS_M2 msg: 1633880484.79 epoch sec; seqNo:443 2021-10-10T15:41:24Z- AHRS_M2 msg: -0.05 phi; 0.06 theta; 1.21 psi 2021-10-10T15:41:24Z- handleDepth()-Depth_Keller msg: 1633880484791 epoch sec; seqNo:445; depth 0.04 2021-10-10T15:41:24Z- handleDvl() - RDI_Pathfinder msg: 1633880484.83 epoch sec; seqNo:208 2021-10-10T15:41:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 102.68 , 100.24 , 84.35 2021-10-10T15:41:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.45 , 0.75 , -0.33 2021-10-10T15:41:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880484.87 epoch sec; seqNo:446; 4061568.81 north; 594822.47 east 2021-10-10T15:41:25Z- AHRS_M2 msg: 1633880485.19 epoch sec; seqNo:444 2021-10-10T15:41:25Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.23 psi 2021-10-10T15:41:25Z- handleDepth()-Depth_Keller msg: 1633880485196 epoch sec; seqNo:446; depth 0.08 2021-10-10T15:41:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880485.23 epoch sec; seqNo:447; 4061568.43 north; 594822.47 east 2021-10-10T15:41:25Z- AHRS_M2 msg: 1633880485.59 epoch sec; seqNo:445 2021-10-10T15:41:25Z- AHRS_M2 msg: 0.02 phi; -0.00 theta; 1.24 psi 2021-10-10T15:41:25Z- handleDepth()-Depth_Keller msg: 1633880485604 epoch sec; seqNo:447; depth 0.08 2021-10-10T15:41:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:25Z- handleDvl() - RDI_Pathfinder msg: 1633880485.61 epoch sec; seqNo:209 2021-10-10T15:41:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.45 , 0.75 , -0.33 2021-10-10T15:41:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880485.61 epoch sec; seqNo:448; 4061568.43 north; 594822.47 east 2021-10-10T15:41:26Z- AHRS_M2 msg: 1633880486.01 epoch sec; seqNo:446 2021-10-10T15:41:26Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.25 psi 2021-10-10T15:41:26Z- handleDepth()-Depth_Keller msg: 1633880486010 epoch sec; seqNo:448; depth 0.09 2021-10-10T15:41:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880486.02 epoch sec; seqNo:449; 4061568.05 north; 594822.48 east 2021-10-10T15:41:26Z- AHRS_M2 msg: 1633880486.40 epoch sec; seqNo:447 2021-10-10T15:41:26Z- AHRS_M2 msg: 0.01 phi; -0.11 theta; 1.25 psi 2021-10-10T15:41:26Z- handleDepth()-Depth_Keller msg: 1633880486407 epoch sec; seqNo:449; depth 0.08 2021-10-10T15:41:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880486.42 epoch sec; seqNo:450; 4061567.68 north; 594823.70 east 2021-10-10T15:41:26Z- AHRS_M2 msg: 1633880486.81 epoch sec; seqNo:448 2021-10-10T15:41:26Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 1.23 psi 2021-10-10T15:41:26Z- handleDepth()-Depth_Keller msg: 1633880486817 epoch sec; seqNo:450; depth 0.10 2021-10-10T15:41:26Z- handleDvl() - RDI_Pathfinder msg: 1633880486.84 epoch sec; seqNo:210 2021-10-10T15:41:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.52 , 92.08 , 96.16 , 86.65 2021-10-10T15:41:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.18 , -0.36 2021-10-10T15:41:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880486.85 epoch sec; seqNo:451; 4061567.67 north; 594822.48 east 2021-10-10T15:41:27Z- AHRS_M2 msg: 1633880487.21 epoch sec; seqNo:449 2021-10-10T15:41:27Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 1.20 psi 2021-10-10T15:41:27Z- handleDepth()-Depth_Keller msg: 1633880487220 epoch sec; seqNo:451; depth 0.09 2021-10-10T15:41:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880487.24 epoch sec; seqNo:452; 4061567.67 north; 594822.48 east 2021-10-10T15:41:27Z- AHRS_M2 msg: 1633880487.61 epoch sec; seqNo:450 2021-10-10T15:41:27Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.21 psi 2021-10-10T15:41:27Z- handleDepth()-Depth_Keller msg: 1633880487620 epoch sec; seqNo:452; depth 0.06 2021-10-10T15:41:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880487.63 epoch sec; seqNo:453; 4061567.67 north; 594822.48 east 2021-10-10T15:41:27Z- LcmTrn::handleMessages() - handling 45 messages took 0.75 ms and 130 calls... 2021-10-10T15:41:27Z- waiting for 1633880485.41, time is 1633880487.63 2021-10-10T15:41:27Z- LcmTrn::updateTrn() >>>> pose time 1633880487.63, meas time 1633880486.84 <<<< 2021-10-10T15:41:27Z- TerrainNav::Measurement type 1 from time = 1633880486.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:41:27Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594822.48, 0.06) 2021-10-10T15:41:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:27Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:27Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:27Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:28Z- AHRS_M2 msg: 1633880488.02 epoch sec; seqNo:451 2021-10-10T15:41:28Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.26 psi 2021-10-10T15:41:28Z- handleDepth()-Depth_Keller msg: 1633880488022 epoch sec; seqNo:453; depth 0.05 2021-10-10T15:41:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:28Z- handleDvl() - RDI_Pathfinder msg: 1633880488.03 epoch sec; seqNo:211 2021-10-10T15:41:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.18 , -0.36 2021-10-10T15:41:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880488.03 epoch sec; seqNo:454; 4061567.67 north; 594822.48 east 2021-10-10T15:41:28Z- AHRS_M2 msg: 1633880488.42 epoch sec; seqNo:452 2021-10-10T15:41:28Z- AHRS_M2 msg: 0.06 phi; -0.10 theta; 1.28 psi 2021-10-10T15:41:28Z- handleDepth()-Depth_Keller msg: 1633880488438 epoch sec; seqNo:454; depth 0.05 2021-10-10T15:41:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880488.45 epoch sec; seqNo:455; 4061567.67 north; 594822.48 east 2021-10-10T15:41:28Z- AHRS_M2 msg: 1633880488.83 epoch sec; seqNo:453 2021-10-10T15:41:28Z- AHRS_M2 msg: 0.11 phi; -0.09 theta; 1.24 psi 2021-10-10T15:41:28Z- handleDepth()-Depth_Keller msg: 1633880488836 epoch sec; seqNo:455; depth 0.09 2021-10-10T15:41:28Z- handleDvl() - RDI_Pathfinder msg: 1633880488.86 epoch sec; seqNo:212 2021-10-10T15:41:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.86 , 97.72 , 96.37 , 0.00 2021-10-10T15:41:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.14 , -0.19 2021-10-10T15:41:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880488.88 epoch sec; seqNo:456; 4061567.67 north; 594822.48 east 2021-10-10T15:41:29Z- AHRS_M2 msg: 1633880489.23 epoch sec; seqNo:454 2021-10-10T15:41:29Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.20 psi 2021-10-10T15:41:29Z- handleDepth()-Depth_Keller msg: 1633880489236 epoch sec; seqNo:456; depth 0.08 2021-10-10T15:41:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:29Z- handleDvl() - RDI_Pathfinder msg: 1633880489.24 epoch sec; seqNo:213 2021-10-10T15:41:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.14 , -0.19 2021-10-10T15:41:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880489.25 epoch sec; seqNo:457; 4061567.66 north; 594821.26 east 2021-10-10T15:41:29Z- AHRS_M2 msg: 1633880489.63 epoch sec; seqNo:455 2021-10-10T15:41:29Z- AHRS_M2 msg: 0.04 phi; 0.04 theta; 1.22 psi 2021-10-10T15:41:29Z- handleDepth()-Depth_Keller msg: 1633880489638 epoch sec; seqNo:457; depth 0.06 2021-10-10T15:41:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880489.65 epoch sec; seqNo:458; 4061567.66 north; 594821.26 east 2021-10-10T15:41:30Z- AHRS_M2 msg: 1633880490.04 epoch sec; seqNo:456 2021-10-10T15:41:30Z- AHRS_M2 msg: 0.10 phi; 0.01 theta; 1.25 psi 2021-10-10T15:41:30Z- handleDepth()-Depth_Keller msg: 1633880490053 epoch sec; seqNo:458; depth 0.05 2021-10-10T15:41:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880490.06 epoch sec; seqNo:459; 4061567.66 north; 594821.26 east 2021-10-10T15:41:30Z- AHRS_M2 msg: 1633880490.44 epoch sec; seqNo:457 2021-10-10T15:41:30Z- AHRS_M2 msg: 0.19 phi; -0.04 theta; 1.19 psi 2021-10-10T15:41:30Z- handleDepth()-Depth_Keller msg: 1633880490449 epoch sec; seqNo:459; depth 0.08 2021-10-10T15:41:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:30Z- handleDvl() - RDI_Pathfinder msg: 1633880490.45 epoch sec; seqNo:214 2021-10-10T15:41:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.14 , -0.19 2021-10-10T15:41:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880490.46 epoch sec; seqNo:460; 4061567.66 north; 594821.26 east 2021-10-10T15:41:30Z- AHRS_M2 msg: 1633880490.85 epoch sec; seqNo:458 2021-10-10T15:41:30Z- AHRS_M2 msg: 0.18 phi; -0.03 theta; 1.18 psi 2021-10-10T15:41:30Z- handleDepth()-Depth_Keller msg: 1633880490852 epoch sec; seqNo:460; depth 0.07 2021-10-10T15:41:30Z- handleDvl() - RDI_Pathfinder msg: 1633880490.87 epoch sec; seqNo:215 2021-10-10T15:41:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 89.57 , 99.08 , 84.14 2021-10-10T15:41:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.07 , 0.51 2021-10-10T15:41:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880490.90 epoch sec; seqNo:461; 4061567.66 north; 594821.26 east 2021-10-10T15:41:31Z- AHRS_M2 msg: 1633880491.25 epoch sec; seqNo:459 2021-10-10T15:41:31Z- AHRS_M2 msg: 0.08 phi; -0.05 theta; 1.17 psi 2021-10-10T15:41:31Z- handleDepth()-Depth_Keller msg: 1633880491260 epoch sec; seqNo:461; depth 0.05 2021-10-10T15:41:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880491.27 epoch sec; seqNo:462; 4061567.66 north; 594821.26 east 2021-10-10T15:41:31Z- AHRS_M2 msg: 1633880491.65 epoch sec; seqNo:460 2021-10-10T15:41:31Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 1.15 psi 2021-10-10T15:41:31Z- handleDepth()-Depth_Keller msg: 1633880491666 epoch sec; seqNo:462; depth 0.03 2021-10-10T15:41:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:31Z- handleDvl() - RDI_Pathfinder msg: 1633880491.67 epoch sec; seqNo:216 2021-10-10T15:41:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.07 , 0.51 2021-10-10T15:41:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880491.70 epoch sec; seqNo:463; 4061567.66 north; 594821.26 east 2021-10-10T15:41:32Z- AHRS_M2 msg: 1633880492.06 epoch sec; seqNo:461 2021-10-10T15:41:32Z- AHRS_M2 msg: -0.16 phi; -0.07 theta; 1.13 psi 2021-10-10T15:41:32Z- handleDepth()-Depth_Keller msg: 1633880492064 epoch sec; seqNo:463; depth 0.04 2021-10-10T15:41:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880492.07 epoch sec; seqNo:464; 4061567.66 north; 594821.26 east 2021-10-10T15:41:32Z- AHRS_M2 msg: 1633880492.46 epoch sec; seqNo:462 2021-10-10T15:41:32Z- AHRS_M2 msg: -0.21 phi; -0.04 theta; 1.11 psi 2021-10-10T15:41:32Z- handleDepth()-Depth_Keller msg: 1633880492468 epoch sec; seqNo:464; depth 0.02 2021-10-10T15:41:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880492.48 epoch sec; seqNo:465; 4061567.66 north; 594821.26 east 2021-10-10T15:41:32Z- LcmTrn::handleMessages() - handling 42 messages took 0.75 ms and 127 calls... 2021-10-10T15:41:32Z- waiting for 1633880490.63, time is 1633880492.48 2021-10-10T15:41:32Z- LcmTrn::updateTrn() >>>> pose time 1633880492.48, meas time 1633880491.67 <<<< 2021-10-10T15:41:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880491.67, ping # 0. 2021-10-10T15:41:32Z- TerrainNav::Measurement type 1 from time = 1633880491.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:32Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594821.26, 0.02) 2021-10-10T15:41:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:32Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:32Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:32Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:32Z- AHRS_M2 msg: 1633880492.87 epoch sec; seqNo:463 2021-10-10T15:41:32Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 1.08 psi 2021-10-10T15:41:32Z- handleDepth()-Depth_Keller msg: 1633880492871 epoch sec; seqNo:465; depth 0.05 2021-10-10T15:41:32Z- handleDvl() - RDI_Pathfinder msg: 1633880492.89 epoch sec; seqNo:217 2021-10-10T15:41:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.49 , 107.30 , 97.79 , 89.64 2021-10-10T15:41:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.28 , -0.14 2021-10-10T15:41:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880492.90 epoch sec; seqNo:466; 4061567.66 north; 594821.26 east 2021-10-10T15:41:33Z- AHRS_M2 msg: 1633880493.27 epoch sec; seqNo:464 2021-10-10T15:41:33Z- AHRS_M2 msg: -0.14 phi; 0.03 theta; 1.11 psi 2021-10-10T15:41:33Z- handleDepth()-Depth_Keller msg: 1633880493281 epoch sec; seqNo:466; depth 0.05 2021-10-10T15:41:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880493.30 epoch sec; seqNo:467; 4061567.66 north; 594821.26 east 2021-10-10T15:41:33Z- AHRS_M2 msg: 1633880493.67 epoch sec; seqNo:465 2021-10-10T15:41:33Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.11 psi 2021-10-10T15:41:33Z- handleDepth()-Depth_Keller msg: 1633880493684 epoch sec; seqNo:467; depth 0.04 2021-10-10T15:41:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880493.70 epoch sec; seqNo:468; 4061567.28 north; 594821.26 east 2021-10-10T15:41:34Z- AHRS_M2 msg: 1633880494.08 epoch sec; seqNo:466 2021-10-10T15:41:34Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 1.09 psi 2021-10-10T15:41:34Z- handleDepth()-Depth_Keller msg: 1633880494087 epoch sec; seqNo:468; depth 0.05 2021-10-10T15:41:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:34Z- handleDvl() - RDI_Pathfinder msg: 1633880494.09 epoch sec; seqNo:218 2021-10-10T15:41:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.28 , -0.14 2021-10-10T15:41:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880494.10 epoch sec; seqNo:469; 4061567.28 north; 594821.26 east 2021-10-10T15:41:34Z- handleDepth()-Depth_Keller msg: 1633880494535 epoch sec; seqNo:469; depth 0.04 2021-10-10T15:41:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880494.54 epoch sec; seqNo:470; 4061567.28 north; 594821.26 east 2021-10-10T15:41:34Z- handleDepth()-Depth_Keller msg: 1633880494903 epoch sec; seqNo:470; depth 0.04 2021-10-10T15:41:34Z- handleDvl() - RDI_Pathfinder msg: 1633880494.92 epoch sec; seqNo:219 2021-10-10T15:41:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.50 , 93.58 , 96.29 , 86.79 2021-10-10T15:41:34Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.19 , -0.12 2021-10-10T15:41:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880494.94 epoch sec; seqNo:471; 4061567.28 north; 594821.26 east 2021-10-10T15:41:35Z- AHRS_M2 msg: 1633880495.29 epoch sec; seqNo:467 2021-10-10T15:41:35Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 1.02 psi 2021-10-10T15:41:35Z- handleDepth()-Depth_Keller msg: 1633880495301 epoch sec; seqNo:471; depth 0.03 2021-10-10T15:41:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:35Z- handleDvl() - RDI_Pathfinder msg: 1633880495.30 epoch sec; seqNo:220 2021-10-10T15:41:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.19 , -0.12 2021-10-10T15:41:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880495.33 epoch sec; seqNo:472; 4061567.28 north; 594821.26 east 2021-10-10T15:41:35Z- AHRS_M2 msg: 1633880495.70 epoch sec; seqNo:468 2021-10-10T15:41:35Z- AHRS_M2 msg: -0.09 phi; 0.00 theta; 1.04 psi 2021-10-10T15:41:35Z- handleDepth()-Depth_Keller msg: 1633880495707 epoch sec; seqNo:472; depth 0.04 2021-10-10T15:41:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880495.72 epoch sec; seqNo:473; 4061567.28 north; 594821.26 east 2021-10-10T15:41:36Z- AHRS_M2 msg: 1633880496.10 epoch sec; seqNo:469 2021-10-10T15:41:36Z- AHRS_M2 msg: -0.09 phi; 0.01 theta; 1.08 psi 2021-10-10T15:41:36Z- handleDepth()-Depth_Keller msg: 1633880496107 epoch sec; seqNo:473; depth 0.05 2021-10-10T15:41:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880496.12 epoch sec; seqNo:474; 4061567.28 north; 594821.26 east 2021-10-10T15:41:36Z- AHRS_M2 msg: 1633880496.50 epoch sec; seqNo:470 2021-10-10T15:41:36Z- AHRS_M2 msg: -0.12 phi; 0.01 theta; 1.07 psi 2021-10-10T15:41:36Z- handleDepth()-Depth_Keller msg: 1633880496506 epoch sec; seqNo:474; depth 0.05 2021-10-10T15:41:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:36Z- handleDvl() - RDI_Pathfinder msg: 1633880496.51 epoch sec; seqNo:221 2021-10-10T15:41:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.19 , -0.12 2021-10-10T15:41:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880496.53 epoch sec; seqNo:475; 4061567.28 north; 594821.26 east 2021-10-10T15:41:36Z- AHRS_M2 msg: 1633880496.90 epoch sec; seqNo:471 2021-10-10T15:41:36Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 1.05 psi 2021-10-10T15:41:36Z- handleDepth()-Depth_Keller msg: 1633880496912 epoch sec; seqNo:475; depth 0.04 2021-10-10T15:41:36Z- handleDvl() - RDI_Pathfinder msg: 1633880496.94 epoch sec; seqNo:222 2021-10-10T15:41:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.28 , 96.50 , 100.17 , 86.72 2021-10-10T15:41:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , 0.19 , -0.45 2021-10-10T15:41:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880496.95 epoch sec; seqNo:476; 4061567.28 north; 594821.26 east 2021-10-10T15:41:37Z- AHRS_M2 msg: 1633880497.31 epoch sec; seqNo:472 2021-10-10T15:41:37Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 1.06 psi 2021-10-10T15:41:37Z- handleDepth()-Depth_Keller msg: 1633880497313 epoch sec; seqNo:476; depth 0.05 2021-10-10T15:41:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880497.33 epoch sec; seqNo:477; 4061567.28 north; 594821.26 east 2021-10-10T15:41:37Z- AHRS_M2 msg: 1633880497.71 epoch sec; seqNo:473 2021-10-10T15:41:37Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.05 psi 2021-10-10T15:41:37Z- handleDepth()-Depth_Keller msg: 1633880497719 epoch sec; seqNo:477; depth 0.05 2021-10-10T15:41:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:37Z- handleDvl() - RDI_Pathfinder msg: 1633880497.72 epoch sec; seqNo:223 2021-10-10T15:41:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , 0.19 , -0.45 2021-10-10T15:41:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880497.73 epoch sec; seqNo:478; 4061567.28 north; 594821.26 east 2021-10-10T15:41:37Z- LcmTrn::handleMessages() - handling 44 messages took 0.59 ms and 132 calls... 2021-10-10T15:41:37Z- waiting for 1633880495.48, time is 1633880497.73 2021-10-10T15:41:37Z- LcmTrn::updateTrn() equating pose 1633880497.73 and meas times 1633880497.73 2021-10-10T15:41:37Z- LcmTrn::updateTrn() >>>> pose time 1633880497.73, meas time 1633880497.73 <<<< 2021-10-10T15:41:37Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880497.73, ping # 0. 2021-10-10T15:41:37Z- TerrainNav::Measurement type 1 from time = 1633880497.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:37Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594821.26, 0.05) 2021-10-10T15:41:37Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:37Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:37Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:37Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:38Z- AHRS_M2 msg: 1633880498.12 epoch sec; seqNo:474 2021-10-10T15:41:38Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 1.02 psi 2021-10-10T15:41:38Z- handleDepth()-Depth_Keller msg: 1633880498121 epoch sec; seqNo:478; depth 0.06 2021-10-10T15:41:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880498.14 epoch sec; seqNo:479; 4061567.28 north; 594821.26 east 2021-10-10T15:41:38Z- AHRS_M2 msg: 1633880498.52 epoch sec; seqNo:475 2021-10-10T15:41:38Z- AHRS_M2 msg: -0.02 phi; 0.00 theta; 1.00 psi 2021-10-10T15:41:38Z- handleDepth()-Depth_Keller msg: 1633880498525 epoch sec; seqNo:479; depth 0.05 2021-10-10T15:41:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880498.54 epoch sec; seqNo:480; 4061567.28 north; 594821.26 east 2021-10-10T15:41:38Z- AHRS_M2 msg: 1633880498.92 epoch sec; seqNo:476 2021-10-10T15:41:38Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 1.03 psi 2021-10-10T15:41:38Z- handleDepth()-Depth_Keller msg: 1633880498935 epoch sec; seqNo:480; depth 0.05 2021-10-10T15:41:38Z- handleDvl() - RDI_Pathfinder msg: 1633880498.96 epoch sec; seqNo:224 2021-10-10T15:41:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 96.50 , 97.72 , 86.72 2021-10-10T15:41:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , -0.30 , 0.30 2021-10-10T15:41:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880498.97 epoch sec; seqNo:481; 4061567.28 north; 594821.26 east 2021-10-10T15:41:39Z- AHRS_M2 msg: 1633880499.33 epoch sec; seqNo:477 2021-10-10T15:41:39Z- AHRS_M2 msg: -0.08 phi; 0.02 theta; 1.05 psi 2021-10-10T15:41:39Z- handleDepth()-Depth_Keller msg: 1633880499334 epoch sec; seqNo:481; depth 0.03 2021-10-10T15:41:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880499.35 epoch sec; seqNo:482; 4061567.28 north; 594821.26 east 2021-10-10T15:41:39Z- AHRS_M2 msg: 1633880499.73 epoch sec; seqNo:478 2021-10-10T15:41:39Z- AHRS_M2 msg: -0.05 phi; 0.00 theta; 1.03 psi 2021-10-10T15:41:39Z- handleDepth()-Depth_Keller msg: 1633880499740 epoch sec; seqNo:482; depth 0.04 2021-10-10T15:41:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880499.76 epoch sec; seqNo:483; 4061567.28 north; 594821.26 east 2021-10-10T15:41:40Z- AHRS_M2 msg: 1633880500.14 epoch sec; seqNo:479 2021-10-10T15:41:40Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.02 psi 2021-10-10T15:41:40Z- handleDepth()-Depth_Keller msg: 1633880500141 epoch sec; seqNo:483; depth 0.04 2021-10-10T15:41:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:40Z- handleDvl() - RDI_Pathfinder msg: 1633880500.14 epoch sec; seqNo:225 2021-10-10T15:41:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , -0.30 , 0.30 2021-10-10T15:41:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880500.15 epoch sec; seqNo:484; 4061567.64 north; 594820.04 east 2021-10-10T15:41:40Z- AHRS_M2 msg: 1633880500.54 epoch sec; seqNo:480 2021-10-10T15:41:40Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 1.03 psi 2021-10-10T15:41:40Z- handleDepth()-Depth_Keller msg: 1633880500551 epoch sec; seqNo:484; depth 0.07 2021-10-10T15:41:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880500.56 epoch sec; seqNo:485; 4061567.64 north; 594820.04 east 2021-10-10T15:41:40Z- AHRS_M2 msg: 1633880500.95 epoch sec; seqNo:481 2021-10-10T15:41:40Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.02 psi 2021-10-10T15:41:40Z- handleDepth()-Depth_Keller msg: 1633880500955 epoch sec; seqNo:485; depth 0.07 2021-10-10T15:41:40Z- handleDvl() - RDI_Pathfinder msg: 1633880500.97 epoch sec; seqNo:226 2021-10-10T15:41:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.50 , 96.37 , 96.37 , 86.86 2021-10-10T15:41:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.20 , 0.28 2021-10-10T15:41:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880500.99 epoch sec; seqNo:486; 4061567.64 north; 594820.04 east 2021-10-10T15:41:41Z- AHRS_M2 msg: 1633880501.35 epoch sec; seqNo:482 2021-10-10T15:41:41Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.02 psi 2021-10-10T15:41:41Z- handleDepth()-Depth_Keller msg: 1633880501359 epoch sec; seqNo:486; depth 0.06 2021-10-10T15:41:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:41Z- handleDvl() - RDI_Pathfinder msg: 1633880501.36 epoch sec; seqNo:227 2021-10-10T15:41:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.20 , 0.28 2021-10-10T15:41:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880501.38 epoch sec; seqNo:487; 4061567.64 north; 594820.04 east 2021-10-10T15:41:41Z- AHRS_M2 msg: 1633880501.75 epoch sec; seqNo:483 2021-10-10T15:41:41Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 1.02 psi 2021-10-10T15:41:41Z- handleDepth()-Depth_Keller msg: 1633880501760 epoch sec; seqNo:487; depth 0.05 2021-10-10T15:41:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880501.78 epoch sec; seqNo:488; 4061567.64 north; 594820.04 east 2021-10-10T15:41:42Z- AHRS_M2 msg: 1633880502.16 epoch sec; seqNo:484 2021-10-10T15:41:42Z- AHRS_M2 msg: -0.14 phi; -0.01 theta; 1.02 psi 2021-10-10T15:41:42Z- handleDepth()-Depth_Keller msg: 1633880502163 epoch sec; seqNo:488; depth 0.03 2021-10-10T15:41:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880502.17 epoch sec; seqNo:489; 4061567.64 north; 594820.04 east 2021-10-10T15:41:42Z- AHRS_M2 msg: 1633880502.56 epoch sec; seqNo:485 2021-10-10T15:41:42Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 1.03 psi 2021-10-10T15:41:42Z- handleDepth()-Depth_Keller msg: 1633880502573 epoch sec; seqNo:489; depth 0.02 2021-10-10T15:41:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:42Z- handleDvl() - RDI_Pathfinder msg: 1633880502.58 epoch sec; seqNo:228 2021-10-10T15:41:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.20 , 0.28 2021-10-10T15:41:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880502.58 epoch sec; seqNo:490; 4061567.64 north; 594820.04 east 2021-10-10T15:41:42Z- LcmTrn::handleMessages() - handling 41 messages took 0.70 ms and 127 calls... 2021-10-10T15:41:42Z- waiting for 1633880500.73, time is 1633880502.58 2021-10-10T15:41:42Z- LcmTrn::updateTrn() equating pose 1633880502.58 and meas times 1633880502.58 2021-10-10T15:41:42Z- LcmTrn::updateTrn() >>>> pose time 1633880502.58, meas time 1633880502.58 <<<< 2021-10-10T15:41:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880502.58, ping # 0. 2021-10-10T15:41:42Z- TerrainNav::Measurement type 1 from time = 1633880502.58 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:42Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594820.04, 0.02) 2021-10-10T15:41:42Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:42Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:42Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:42Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:42Z- AHRS_M2 msg: 1633880502.96 epoch sec; seqNo:486 2021-10-10T15:41:42Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 1.04 psi 2021-10-10T15:41:42Z- handleDepth()-Depth_Keller msg: 1633880502975 epoch sec; seqNo:490; depth 0.03 2021-10-10T15:41:43Z- handleDvl() - RDI_Pathfinder msg: 1633880503.01 epoch sec; seqNo:229 2021-10-10T15:41:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.12 , 103.90 , 97.79 , 89.23 2021-10-10T15:41:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.09 , 0.29 , -0.23 2021-10-10T15:41:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880503.02 epoch sec; seqNo:491; 4061567.26 north; 594820.04 east 2021-10-10T15:41:43Z- AHRS_M2 msg: 1633880503.37 epoch sec; seqNo:487 2021-10-10T15:41:43Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.03 psi 2021-10-10T15:41:43Z- handleDepth()-Depth_Keller msg: 1633880503380 epoch sec; seqNo:491; depth 0.05 2021-10-10T15:41:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880503.39 epoch sec; seqNo:492; 4061567.26 north; 594820.04 east 2021-10-10T15:41:43Z- AHRS_M2 msg: 1633880503.77 epoch sec; seqNo:488 2021-10-10T15:41:43Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.03 psi 2021-10-10T15:41:43Z- handleDepth()-Depth_Keller msg: 1633880503778 epoch sec; seqNo:492; depth 0.05 2021-10-10T15:41:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:43Z- handleDvl() - RDI_Pathfinder msg: 1633880503.78 epoch sec; seqNo:230 2021-10-10T15:41:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.09 , 0.29 , -0.23 2021-10-10T15:41:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880503.79 epoch sec; seqNo:493; 4061567.26 north; 594820.04 east 2021-10-10T15:41:44Z- AHRS_M2 msg: 1633880504.18 epoch sec; seqNo:489 2021-10-10T15:41:44Z- AHRS_M2 msg: -0.12 phi; 0.01 theta; 1.05 psi 2021-10-10T15:41:44Z- handleDepth()-Depth_Keller msg: 1633880504188 epoch sec; seqNo:493; depth 0.04 2021-10-10T15:41:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880504.20 epoch sec; seqNo:494; 4061567.26 north; 594820.04 east 2021-10-10T15:41:44Z- AHRS_M2 msg: 1633880504.58 epoch sec; seqNo:490 2021-10-10T15:41:44Z- AHRS_M2 msg: -0.14 phi; 0.01 theta; 1.04 psi 2021-10-10T15:41:44Z- handleDepth()-Depth_Keller msg: 1633880504592 epoch sec; seqNo:494; depth 0.02 2021-10-10T15:41:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880504.61 epoch sec; seqNo:495; 4061567.26 north; 594820.04 east 2021-10-10T15:41:44Z- AHRS_M2 msg: 1633880504.98 epoch sec; seqNo:491 2021-10-10T15:41:44Z- AHRS_M2 msg: -0.14 phi; 0.01 theta; 1.03 psi 2021-10-10T15:41:44Z- handleDepth()-Depth_Keller msg: 1633880504989 epoch sec; seqNo:495; depth 0.05 2021-10-10T15:41:45Z- handleDvl() - RDI_Pathfinder msg: 1633880505.03 epoch sec; seqNo:231 2021-10-10T15:41:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.78 , 100.44 , 97.72 , 86.86 2021-10-10T15:41:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.07 , -0.39 2021-10-10T15:41:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880505.05 epoch sec; seqNo:496; 4061567.26 north; 594820.04 east 2021-10-10T15:41:45Z- AHRS_M2 msg: 1633880505.39 epoch sec; seqNo:492 2021-10-10T15:41:45Z- AHRS_M2 msg: -0.10 phi; 0.03 theta; 1.06 psi 2021-10-10T15:41:45Z- handleDepth()-Depth_Keller msg: 1633880505399 epoch sec; seqNo:496; depth 0.05 2021-10-10T15:41:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880505.42 epoch sec; seqNo:497; 4061567.26 north; 594820.04 east 2021-10-10T15:41:45Z- AHRS_M2 msg: 1633880505.79 epoch sec; seqNo:493 2021-10-10T15:41:45Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 1.09 psi 2021-10-10T15:41:45Z- handleDepth()-Depth_Keller msg: 1633880505805 epoch sec; seqNo:497; depth 0.07 2021-10-10T15:41:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880505.81 epoch sec; seqNo:498; 4061567.26 north; 594820.04 east 2021-10-10T15:41:46Z- AHRS_M2 msg: 1633880506.20 epoch sec; seqNo:494 2021-10-10T15:41:46Z- AHRS_M2 msg: 0.06 phi; -0.06 theta; 1.08 psi 2021-10-10T15:41:46Z- handleDepth()-Depth_Keller msg: 1633880506204 epoch sec; seqNo:498; depth 0.08 2021-10-10T15:41:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:46Z- handleDvl() - RDI_Pathfinder msg: 1633880506.21 epoch sec; seqNo:232 2021-10-10T15:41:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.07 , -0.39 2021-10-10T15:41:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880506.21 epoch sec; seqNo:499; 4061567.26 north; 594820.04 east 2021-10-10T15:41:46Z- AHRS_M2 msg: 1633880506.60 epoch sec; seqNo:495 2021-10-10T15:41:46Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 1.08 psi 2021-10-10T15:41:46Z- handleDepth()-Depth_Keller msg: 1633880506605 epoch sec; seqNo:499; depth 0.07 2021-10-10T15:41:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880506.61 epoch sec; seqNo:500; 4061567.26 north; 594820.04 east 2021-10-10T15:41:47Z- AHRS_M2 msg: 1633880507.01 epoch sec; seqNo:496 2021-10-10T15:41:47Z- AHRS_M2 msg: 0.09 phi; -0.10 theta; 1.10 psi 2021-10-10T15:41:47Z- handleDepth()-Depth_Keller msg: 1633880507010 epoch sec; seqNo:500; depth 0.06 2021-10-10T15:41:47Z- handleDvl() - RDI_Pathfinder msg: 1633880507.03 epoch sec; seqNo:233 2021-10-10T15:41:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.94 , 97.72 , 97.72 , 86.72 2021-10-10T15:41:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.51 , 0.14 2021-10-10T15:41:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880507.05 epoch sec; seqNo:501; 4061567.26 north; 594820.04 east 2021-10-10T15:41:47Z- AHRS_M2 msg: 1633880507.41 epoch sec; seqNo:497 2021-10-10T15:41:47Z- AHRS_M2 msg: 0.11 phi; -0.12 theta; 1.06 psi 2021-10-10T15:41:47Z- handleDepth()-Depth_Keller msg: 1633880507429 epoch sec; seqNo:501; depth 0.05 2021-10-10T15:41:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:47Z- handleDvl() - RDI_Pathfinder msg: 1633880507.43 epoch sec; seqNo:234 2021-10-10T15:41:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.51 , 0.14 2021-10-10T15:41:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880507.45 epoch sec; seqNo:502; 4061567.26 north; 594820.04 east 2021-10-10T15:41:47Z- AHRS_M2 msg: 1633880507.81 epoch sec; seqNo:498 2021-10-10T15:41:47Z- AHRS_M2 msg: 0.07 phi; -0.11 theta; 1.02 psi 2021-10-10T15:41:47Z- handleDepth()-Depth_Keller msg: 1633880507824 epoch sec; seqNo:502; depth 0.04 2021-10-10T15:41:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880507.83 epoch sec; seqNo:503; 4061567.63 north; 594818.82 east 2021-10-10T15:41:47Z- LcmTrn::handleMessages() - handling 45 messages took 0.69 ms and 131 calls... 2021-10-10T15:41:47Z- waiting for 1633880505.58, time is 1633880507.83 2021-10-10T15:41:47Z- LcmTrn::updateTrn() >>>> pose time 1633880507.83, meas time 1633880507.43 <<<< 2021-10-10T15:41:47Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880507.43, ping # 0. 2021-10-10T15:41:47Z- TerrainNav::Measurement type 1 from time = 1633880507.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:47Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594818.82, 0.04) 2021-10-10T15:41:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:47Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:47Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:47Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:48Z- AHRS_M2 msg: 1633880508.22 epoch sec; seqNo:499 2021-10-10T15:41:48Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 1.03 psi 2021-10-10T15:41:48Z- handleDepth()-Depth_Keller msg: 1633880508222 epoch sec; seqNo:503; depth 0.04 2021-10-10T15:41:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880508.23 epoch sec; seqNo:504; 4061567.63 north; 594818.82 east 2021-10-10T15:41:48Z- AHRS_M2 msg: 1633880508.62 epoch sec; seqNo:500 2021-10-10T15:41:48Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 1.03 psi 2021-10-10T15:41:48Z- handleDepth()-Depth_Keller msg: 1633880508627 epoch sec; seqNo:504; depth 0.04 2021-10-10T15:41:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:48Z- handleDvl() - RDI_Pathfinder msg: 1633880508.63 epoch sec; seqNo:235 2021-10-10T15:41:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.51 , 0.14 2021-10-10T15:41:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880508.64 epoch sec; seqNo:505; 4061567.63 north; 594818.82 east 2021-10-10T15:41:49Z- AHRS_M2 msg: 1633880509.03 epoch sec; seqNo:501 2021-10-10T15:41:49Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 1.02 psi 2021-10-10T15:41:49Z- handleDepth()-Depth_Keller msg: 1633880509050 epoch sec; seqNo:505; depth 0.05 2021-10-10T15:41:49Z- handleDvl() - RDI_Pathfinder msg: 1633880509.07 epoch sec; seqNo:236 2021-10-10T15:41:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.28 , 93.71 , 97.79 , 0.00 2021-10-10T15:41:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , 0.42 , 0.58 2021-10-10T15:41:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880509.08 epoch sec; seqNo:506; 4061567.63 north; 594818.82 east 2021-10-10T15:41:49Z- AHRS_M2 msg: 1633880509.43 epoch sec; seqNo:502 2021-10-10T15:41:49Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 1.06 psi 2021-10-10T15:41:49Z- handleDepth()-Depth_Keller msg: 1633880509436 epoch sec; seqNo:506; depth 0.04 2021-10-10T15:41:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880509.45 epoch sec; seqNo:507; 4061567.25 north; 594818.82 east 2021-10-10T15:41:49Z- handleDepth()-Depth_Keller msg: 1633880509855 epoch sec; seqNo:507; depth 0.04 2021-10-10T15:41:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:49Z- handleDvl() - RDI_Pathfinder msg: 1633880509.86 epoch sec; seqNo:237 2021-10-10T15:41:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , 0.42 , 0.58 2021-10-10T15:41:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880509.87 epoch sec; seqNo:508; 4061567.25 north; 594818.82 east 2021-10-10T15:41:50Z- AHRS_M2 msg: 1633880510.24 epoch sec; seqNo:503 2021-10-10T15:41:50Z- AHRS_M2 msg: -0.15 phi; -0.00 theta; 1.10 psi 2021-10-10T15:41:50Z- handleDepth()-Depth_Keller msg: 1633880510245 epoch sec; seqNo:508; depth 0.03 2021-10-10T15:41:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880510.25 epoch sec; seqNo:509; 4061567.25 north; 594818.82 east 2021-10-10T15:41:50Z- AHRS_M2 msg: 1633880510.64 epoch sec; seqNo:504 2021-10-10T15:41:50Z- AHRS_M2 msg: -0.13 phi; -0.04 theta; 1.11 psi 2021-10-10T15:41:50Z- handleDepth()-Depth_Keller msg: 1633880510650 epoch sec; seqNo:509; depth 0.07 2021-10-10T15:41:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880510.68 epoch sec; seqNo:510; 4061566.88 north; 594820.05 east 2021-10-10T15:41:51Z- AHRS_M2 msg: 1633880511.05 epoch sec; seqNo:505 2021-10-10T15:41:51Z- AHRS_M2 msg: -0.09 phi; -0.04 theta; 1.13 psi 2021-10-10T15:41:51Z- handleDepth()-Depth_Keller msg: 1633880511056 epoch sec; seqNo:510; depth 0.07 2021-10-10T15:41:51Z- handleDvl() - RDI_Pathfinder msg: 1633880511.10 epoch sec; seqNo:238 2021-10-10T15:41:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.78 , 108.59 , 96.37 , 86.86 2021-10-10T15:41:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , 0.22 , -0.52 2021-10-10T15:41:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880511.11 epoch sec; seqNo:511; 4061566.88 north; 594820.05 east 2021-10-10T15:41:51Z- AHRS_M2 msg: 1633880511.46 epoch sec; seqNo:506 2021-10-10T15:41:51Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.16 psi 2021-10-10T15:41:51Z- handleDepth()-Depth_Keller msg: 1633880511467 epoch sec; seqNo:511; depth 0.05 2021-10-10T15:41:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880511.50 epoch sec; seqNo:512; 4061566.88 north; 594820.05 east 2021-10-10T15:41:51Z- AHRS_M2 msg: 1633880511.86 epoch sec; seqNo:507 2021-10-10T15:41:51Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 1.17 psi 2021-10-10T15:41:51Z- handleDepth()-Depth_Keller msg: 1633880511863 epoch sec; seqNo:512; depth 0.06 2021-10-10T15:41:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880511.88 epoch sec; seqNo:513; 4061566.88 north; 594820.05 east 2021-10-10T15:41:52Z- AHRS_M2 msg: 1633880512.27 epoch sec; seqNo:508 2021-10-10T15:41:52Z- AHRS_M2 msg: 0.01 phi; -0.05 theta; 1.18 psi 2021-10-10T15:41:52Z- handleDepth()-Depth_Keller msg: 1633880512279 epoch sec; seqNo:513; depth 0.06 2021-10-10T15:41:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:52Z- handleDvl() - RDI_Pathfinder msg: 1633880512.28 epoch sec; seqNo:239 2021-10-10T15:41:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , 0.22 , -0.52 2021-10-10T15:41:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880512.29 epoch sec; seqNo:514; 4061566.88 north; 594820.05 east 2021-10-10T15:41:52Z- AHRS_M2 msg: 1633880512.69 epoch sec; seqNo:509 2021-10-10T15:41:52Z- AHRS_M2 msg: 0.08 phi; -0.02 theta; 1.19 psi 2021-10-10T15:41:52Z- handleDepth()-Depth_Keller msg: 1633880512702 epoch sec; seqNo:514; depth 0.04 2021-10-10T15:41:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880512.74 epoch sec; seqNo:515; 4061566.51 north; 594820.05 east 2021-10-10T15:41:53Z- LcmTrn::handleMessages() - handling 40 messages took 0.76 ms and 124 calls... 2021-10-10T15:41:53Z- waiting for 1633880510.83, time is 1633880512.74 2021-10-10T15:41:53Z- LcmTrn::updateTrn() >>>> pose time 1633880512.74, meas time 1633880512.28 <<<< 2021-10-10T15:41:53Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880512.28, ping # 0. 2021-10-10T15:41:53Z- TerrainNav::Measurement type 1 from time = 1633880512.28 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:53Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594820.05, 0.04) 2021-10-10T15:41:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:53Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:53Z- AHRS_M2 msg: 1633880513.07 epoch sec; seqNo:510 2021-10-10T15:41:53Z- AHRS_M2 msg: 0.08 phi; -0.02 theta; 1.20 psi 2021-10-10T15:41:53Z- handleDepth()-Depth_Keller msg: 1633880513079 epoch sec; seqNo:515; depth 0.07 2021-10-10T15:41:53Z- handleDvl() - RDI_Pathfinder msg: 1633880513.10 epoch sec; seqNo:240 2021-10-10T15:41:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.22 , 95.01 , 96.37 , 85.50 2021-10-10T15:41:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.51 , -0.59 2021-10-10T15:41:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880513.12 epoch sec; seqNo:516; 4061566.88 north; 594820.05 east 2021-10-10T15:41:53Z- AHRS_M2 msg: 1633880513.48 epoch sec; seqNo:511 2021-10-10T15:41:53Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.21 psi 2021-10-10T15:41:53Z- handleDepth()-Depth_Keller msg: 1633880513482 epoch sec; seqNo:516; depth 0.07 2021-10-10T15:41:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:53Z- handleDvl() - RDI_Pathfinder msg: 1633880513.48 epoch sec; seqNo:241 2021-10-10T15:41:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.51 , -0.59 2021-10-10T15:41:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880513.50 epoch sec; seqNo:517; 4061566.88 north; 594820.05 east 2021-10-10T15:41:53Z- AHRS_M2 msg: 1633880513.88 epoch sec; seqNo:512 2021-10-10T15:41:53Z- AHRS_M2 msg: -0.03 phi; -0.05 theta; 1.20 psi 2021-10-10T15:41:53Z- handleDepth()-Depth_Keller msg: 1633880513891 epoch sec; seqNo:517; depth 0.06 2021-10-10T15:41:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880513.90 epoch sec; seqNo:518; 4061566.87 north; 594818.83 east 2021-10-10T15:41:54Z- AHRS_M2 msg: 1633880514.28 epoch sec; seqNo:513 2021-10-10T15:41:54Z- AHRS_M2 msg: -0.04 phi; -0.07 theta; 1.18 psi 2021-10-10T15:41:54Z- handleDepth()-Depth_Keller msg: 1633880514285 epoch sec; seqNo:518; depth 0.04 2021-10-10T15:41:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880514.29 epoch sec; seqNo:519; 4061567.25 north; 594818.82 east 2021-10-10T15:41:54Z- AHRS_M2 msg: 1633880514.71 epoch sec; seqNo:514 2021-10-10T15:41:54Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 1.16 psi 2021-10-10T15:41:54Z- handleDepth()-Depth_Keller msg: 1633880514727 epoch sec; seqNo:519; depth 0.05 2021-10-10T15:41:54Z- handleDvl() - RDI_Pathfinder msg: 1633880514.75 epoch sec; seqNo:242 2021-10-10T15:41:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.79 , 96.57 , 95.34 , 85.57 2021-10-10T15:41:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.14 , 0.60 2021-10-10T15:41:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880514.78 epoch sec; seqNo:520; 4061567.25 north; 594818.82 east 2021-10-10T15:41:55Z- AHRS_M2 msg: 1633880515.10 epoch sec; seqNo:515 2021-10-10T15:41:55Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 1.18 psi 2021-10-10T15:41:55Z- handleDepth()-Depth_Keller msg: 1633880515102 epoch sec; seqNo:520; depth 0.08 2021-10-10T15:41:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880515.12 epoch sec; seqNo:521; 4061567.25 north; 594818.82 east 2021-10-10T15:41:55Z- AHRS_M2 msg: 1633880515.50 epoch sec; seqNo:516 2021-10-10T15:41:55Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 1.19 psi 2021-10-10T15:41:55Z- handleDepth()-Depth_Keller msg: 1633880515513 epoch sec; seqNo:521; depth 0.06 2021-10-10T15:41:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880515.52 epoch sec; seqNo:522; 4061567.25 north; 594818.82 east 2021-10-10T15:41:55Z- AHRS_M2 msg: 1633880515.90 epoch sec; seqNo:517 2021-10-10T15:41:55Z- AHRS_M2 msg: -0.04 phi; -0.02 theta; 1.19 psi 2021-10-10T15:41:55Z- handleDepth()-Depth_Keller msg: 1633880515904 epoch sec; seqNo:522; depth 0.04 2021-10-10T15:41:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:55Z- handleDvl() - RDI_Pathfinder msg: 1633880515.91 epoch sec; seqNo:243 2021-10-10T15:41:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.14 , 0.60 2021-10-10T15:41:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880515.93 epoch sec; seqNo:523; 4061567.25 north; 594818.82 east 2021-10-10T15:41:56Z- AHRS_M2 msg: 1633880516.30 epoch sec; seqNo:518 2021-10-10T15:41:56Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.19 psi 2021-10-10T15:41:56Z- handleDepth()-Depth_Keller msg: 1633880516307 epoch sec; seqNo:523; depth 0.04 2021-10-10T15:41:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880516.32 epoch sec; seqNo:524; 4061567.25 north; 594818.82 east 2021-10-10T15:41:56Z- AHRS_M2 msg: 1633880516.74 epoch sec; seqNo:519 2021-10-10T15:41:56Z- AHRS_M2 msg: 0.01 phi; -0.06 theta; 1.21 psi 2021-10-10T15:41:56Z- handleDepth()-Depth_Keller msg: 1633880516745 epoch sec; seqNo:524; depth 0.08 2021-10-10T15:41:56Z- handleDvl() - RDI_Pathfinder msg: 1633880516.79 epoch sec; seqNo:244 2021-10-10T15:41:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.79 , 96.57 , 97.79 , 85.57 2021-10-10T15:41:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.06 , -0.12 2021-10-10T15:41:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880516.82 epoch sec; seqNo:525; 4061566.87 north; 594818.83 east 2021-10-10T15:41:57Z- AHRS_M2 msg: 1633880517.11 epoch sec; seqNo:520 2021-10-10T15:41:57Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 1.22 psi 2021-10-10T15:41:57Z- handleDepth()-Depth_Keller msg: 1633880517116 epoch sec; seqNo:525; depth 0.06 2021-10-10T15:41:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:57Z- handleDvl() - RDI_Pathfinder msg: 1633880517.12 epoch sec; seqNo:245 2021-10-10T15:41:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.06 , -0.12 2021-10-10T15:41:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880517.15 epoch sec; seqNo:526; 4061566.86 north; 594817.61 east 2021-10-10T15:41:57Z- AHRS_M2 msg: 1633880517.51 epoch sec; seqNo:521 2021-10-10T15:41:57Z- AHRS_M2 msg: -0.00 phi; -0.06 theta; 1.25 psi 2021-10-10T15:41:57Z- handleDepth()-Depth_Keller msg: 1633880517519 epoch sec; seqNo:526; depth 0.05 2021-10-10T15:41:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880517.55 epoch sec; seqNo:527; 4061566.86 north; 594817.61 east 2021-10-10T15:41:57Z- AHRS_M2 msg: 1633880517.92 epoch sec; seqNo:522 2021-10-10T15:41:57Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.26 psi 2021-10-10T15:41:57Z- handleDepth()-Depth_Keller msg: 1633880517924 epoch sec; seqNo:527; depth 0.07 2021-10-10T15:41:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880517.94 epoch sec; seqNo:528; 4061566.86 north; 594817.61 east 2021-10-10T15:41:58Z- LcmTrn::handleMessages() - handling 45 messages took 0.64 ms and 132 calls... 2021-10-10T15:41:58Z- waiting for 1633880515.74, time is 1633880517.94 2021-10-10T15:41:58Z- LcmTrn::updateTrn() >>>> pose time 1633880517.94, meas time 1633880517.12 <<<< 2021-10-10T15:41:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880517.12, ping # 0. 2021-10-10T15:41:58Z- TerrainNav::Measurement type 1 from time = 1633880517.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:41:58Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594817.61, 0.07) 2021-10-10T15:41:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:41:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:41:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:41:58Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:41:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:41:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:41:58Z- AHRS_M2 msg: 1633880518.32 epoch sec; seqNo:523 2021-10-10T15:41:58Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.26 psi 2021-10-10T15:41:58Z- handleDepth()-Depth_Keller msg: 1633880518327 epoch sec; seqNo:528; depth 0.07 2021-10-10T15:41:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:58Z- handleDvl() - RDI_Pathfinder msg: 1633880518.33 epoch sec; seqNo:246 2021-10-10T15:41:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.06 , -0.12 2021-10-10T15:41:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880518.35 epoch sec; seqNo:529; 4061566.86 north; 594817.61 east 2021-10-10T15:41:58Z- AHRS_M2 msg: 1633880518.74 epoch sec; seqNo:524 2021-10-10T15:41:58Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.28 psi 2021-10-10T15:41:58Z- handleDepth()-Depth_Keller msg: 1633880518744 epoch sec; seqNo:529; depth 0.05 2021-10-10T15:41:58Z- handleDvl() - RDI_Pathfinder msg: 1633880518.79 epoch sec; seqNo:247 2021-10-10T15:41:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.72 , 95.28 , 94.05 , 89.17 2021-10-10T15:41:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , -0.17 , -0.21 2021-10-10T15:41:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880518.82 epoch sec; seqNo:530; 4061566.86 north; 594817.61 east 2021-10-10T15:41:59Z- AHRS_M2 msg: 1633880519.13 epoch sec; seqNo:525 2021-10-10T15:41:59Z- AHRS_M2 msg: 0.01 phi; 0.04 theta; 1.27 psi 2021-10-10T15:41:59Z- handleDepth()-Depth_Keller msg: 1633880519136 epoch sec; seqNo:530; depth 0.07 2021-10-10T15:41:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880519.17 epoch sec; seqNo:531; 4061566.86 north; 594817.61 east 2021-10-10T15:41:59Z- AHRS_M2 msg: 1633880519.53 epoch sec; seqNo:526 2021-10-10T15:41:59Z- AHRS_M2 msg: -0.00 phi; -0.01 theta; 1.27 psi 2021-10-10T15:41:59Z- handleDepth()-Depth_Keller msg: 1633880519540 epoch sec; seqNo:531; depth 0.04 2021-10-10T15:41:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:41:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:41:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:41:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:41:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:41:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:41:59Z- handleDvl() - RDI_Pathfinder msg: 1633880519.54 epoch sec; seqNo:248 2021-10-10T15:41:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:41:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , -0.17 , -0.21 2021-10-10T15:41:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880519.58 epoch sec; seqNo:532; 4061567.24 north; 594817.60 east 2021-10-10T15:41:59Z- AHRS_M2 msg: 1633880519.94 epoch sec; seqNo:527 2021-10-10T15:41:59Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 1.27 psi 2021-10-10T15:41:59Z- handleDepth()-Depth_Keller msg: 1633880519949 epoch sec; seqNo:532; depth 0.03 2021-10-10T15:41:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880519.96 epoch sec; seqNo:533; 4061567.24 north; 594817.60 east 2021-10-10T15:42:00Z- AHRS_M2 msg: 1633880520.34 epoch sec; seqNo:528 2021-10-10T15:42:00Z- AHRS_M2 msg: 0.02 phi; -0.07 theta; 1.24 psi 2021-10-10T15:42:00Z- handleDepth()-Depth_Keller msg: 1633880520354 epoch sec; seqNo:533; depth 0.06 2021-10-10T15:42:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880520.36 epoch sec; seqNo:534; 4061567.24 north; 594817.60 east 2021-10-10T15:42:00Z- AHRS_M2 msg: 1633880520.74 epoch sec; seqNo:529 2021-10-10T15:42:00Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 1.24 psi 2021-10-10T15:42:00Z- handleDepth()-Depth_Keller msg: 1633880520751 epoch sec; seqNo:534; depth 0.05 2021-10-10T15:42:00Z- handleDvl() - RDI_Pathfinder msg: 1633880520.78 epoch sec; seqNo:249 2021-10-10T15:42:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.01 , 91.68 , 92.90 , 88.01 2021-10-10T15:42:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , 0.11 , -0.04 2021-10-10T15:42:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880520.79 epoch sec; seqNo:535; 4061567.24 north; 594817.60 east 2021-10-10T15:42:01Z- AHRS_M2 msg: 1633880521.15 epoch sec; seqNo:530 2021-10-10T15:42:01Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 1.27 psi 2021-10-10T15:42:01Z- handleDepth()-Depth_Keller msg: 1633880521153 epoch sec; seqNo:535; depth 0.03 2021-10-10T15:42:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880521.17 epoch sec; seqNo:536; 4061567.24 north; 594817.60 east 2021-10-10T15:42:01Z- AHRS_M2 msg: 1633880521.55 epoch sec; seqNo:531 2021-10-10T15:42:01Z- AHRS_M2 msg: -0.08 phi; 0.00 theta; 1.28 psi 2021-10-10T15:42:01Z- handleDepth()-Depth_Keller msg: 1633880521564 epoch sec; seqNo:536; depth 0.05 2021-10-10T15:42:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880521.57 epoch sec; seqNo:537; 4061566.86 north; 594817.61 east 2021-10-10T15:42:01Z- AHRS_M2 msg: 1633880521.96 epoch sec; seqNo:532 2021-10-10T15:42:01Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.26 psi 2021-10-10T15:42:01Z- handleDepth()-Depth_Keller msg: 1633880521963 epoch sec; seqNo:537; depth 0.04 2021-10-10T15:42:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:01Z- handleDvl() - RDI_Pathfinder msg: 1633880521.97 epoch sec; seqNo:250 2021-10-10T15:42:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , 0.11 , -0.04 2021-10-10T15:42:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880521.97 epoch sec; seqNo:538; 4061566.86 north; 594817.61 east 2021-10-10T15:42:02Z- AHRS_M2 msg: 1633880522.36 epoch sec; seqNo:533 2021-10-10T15:42:02Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 1.27 psi 2021-10-10T15:42:02Z- handleDepth()-Depth_Keller msg: 1633880522377 epoch sec; seqNo:538; depth 0.06 2021-10-10T15:42:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880522.39 epoch sec; seqNo:539; 4061566.86 north; 594817.61 east 2021-10-10T15:42:02Z- AHRS_M2 msg: 1633880522.77 epoch sec; seqNo:534 2021-10-10T15:42:02Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.29 psi 2021-10-10T15:42:02Z- handleDepth()-Depth_Keller msg: 1633880522769 epoch sec; seqNo:539; depth 0.06 2021-10-10T15:42:02Z- handleDvl() - RDI_Pathfinder msg: 1633880522.80 epoch sec; seqNo:251 2021-10-10T15:42:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.41 , 96.64 , 96.64 , 86.86 2021-10-10T15:42:02Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , 0.02 , -0.11 2021-10-10T15:42:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880522.81 epoch sec; seqNo:540; 4061566.86 north; 594817.61 east 2021-10-10T15:42:03Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T15:42:03Z- waiting for 1633880520.94, time is 1633880522.81 2021-10-10T15:42:03Z- LcmTrn::updateTrn() equating pose 1633880522.81 and meas times 1633880522.81 2021-10-10T15:42:03Z- LcmTrn::updateTrn() >>>> pose time 1633880522.81, meas time 1633880522.81 <<<< 2021-10-10T15:42:03Z- TerrainNav::Measurement type 1 from time = 1633880522.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:42:03Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594817.61, 0.06) 2021-10-10T15:42:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:03Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:03Z- AHRS_M2 msg: 1633880523.17 epoch sec; seqNo:535 2021-10-10T15:42:03Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 1.30 psi 2021-10-10T15:42:03Z- handleDepth()-Depth_Keller msg: 1633880523179 epoch sec; seqNo:540; depth 0.05 2021-10-10T15:42:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:03Z- handleDvl() - RDI_Pathfinder msg: 1633880523.18 epoch sec; seqNo:252 2021-10-10T15:42:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , 0.02 , -0.11 2021-10-10T15:42:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880523.20 epoch sec; seqNo:541; 4061566.86 north; 594817.61 east 2021-10-10T15:42:03Z- AHRS_M2 msg: 1633880523.57 epoch sec; seqNo:536 2021-10-10T15:42:03Z- AHRS_M2 msg: -0.04 phi; -0.10 theta; 1.28 psi 2021-10-10T15:42:03Z- handleDepth()-Depth_Keller msg: 1633880523582 epoch sec; seqNo:541; depth 0.05 2021-10-10T15:42:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880523.59 epoch sec; seqNo:542; 4061566.86 north; 594817.61 east 2021-10-10T15:42:03Z- AHRS_M2 msg: 1633880523.98 epoch sec; seqNo:537 2021-10-10T15:42:03Z- AHRS_M2 msg: -0.03 phi; -0.06 theta; 1.25 psi 2021-10-10T15:42:03Z- handleDepth()-Depth_Keller msg: 1633880523982 epoch sec; seqNo:542; depth 0.06 2021-10-10T15:42:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880524.00 epoch sec; seqNo:543; 4061566.86 north; 594817.61 east 2021-10-10T15:42:04Z- AHRS_M2 msg: 1633880524.38 epoch sec; seqNo:538 2021-10-10T15:42:04Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 1.26 psi 2021-10-10T15:42:04Z- handleDepth()-Depth_Keller msg: 1633880524385 epoch sec; seqNo:543; depth 0.04 2021-10-10T15:42:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:04Z- handleDvl() - RDI_Pathfinder msg: 1633880524.39 epoch sec; seqNo:253 2021-10-10T15:42:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , 0.02 , -0.11 2021-10-10T15:42:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880524.40 epoch sec; seqNo:544; 4061566.86 north; 594817.61 east 2021-10-10T15:42:04Z- AHRS_M2 msg: 1633880524.78 epoch sec; seqNo:539 2021-10-10T15:42:04Z- AHRS_M2 msg: -0.03 phi; 0.05 theta; 1.27 psi 2021-10-10T15:42:04Z- handleDepth()-Depth_Keller msg: 1633880524789 epoch sec; seqNo:544; depth 0.04 2021-10-10T15:42:04Z- handleDvl() - RDI_Pathfinder msg: 1633880524.81 epoch sec; seqNo:254 2021-10-10T15:42:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.79 , 95.35 , 97.79 , 0.00 2021-10-10T15:42:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.32 , -0.04 , 0.17 2021-10-10T15:42:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880524.84 epoch sec; seqNo:545; 4061566.86 north; 594817.61 east 2021-10-10T15:42:05Z- AHRS_M2 msg: 1633880525.19 epoch sec; seqNo:540 2021-10-10T15:42:05Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.29 psi 2021-10-10T15:42:05Z- handleDepth()-Depth_Keller msg: 1633880525195 epoch sec; seqNo:545; depth 0.04 2021-10-10T15:42:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880525.21 epoch sec; seqNo:546; 4061566.86 north; 594817.61 east 2021-10-10T15:42:05Z- AHRS_M2 msg: 1633880525.59 epoch sec; seqNo:541 2021-10-10T15:42:05Z- AHRS_M2 msg: 0.04 phi; -0.00 theta; 1.31 psi 2021-10-10T15:42:05Z- handleDepth()-Depth_Keller msg: 1633880525613 epoch sec; seqNo:546; depth 0.07 2021-10-10T15:42:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:05Z- handleDvl() - RDI_Pathfinder msg: 1633880525.62 epoch sec; seqNo:255 2021-10-10T15:42:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.32 , -0.04 , 0.17 2021-10-10T15:42:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880525.62 epoch sec; seqNo:547; 4061566.86 north; 594817.61 east 2021-10-10T15:42:06Z- AHRS_M2 msg: 1633880526.00 epoch sec; seqNo:542 2021-10-10T15:42:06Z- AHRS_M2 msg: 0.03 phi; -0.00 theta; 1.30 psi 2021-10-10T15:42:06Z- handleDepth()-Depth_Keller msg: 1633880526006 epoch sec; seqNo:547; depth 0.08 2021-10-10T15:42:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880526.03 epoch sec; seqNo:548; 4061566.86 north; 594817.61 east 2021-10-10T15:42:06Z- AHRS_M2 msg: 1633880526.40 epoch sec; seqNo:543 2021-10-10T15:42:06Z- AHRS_M2 msg: -0.00 phi; -0.01 theta; 1.31 psi 2021-10-10T15:42:06Z- handleDepth()-Depth_Keller msg: 1633880526405 epoch sec; seqNo:548; depth 0.06 2021-10-10T15:42:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880526.41 epoch sec; seqNo:549; 4061566.86 north; 594817.61 east 2021-10-10T15:42:06Z- AHRS_M2 msg: 1633880526.81 epoch sec; seqNo:544 2021-10-10T15:42:06Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.31 psi 2021-10-10T15:42:06Z- handleDepth()-Depth_Keller msg: 1633880526815 epoch sec; seqNo:549; depth 0.06 2021-10-10T15:42:06Z- handleDvl() - RDI_Pathfinder msg: 1633880526.83 epoch sec; seqNo:256 2021-10-10T15:42:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.93 , 90.93 , 96.36 , 86.86 2021-10-10T15:42:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.20 , -0.10 2021-10-10T15:42:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880526.85 epoch sec; seqNo:550; 4061566.86 north; 594817.61 east 2021-10-10T15:42:07Z- AHRS_M2 msg: 1633880527.21 epoch sec; seqNo:545 2021-10-10T15:42:07Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 1.29 psi 2021-10-10T15:42:07Z- handleDepth()-Depth_Keller msg: 1633880527214 epoch sec; seqNo:550; depth 0.08 2021-10-10T15:42:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880527.24 epoch sec; seqNo:551; 4061567.24 north; 594817.60 east 2021-10-10T15:42:07Z- AHRS_M2 msg: 1633880527.61 epoch sec; seqNo:546 2021-10-10T15:42:07Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 1.29 psi 2021-10-10T15:42:07Z- handleDepth()-Depth_Keller msg: 1633880527620 epoch sec; seqNo:551; depth 0.06 2021-10-10T15:42:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880527.63 epoch sec; seqNo:552; 4061567.24 north; 594817.60 east 2021-10-10T15:42:08Z- AHRS_M2 msg: 1633880528.02 epoch sec; seqNo:547 2021-10-10T15:42:08Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.28 psi 2021-10-10T15:42:08Z- handleDepth()-Depth_Keller msg: 1633880528021 epoch sec; seqNo:552; depth 0.05 2021-10-10T15:42:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:08Z- handleDvl() - RDI_Pathfinder msg: 1633880528.02 epoch sec; seqNo:257 2021-10-10T15:42:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.20 , -0.10 2021-10-10T15:42:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880528.03 epoch sec; seqNo:553; 4061567.24 north; 594817.60 east 2021-10-10T15:42:08Z- LcmTrn::handleMessages() - handling 45 messages took 0.66 ms and 131 calls... 2021-10-10T15:42:08Z- waiting for 1633880525.81, time is 1633880528.03 2021-10-10T15:42:08Z- LcmTrn::updateTrn() equating pose 1633880528.03 and meas times 1633880528.03 2021-10-10T15:42:08Z- LcmTrn::updateTrn() >>>> pose time 1633880528.03, meas time 1633880528.03 <<<< 2021-10-10T15:42:08Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880528.03, ping # 0. 2021-10-10T15:42:08Z- TerrainNav::Measurement type 1 from time = 1633880528.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:42:08Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594817.60, 0.05) 2021-10-10T15:42:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:08Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:08Z- AHRS_M2 msg: 1633880528.42 epoch sec; seqNo:548 2021-10-10T15:42:08Z- AHRS_M2 msg: -0.06 phi; -0.09 theta; 1.28 psi 2021-10-10T15:42:08Z- handleDepth()-Depth_Keller msg: 1633880528431 epoch sec; seqNo:553; depth 0.03 2021-10-10T15:42:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880528.44 epoch sec; seqNo:554; 4061567.24 north; 594817.60 east 2021-10-10T15:42:08Z- AHRS_M2 msg: 1633880528.83 epoch sec; seqNo:549 2021-10-10T15:42:08Z- AHRS_M2 msg: -0.06 phi; -0.08 theta; 1.27 psi 2021-10-10T15:42:08Z- handleDepth()-Depth_Keller msg: 1633880528830 epoch sec; seqNo:554; depth 0.02 2021-10-10T15:42:08Z- handleDvl() - RDI_Pathfinder msg: 1633880528.87 epoch sec; seqNo:258 2021-10-10T15:42:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 97.79 , 95.35 , 88.01 2021-10-10T15:42:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.26 , 0.22 2021-10-10T15:42:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880528.88 epoch sec; seqNo:555; 4061567.24 north; 594817.60 east 2021-10-10T15:42:09Z- AHRS_M2 msg: 1633880529.23 epoch sec; seqNo:550 2021-10-10T15:42:09Z- AHRS_M2 msg: -0.06 phi; -0.03 theta; 1.26 psi 2021-10-10T15:42:09Z- handleDepth()-Depth_Keller msg: 1633880529237 epoch sec; seqNo:555; depth 0.03 2021-10-10T15:42:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:09Z- handleDvl() - RDI_Pathfinder msg: 1633880529.24 epoch sec; seqNo:259 2021-10-10T15:42:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.26 , 0.22 2021-10-10T15:42:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880529.27 epoch sec; seqNo:556; 4061566.86 north; 594817.61 east 2021-10-10T15:42:09Z- AHRS_M2 msg: 1633880529.64 epoch sec; seqNo:551 2021-10-10T15:42:09Z- AHRS_M2 msg: -0.06 phi; 0.04 theta; 1.26 psi 2021-10-10T15:42:09Z- handleDepth()-Depth_Keller msg: 1633880529643 epoch sec; seqNo:556; depth 0.04 2021-10-10T15:42:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880529.65 epoch sec; seqNo:557; 4061566.86 north; 594817.61 east 2021-10-10T15:42:10Z- AHRS_M2 msg: 1633880530.04 epoch sec; seqNo:552 2021-10-10T15:42:10Z- AHRS_M2 msg: -0.10 phi; 0.00 theta; 1.27 psi 2021-10-10T15:42:10Z- handleDepth()-Depth_Keller msg: 1633880530047 epoch sec; seqNo:557; depth 0.06 2021-10-10T15:42:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880530.06 epoch sec; seqNo:558; 4061566.84 north; 594816.39 east 2021-10-10T15:42:10Z- AHRS_M2 msg: 1633880530.44 epoch sec; seqNo:553 2021-10-10T15:42:10Z- AHRS_M2 msg: -0.12 phi; -0.03 theta; 1.27 psi 2021-10-10T15:42:10Z- handleDepth()-Depth_Keller msg: 1633880530449 epoch sec; seqNo:558; depth 0.05 2021-10-10T15:42:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:10Z- handleDvl() - RDI_Pathfinder msg: 1633880530.46 epoch sec; seqNo:260 2021-10-10T15:42:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.26 , 0.22 2021-10-10T15:42:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880530.48 epoch sec; seqNo:559; 4061566.46 north; 594816.39 east 2021-10-10T15:42:10Z- AHRS_M2 msg: 1633880530.85 epoch sec; seqNo:554 2021-10-10T15:42:10Z- AHRS_M2 msg: -0.10 phi; -0.05 theta; 1.27 psi 2021-10-10T15:42:10Z- handleDepth()-Depth_Keller msg: 1633880530855 epoch sec; seqNo:559; depth 0.05 2021-10-10T15:42:10Z- handleDvl() - RDI_Pathfinder msg: 1633880530.88 epoch sec; seqNo:261 2021-10-10T15:42:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.50 , 96.29 , 101.73 , 82.71 2021-10-10T15:42:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.12 , -0.16 2021-10-10T15:42:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880530.90 epoch sec; seqNo:560; 4061566.46 north; 594816.39 east 2021-10-10T15:42:11Z- AHRS_M2 msg: 1633880531.25 epoch sec; seqNo:555 2021-10-10T15:42:11Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 1.27 psi 2021-10-10T15:42:11Z- handleDepth()-Depth_Keller msg: 1633880531256 epoch sec; seqNo:560; depth 0.06 2021-10-10T15:42:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880531.28 epoch sec; seqNo:561; 4061566.46 north; 594816.39 east 2021-10-10T15:42:11Z- AHRS_M2 msg: 1633880531.65 epoch sec; seqNo:556 2021-10-10T15:42:11Z- AHRS_M2 msg: -0.07 phi; 0.00 theta; 1.28 psi 2021-10-10T15:42:11Z- handleDepth()-Depth_Keller msg: 1633880531659 epoch sec; seqNo:561; depth 0.07 2021-10-10T15:42:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:11Z- handleDvl() - RDI_Pathfinder msg: 1633880531.66 epoch sec; seqNo:262 2021-10-10T15:42:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.12 , -0.16 2021-10-10T15:42:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880531.67 epoch sec; seqNo:562; 4061566.46 north; 594816.39 east 2021-10-10T15:42:12Z- AHRS_M2 msg: 1633880532.06 epoch sec; seqNo:557 2021-10-10T15:42:12Z- AHRS_M2 msg: 0.04 phi; -0.06 theta; 1.31 psi 2021-10-10T15:42:12Z- handleDepth()-Depth_Keller msg: 1633880532073 epoch sec; seqNo:562; depth 0.03 2021-10-10T15:42:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880532.08 epoch sec; seqNo:563; 4061566.46 north; 594816.39 east 2021-10-10T15:42:12Z- AHRS_M2 msg: 1633880532.46 epoch sec; seqNo:558 2021-10-10T15:42:12Z- AHRS_M2 msg: 0.20 phi; -0.11 theta; 1.28 psi 2021-10-10T15:42:12Z- handleDepth()-Depth_Keller msg: 1633880532468 epoch sec; seqNo:563; depth 0.05 2021-10-10T15:42:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880532.48 epoch sec; seqNo:564; 4061566.46 north; 594816.39 east 2021-10-10T15:42:12Z- AHRS_M2 msg: 1633880532.86 epoch sec; seqNo:559 2021-10-10T15:42:12Z- AHRS_M2 msg: 0.19 phi; -0.04 theta; 1.24 psi 2021-10-10T15:42:12Z- handleDepth()-Depth_Keller msg: 1633880532875 epoch sec; seqNo:564; depth 0.09 2021-10-10T15:42:12Z- handleDvl() - RDI_Pathfinder msg: 1633880532.90 epoch sec; seqNo:263 2021-10-10T15:42:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 97.79 , 97.79 , 84.21 2021-10-10T15:42:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.14 , 0.26 2021-10-10T15:42:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880532.92 epoch sec; seqNo:565; 4061566.46 north; 594816.39 east 2021-10-10T15:42:13Z- LcmTrn::handleMessages() - handling 42 messages took 0.74 ms and 127 calls... 2021-10-10T15:42:13Z- waiting for 1633880531.03, time is 1633880532.92 2021-10-10T15:42:13Z- LcmTrn::updateTrn() equating pose 1633880532.92 and meas times 1633880532.92 2021-10-10T15:42:13Z- LcmTrn::updateTrn() >>>> pose time 1633880532.92, meas time 1633880532.92 <<<< 2021-10-10T15:42:13Z- TerrainNav::Measurement type 1 from time = 1633880532.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:42:13Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594816.39, 0.09) 2021-10-10T15:42:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:13Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:13Z- AHRS_M2 msg: 1633880533.27 epoch sec; seqNo:560 2021-10-10T15:42:13Z- AHRS_M2 msg: 0.07 phi; 0.06 theta; 1.23 psi 2021-10-10T15:42:13Z- handleDepth()-Depth_Keller msg: 1633880533280 epoch sec; seqNo:565; depth 0.05 2021-10-10T15:42:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880533.30 epoch sec; seqNo:566; 4061566.84 north; 594816.39 east 2021-10-10T15:42:13Z- AHRS_M2 msg: 1633880533.68 epoch sec; seqNo:561 2021-10-10T15:42:13Z- AHRS_M2 msg: -0.04 phi; 0.05 theta; 1.23 psi 2021-10-10T15:42:13Z- handleDepth()-Depth_Keller msg: 1633880533680 epoch sec; seqNo:566; depth 0.02 2021-10-10T15:42:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880533.70 epoch sec; seqNo:567; 4061566.84 north; 594816.39 east 2021-10-10T15:42:14Z- AHRS_M2 msg: 1633880534.08 epoch sec; seqNo:562 2021-10-10T15:42:14Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 1.21 psi 2021-10-10T15:42:14Z- handleDepth()-Depth_Keller msg: 1633880534082 epoch sec; seqNo:567; depth 0.04 2021-10-10T15:42:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:14Z- handleDvl() - RDI_Pathfinder msg: 1633880534.08 epoch sec; seqNo:264 2021-10-10T15:42:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.14 , 0.26 2021-10-10T15:42:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880534.09 epoch sec; seqNo:568; 4061566.84 north; 594816.39 east 2021-10-10T15:42:14Z- AHRS_M2 msg: 1633880534.48 epoch sec; seqNo:563 2021-10-10T15:42:14Z- AHRS_M2 msg: -0.12 phi; -0.08 theta; 1.21 psi 2021-10-10T15:42:14Z- handleDepth()-Depth_Keller msg: 1633880534499 epoch sec; seqNo:568; depth 0.05 2021-10-10T15:42:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880534.51 epoch sec; seqNo:569; 4061566.83 north; 594815.17 east 2021-10-10T15:42:14Z- AHRS_M2 msg: 1633880534.88 epoch sec; seqNo:564 2021-10-10T15:42:14Z- AHRS_M2 msg: -0.09 phi; -0.11 theta; 1.22 psi 2021-10-10T15:42:14Z- handleDepth()-Depth_Keller msg: 1633880534892 epoch sec; seqNo:569; depth 0.06 2021-10-10T15:42:14Z- handleDvl() - RDI_Pathfinder msg: 1633880534.92 epoch sec; seqNo:265 2021-10-10T15:42:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.22 , 96.37 , 99.08 , 84.14 2021-10-10T15:42:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , 0.22 , -0.37 2021-10-10T15:42:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880534.93 epoch sec; seqNo:570; 4061566.45 north; 594815.17 east 2021-10-10T15:42:15Z- AHRS_M2 msg: 1633880535.29 epoch sec; seqNo:565 2021-10-10T15:42:15Z- AHRS_M2 msg: 0.00 phi; -0.09 theta; 1.20 psi 2021-10-10T15:42:15Z- handleDepth()-Depth_Keller msg: 1633880535299 epoch sec; seqNo:570; depth 0.06 2021-10-10T15:42:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:15Z- handleDvl() - RDI_Pathfinder msg: 1633880535.30 epoch sec; seqNo:266 2021-10-10T15:42:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , 0.22 , -0.37 2021-10-10T15:42:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880535.33 epoch sec; seqNo:571; 4061566.45 north; 594815.17 east 2021-10-10T15:42:15Z- AHRS_M2 msg: 1633880535.70 epoch sec; seqNo:566 2021-10-10T15:42:15Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 1.20 psi 2021-10-10T15:42:15Z- handleDepth()-Depth_Keller msg: 1633880535707 epoch sec; seqNo:571; depth 0.10 2021-10-10T15:42:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880535.72 epoch sec; seqNo:572; 4061566.45 north; 594815.17 east 2021-10-10T15:42:16Z- AHRS_M2 msg: 1633880536.10 epoch sec; seqNo:567 2021-10-10T15:42:16Z- AHRS_M2 msg: 0.04 phi; -0.08 theta; 1.23 psi 2021-10-10T15:42:16Z- handleDepth()-Depth_Keller msg: 1633880536107 epoch sec; seqNo:572; depth 0.08 2021-10-10T15:42:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880536.12 epoch sec; seqNo:573; 4061566.07 north; 594815.17 east 2021-10-10T15:42:16Z- AHRS_M2 msg: 1633880536.50 epoch sec; seqNo:568 2021-10-10T15:42:16Z- AHRS_M2 msg: 0.06 phi; -0.13 theta; 1.22 psi 2021-10-10T15:42:16Z- handleDepth()-Depth_Keller msg: 1633880536507 epoch sec; seqNo:573; depth 0.08 2021-10-10T15:42:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:16Z- handleDvl() - RDI_Pathfinder msg: 1633880536.51 epoch sec; seqNo:267 2021-10-10T15:42:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , 0.22 , -0.37 2021-10-10T15:42:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880536.53 epoch sec; seqNo:574; 4061566.07 north; 594815.17 east 2021-10-10T15:42:16Z- AHRS_M2 msg: 1633880536.90 epoch sec; seqNo:569 2021-10-10T15:42:16Z- AHRS_M2 msg: 0.15 phi; -0.11 theta; 1.21 psi 2021-10-10T15:42:16Z- handleDepth()-Depth_Keller msg: 1633880536915 epoch sec; seqNo:574; depth 0.10 2021-10-10T15:42:16Z- handleDvl() - RDI_Pathfinder msg: 1633880536.94 epoch sec; seqNo:268 2021-10-10T15:42:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.17 , 89.17 , 95.28 , 87.95 2021-10-10T15:42:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.52 , -0.01 2021-10-10T15:42:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880536.96 epoch sec; seqNo:575; 4061566.45 north; 594815.17 east 2021-10-10T15:42:17Z- AHRS_M2 msg: 1633880537.31 epoch sec; seqNo:570 2021-10-10T15:42:17Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 1.19 psi 2021-10-10T15:42:17Z- handleDepth()-Depth_Keller msg: 1633880537316 epoch sec; seqNo:575; depth 0.09 2021-10-10T15:42:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880537.33 epoch sec; seqNo:576; 4061566.45 north; 594815.17 east 2021-10-10T15:42:17Z- AHRS_M2 msg: 1633880537.71 epoch sec; seqNo:571 2021-10-10T15:42:17Z- AHRS_M2 msg: 0.07 phi; -0.04 theta; 1.18 psi 2021-10-10T15:42:17Z- handleDepth()-Depth_Keller msg: 1633880537723 epoch sec; seqNo:576; depth 0.10 2021-10-10T15:42:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:17Z- handleDvl() - RDI_Pathfinder msg: 1633880537.73 epoch sec; seqNo:269 2021-10-10T15:42:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.52 , -0.01 2021-10-10T15:42:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880537.73 epoch sec; seqNo:577; 4061566.45 north; 594815.17 east 2021-10-10T15:42:18Z- AHRS_M2 msg: 1633880538.12 epoch sec; seqNo:572 2021-10-10T15:42:18Z- AHRS_M2 msg: -0.03 phi; -0.06 theta; 1.17 psi 2021-10-10T15:42:18Z- handleDepth()-Depth_Keller msg: 1633880538133 epoch sec; seqNo:577; depth 0.07 2021-10-10T15:42:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880538.14 epoch sec; seqNo:578; 4061566.83 north; 594815.17 east 2021-10-10T15:42:18Z- LcmTrn::handleMessages() - handling 45 messages took 0.68 ms and 131 calls... 2021-10-10T15:42:18Z- waiting for 1633880535.92, time is 1633880538.14 2021-10-10T15:42:18Z- LcmTrn::updateTrn() >>>> pose time 1633880538.14, meas time 1633880537.73 <<<< 2021-10-10T15:42:18Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880537.73, ping # 0. 2021-10-10T15:42:18Z- TerrainNav::Measurement type 1 from time = 1633880537.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:42:18Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594815.17, 0.07) 2021-10-10T15:42:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:18Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:18Z- AHRS_M2 msg: 1633880538.52 epoch sec; seqNo:573 2021-10-10T15:42:18Z- AHRS_M2 msg: -0.08 phi; -0.14 theta; 1.15 psi 2021-10-10T15:42:18Z- handleDepth()-Depth_Keller msg: 1633880538525 epoch sec; seqNo:578; depth 0.06 2021-10-10T15:42:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880538.53 epoch sec; seqNo:579; 4061566.83 north; 594815.17 east 2021-10-10T15:42:18Z- AHRS_M2 msg: 1633880538.92 epoch sec; seqNo:574 2021-10-10T15:42:18Z- AHRS_M2 msg: -0.04 phi; -0.15 theta; 1.13 psi 2021-10-10T15:42:18Z- handleDepth()-Depth_Keller msg: 1633880538936 epoch sec; seqNo:579; depth 0.08 2021-10-10T15:42:18Z- handleDvl() - RDI_Pathfinder msg: 1633880538.95 epoch sec; seqNo:270 2021-10-10T15:42:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:42:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880538.98 epoch sec; seqNo:580; 4061567.21 north; 594815.16 east 2021-10-10T15:42:19Z- AHRS_M2 msg: 1633880539.33 epoch sec; seqNo:575 2021-10-10T15:42:19Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.11 psi 2021-10-10T15:42:19Z- handleDepth()-Depth_Keller msg: 1633880539335 epoch sec; seqNo:580; depth 0.05 2021-10-10T15:42:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880539.35 epoch sec; seqNo:581; 4061567.21 north; 594815.16 east 2021-10-10T15:42:19Z- AHRS_M2 msg: 1633880539.73 epoch sec; seqNo:576 2021-10-10T15:42:19Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.09 psi 2021-10-10T15:42:19Z- handleDepth()-Depth_Keller msg: 1633880539745 epoch sec; seqNo:581; depth 0.06 2021-10-10T15:42:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880539.76 epoch sec; seqNo:582; 4061567.57 north; 594813.94 east 2021-10-10T15:42:20Z- AHRS_M2 msg: 1633880540.14 epoch sec; seqNo:577 2021-10-10T15:42:20Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.08 psi 2021-10-10T15:42:20Z- handleDepth()-Depth_Keller msg: 1633880540146 epoch sec; seqNo:582; depth 0.02 2021-10-10T15:42:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:20Z- handleDvl() - RDI_Pathfinder msg: 1633880540.15 epoch sec; seqNo:271 2021-10-10T15:42:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:20Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:42:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880540.18 epoch sec; seqNo:583; 4061567.57 north; 594813.94 east 2021-10-10T15:42:20Z- AHRS_M2 msg: 1633880540.54 epoch sec; seqNo:578 2021-10-10T15:42:20Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 1.07 psi 2021-10-10T15:42:20Z- handleDepth()-Depth_Keller msg: 1633880540547 epoch sec; seqNo:583; depth 0.02 2021-10-10T15:42:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880540.56 epoch sec; seqNo:584; 4061567.95 north; 594813.93 east 2021-10-10T15:42:20Z- AHRS_M2 msg: 1633880540.95 epoch sec; seqNo:579 2021-10-10T15:42:20Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.05 psi 2021-10-10T15:42:20Z- handleDepth()-Depth_Keller msg: 1633880540951 epoch sec; seqNo:584; depth 0.06 2021-10-10T15:42:20Z- handleDvl() - RDI_Pathfinder msg: 1633880540.97 epoch sec; seqNo:272 2021-10-10T15:42:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.54 , 96.50 , 96.50 , 87.54 2021-10-10T15:42:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.45 , 0.08 2021-10-10T15:42:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880540.98 epoch sec; seqNo:585; 4061567.57 north; 594813.94 east 2021-10-10T15:42:21Z- AHRS_M2 msg: 1633880541.35 epoch sec; seqNo:580 2021-10-10T15:42:21Z- AHRS_M2 msg: -0.04 phi; 0.10 theta; 1.09 psi 2021-10-10T15:42:21Z- handleDepth()-Depth_Keller msg: 1633880541361 epoch sec; seqNo:585; depth 0.05 2021-10-10T15:42:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:21Z- handleDvl() - RDI_Pathfinder msg: 1633880541.36 epoch sec; seqNo:273 2021-10-10T15:42:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.45 , 0.08 2021-10-10T15:42:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880541.38 epoch sec; seqNo:586; 4061567.59 north; 594815.16 east 2021-10-10T15:42:21Z- AHRS_M2 msg: 1633880541.75 epoch sec; seqNo:581 2021-10-10T15:42:21Z- AHRS_M2 msg: 0.04 phi; 0.06 theta; 1.13 psi 2021-10-10T15:42:21Z- handleDepth()-Depth_Keller msg: 1633880541764 epoch sec; seqNo:586; depth 0.05 2021-10-10T15:42:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880541.79 epoch sec; seqNo:587; 4061567.59 north; 594815.16 east 2021-10-10T15:42:22Z- AHRS_M2 msg: 1633880542.16 epoch sec; seqNo:582 2021-10-10T15:42:22Z- AHRS_M2 msg: 0.03 phi; -0.03 theta; 1.09 psi 2021-10-10T15:42:22Z- handleDepth()-Depth_Keller msg: 1633880542161 epoch sec; seqNo:587; depth 0.10 2021-10-10T15:42:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880542.17 epoch sec; seqNo:588; 4061567.59 north; 594815.16 east 2021-10-10T15:42:22Z- AHRS_M2 msg: 1633880542.56 epoch sec; seqNo:583 2021-10-10T15:42:22Z- AHRS_M2 msg: -0.08 phi; -0.06 theta; 1.05 psi 2021-10-10T15:42:22Z- handleDepth()-Depth_Keller msg: 1633880542572 epoch sec; seqNo:588; depth 0.08 2021-10-10T15:42:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:22Z- handleDvl() - RDI_Pathfinder msg: 1633880542.57 epoch sec; seqNo:274 2021-10-10T15:42:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.45 , 0.08 2021-10-10T15:42:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880542.58 epoch sec; seqNo:589; 4061567.21 north; 594815.16 east 2021-10-10T15:42:22Z- AHRS_M2 msg: 1633880542.96 epoch sec; seqNo:584 2021-10-10T15:42:22Z- AHRS_M2 msg: -0.13 phi; -0.07 theta; 1.05 psi 2021-10-10T15:42:22Z- handleDepth()-Depth_Keller msg: 1633880542972 epoch sec; seqNo:589; depth 0.06 2021-10-10T15:42:23Z- handleDvl() - RDI_Pathfinder msg: 1633880543.00 epoch sec; seqNo:275 2021-10-10T15:42:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.95 , 91.61 , 97.72 , 84.28 2021-10-10T15:42:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , -0.25 , -1.08 2021-10-10T15:42:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880543.01 epoch sec; seqNo:590; 4061567.21 north; 594815.16 east 2021-10-10T15:42:23Z- LcmTrn::handleMessages() - handling 42 messages took 0.72 ms and 127 calls... 2021-10-10T15:42:23Z- waiting for 1633880541.14, time is 1633880543.01 2021-10-10T15:42:23Z- LcmTrn::updateTrn() equating pose 1633880543.01 and meas times 1633880543.01 2021-10-10T15:42:23Z- LcmTrn::updateTrn() >>>> pose time 1633880543.01, meas time 1633880543.01 <<<< 2021-10-10T15:42:23Z- TerrainNav::Measurement type 1 from time = 1633880543.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:42:23Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594815.16, 0.06) 2021-10-10T15:42:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:23Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:23Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:23Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:23Z- AHRS_M2 msg: 1633880543.37 epoch sec; seqNo:585 2021-10-10T15:42:23Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 1.05 psi 2021-10-10T15:42:23Z- handleDepth()-Depth_Keller msg: 1633880543373 epoch sec; seqNo:590; depth 0.07 2021-10-10T15:42:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880543.39 epoch sec; seqNo:591; 4061567.59 north; 594815.16 east 2021-10-10T15:42:23Z- AHRS_M2 msg: 1633880543.77 epoch sec; seqNo:586 2021-10-10T15:42:23Z- AHRS_M2 msg: 0.03 phi; 0.02 theta; 1.05 psi 2021-10-10T15:42:23Z- handleDepth()-Depth_Keller msg: 1633880543783 epoch sec; seqNo:591; depth 0.08 2021-10-10T15:42:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:23Z- handleDvl() - RDI_Pathfinder msg: 1633880543.79 epoch sec; seqNo:276 2021-10-10T15:42:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , -0.25 , -1.08 2021-10-10T15:42:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880543.79 epoch sec; seqNo:592; 4061567.21 north; 594815.16 east 2021-10-10T15:42:24Z- AHRS_M2 msg: 1633880544.18 epoch sec; seqNo:587 2021-10-10T15:42:24Z- AHRS_M2 msg: 0.10 phi; -0.01 theta; 1.03 psi 2021-10-10T15:42:24Z- handleDepth()-Depth_Keller msg: 1633880544191 epoch sec; seqNo:592; depth 0.06 2021-10-10T15:42:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880544.20 epoch sec; seqNo:593; 4061567.20 north; 594813.94 east 2021-10-10T15:42:24Z- AHRS_M2 msg: 1633880544.58 epoch sec; seqNo:588 2021-10-10T15:42:24Z- AHRS_M2 msg: 0.14 phi; -0.07 theta; 1.01 psi 2021-10-10T15:42:24Z- handleDepth()-Depth_Keller msg: 1633880544585 epoch sec; seqNo:593; depth 0.08 2021-10-10T15:42:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880544.60 epoch sec; seqNo:594; 4061567.20 north; 594813.94 east 2021-10-10T15:42:24Z- AHRS_M2 msg: 1633880544.98 epoch sec; seqNo:589 2021-10-10T15:42:24Z- AHRS_M2 msg: 0.10 phi; -0.08 theta; 1.01 psi 2021-10-10T15:42:24Z- handleDepth()-Depth_Keller msg: 1633880544989 epoch sec; seqNo:594; depth 0.08 2021-10-10T15:42:25Z- handleDvl() - RDI_Pathfinder msg: 1633880545.02 epoch sec; seqNo:277 2021-10-10T15:42:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.75 , 89.30 , 97.86 , 84.41 2021-10-10T15:42:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.53 , -0.54 , 0.00 2021-10-10T15:42:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880545.04 epoch sec; seqNo:595; 4061567.20 north; 594813.94 east 2021-10-10T15:42:25Z- AHRS_M2 msg: 1633880545.39 epoch sec; seqNo:590 2021-10-10T15:42:25Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 1.00 psi 2021-10-10T15:42:25Z- handleDepth()-Depth_Keller msg: 1633880545393 epoch sec; seqNo:595; depth 0.07 2021-10-10T15:42:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880545.41 epoch sec; seqNo:596; 4061567.57 north; 594813.94 east 2021-10-10T15:42:25Z- AHRS_M2 msg: 1633880545.80 epoch sec; seqNo:591 2021-10-10T15:42:25Z- AHRS_M2 msg: 0.00 phi; -0.06 theta; 0.96 psi 2021-10-10T15:42:25Z- handleDepth()-Depth_Keller msg: 1633880545803 epoch sec; seqNo:596; depth 0.07 2021-10-10T15:42:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880545.81 epoch sec; seqNo:597; 4061567.56 north; 594812.72 east 2021-10-10T15:42:26Z- AHRS_M2 msg: 1633880546.20 epoch sec; seqNo:592 2021-10-10T15:42:26Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 0.96 psi 2021-10-10T15:42:26Z- handleDepth()-Depth_Keller msg: 1633880546213 epoch sec; seqNo:597; depth 0.10 2021-10-10T15:42:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:26Z- handleDvl() - RDI_Pathfinder msg: 1633880546.22 epoch sec; seqNo:278 2021-10-10T15:42:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.53 , -0.54 , 0.00 2021-10-10T15:42:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880546.24 epoch sec; seqNo:598; 4061567.56 north; 594812.72 east 2021-10-10T15:42:26Z- AHRS_M2 msg: 1633880546.61 epoch sec; seqNo:593 2021-10-10T15:42:26Z- AHRS_M2 msg: -0.12 phi; -0.13 theta; 0.96 psi 2021-10-10T15:42:26Z- handleDepth()-Depth_Keller msg: 1633880546615 epoch sec; seqNo:598; depth 0.08 2021-10-10T15:42:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880546.64 epoch sec; seqNo:599; 4061567.56 north; 594812.72 east 2021-10-10T15:42:27Z- AHRS_M2 msg: 1633880547.01 epoch sec; seqNo:594 2021-10-10T15:42:27Z- AHRS_M2 msg: -0.10 phi; -0.10 theta; 0.94 psi 2021-10-10T15:42:27Z- handleDepth()-Depth_Keller msg: 1633880547018 epoch sec; seqNo:599; depth 0.09 2021-10-10T15:42:27Z- handleDvl() - RDI_Pathfinder msg: 1633880547.04 epoch sec; seqNo:279 2021-10-10T15:42:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.01 , 97.79 , 91.68 , 89.24 2021-10-10T15:42:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , 0.22 , 0.47 2021-10-10T15:42:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880547.06 epoch sec; seqNo:600; 4061567.56 north; 594812.72 east 2021-10-10T15:42:27Z- AHRS_M2 msg: 1633880547.41 epoch sec; seqNo:595 2021-10-10T15:42:27Z- AHRS_M2 msg: -0.04 phi; -0.07 theta; 0.92 psi 2021-10-10T15:42:27Z- handleDepth()-Depth_Keller msg: 1633880547426 epoch sec; seqNo:600; depth 0.09 2021-10-10T15:42:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:27Z- handleDvl() - RDI_Pathfinder msg: 1633880547.43 epoch sec; seqNo:280 2021-10-10T15:42:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , 0.22 , 0.47 2021-10-10T15:42:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880547.45 epoch sec; seqNo:601; 4061567.18 north; 594812.72 east 2021-10-10T15:42:27Z- AHRS_M2 msg: 1633880547.82 epoch sec; seqNo:596 2021-10-10T15:42:27Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 0.92 psi 2021-10-10T15:42:27Z- handleDepth()-Depth_Keller msg: 1633880547827 epoch sec; seqNo:601; depth 0.11 2021-10-10T15:42:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880547.85 epoch sec; seqNo:602; 4061567.18 north; 594812.72 east 2021-10-10T15:42:28Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls... 2021-10-10T15:42:28Z- waiting for 1633880546.01, time is 1633880547.85 2021-10-10T15:42:28Z- LcmTrn::updateTrn() >>>> pose time 1633880547.85, meas time 1633880547.43 <<<< 2021-10-10T15:42:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880547.43, ping # 0. 2021-10-10T15:42:28Z- TerrainNav::Measurement type 1 from time = 1633880547.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:42:28Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594812.72, 0.11) 2021-10-10T15:42:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:28Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:28Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:28Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:28Z- AHRS_M2 msg: 1633880548.22 epoch sec; seqNo:597 2021-10-10T15:42:28Z- AHRS_M2 msg: -0.03 phi; -0.12 theta; 0.96 psi 2021-10-10T15:42:28Z- handleDepth()-Depth_Keller msg: 1633880548226 epoch sec; seqNo:602; depth 0.12 2021-10-10T15:42:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880548.23 epoch sec; seqNo:603; 4061567.18 north; 594812.72 east 2021-10-10T15:42:28Z- AHRS_M2 msg: 1633880548.62 epoch sec; seqNo:598 2021-10-10T15:42:28Z- AHRS_M2 msg: -0.04 phi; -0.11 theta; 0.98 psi 2021-10-10T15:42:28Z- handleDepth()-Depth_Keller msg: 1633880548639 epoch sec; seqNo:603; depth 0.09 2021-10-10T15:42:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:28Z- handleDvl() - RDI_Pathfinder msg: 1633880548.64 epoch sec; seqNo:281 2021-10-10T15:42:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , 0.22 , 0.47 2021-10-10T15:42:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880548.65 epoch sec; seqNo:604; 4061566.80 north; 594812.73 east 2021-10-10T15:42:29Z- AHRS_M2 msg: 1633880549.03 epoch sec; seqNo:599 2021-10-10T15:42:29Z- AHRS_M2 msg: -0.05 phi; -0.07 theta; 0.99 psi 2021-10-10T15:42:29Z- handleDepth()-Depth_Keller msg: 1633880549039 epoch sec; seqNo:604; depth 0.12 2021-10-10T15:42:29Z- handleDvl() - RDI_Pathfinder msg: 1633880549.07 epoch sec; seqNo:282 2021-10-10T15:42:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.94 , 97.72 , 94.05 , 89.17 2021-10-10T15:42:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.56 , -0.34 2021-10-10T15:42:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880549.08 epoch sec; seqNo:605; 4061566.80 north; 594812.73 east 2021-10-10T15:42:29Z- AHRS_M2 msg: 1633880549.43 epoch sec; seqNo:600 2021-10-10T15:42:29Z- AHRS_M2 msg: -0.07 phi; -0.06 theta; 1.00 psi 2021-10-10T15:42:29Z- handleDepth()-Depth_Keller msg: 1633880549448 epoch sec; seqNo:605; depth 0.09 2021-10-10T15:42:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880549.48 epoch sec; seqNo:606; 4061566.80 north; 594812.73 east 2021-10-10T15:42:29Z- AHRS_M2 msg: 1633880549.84 epoch sec; seqNo:601 2021-10-10T15:42:29Z- AHRS_M2 msg: -0.06 phi; -0.10 theta; 1.03 psi 2021-10-10T15:42:29Z- handleDepth()-Depth_Keller msg: 1633880549846 epoch sec; seqNo:606; depth 0.07 2021-10-10T15:42:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:29Z- handleDvl() - RDI_Pathfinder msg: 1633880549.85 epoch sec; seqNo:283 2021-10-10T15:42:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.56 , -0.34 2021-10-10T15:42:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880549.86 epoch sec; seqNo:607; 4061566.42 north; 594812.73 east 2021-10-10T15:42:30Z- AHRS_M2 msg: 1633880550.24 epoch sec; seqNo:602 2021-10-10T15:42:30Z- AHRS_M2 msg: -0.02 phi; -0.14 theta; 1.07 psi 2021-10-10T15:42:30Z- handleDepth()-Depth_Keller msg: 1633880550248 epoch sec; seqNo:607; depth 0.10 2021-10-10T15:42:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880550.28 epoch sec; seqNo:608; 4061566.44 north; 594813.95 east 2021-10-10T15:42:30Z- AHRS_M2 msg: 1633880550.65 epoch sec; seqNo:603 2021-10-10T15:42:30Z- AHRS_M2 msg: -0.00 phi; -0.08 theta; 1.07 psi 2021-10-10T15:42:30Z- handleDepth()-Depth_Keller msg: 1633880550653 epoch sec; seqNo:608; depth 0.11 2021-10-10T15:42:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880550.66 epoch sec; seqNo:609; 4061566.06 north; 594813.95 east 2021-10-10T15:42:31Z- AHRS_M2 msg: 1633880551.05 epoch sec; seqNo:604 2021-10-10T15:42:31Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.05 psi 2021-10-10T15:42:31Z- handleDepth()-Depth_Keller msg: 1633880551059 epoch sec; seqNo:609; depth 0.08 2021-10-10T15:42:31Z- handleDvl() - RDI_Pathfinder msg: 1633880551.08 epoch sec; seqNo:284 2021-10-10T15:42:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.21 , 96.43 , 97.79 , 88.29 2021-10-10T15:42:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.39 , -0.39 , -0.69 2021-10-10T15:42:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880551.11 epoch sec; seqNo:610; 4061566.44 north; 594813.95 east 2021-10-10T15:42:31Z- AHRS_M2 msg: 1633880551.46 epoch sec; seqNo:605 2021-10-10T15:42:31Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 1.03 psi 2021-10-10T15:42:31Z- handleDepth()-Depth_Keller msg: 1633880551462 epoch sec; seqNo:610; depth 0.07 2021-10-10T15:42:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880551.48 epoch sec; seqNo:611; 4061566.42 north; 594812.73 east 2021-10-10T15:42:31Z- AHRS_M2 msg: 1633880551.86 epoch sec; seqNo:606 2021-10-10T15:42:31Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.06 psi 2021-10-10T15:42:31Z- handleDepth()-Depth_Keller msg: 1633880551873 epoch sec; seqNo:611; depth 0.05 2021-10-10T15:42:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880551.88 epoch sec; seqNo:612; 4061566.42 north; 594812.73 east 2021-10-10T15:42:32Z- AHRS_M2 msg: 1633880552.26 epoch sec; seqNo:607 2021-10-10T15:42:32Z- AHRS_M2 msg: 0.07 phi; -0.01 theta; 1.06 psi 2021-10-10T15:42:32Z- handleDepth()-Depth_Keller msg: 1633880552265 epoch sec; seqNo:612; depth 0.04 2021-10-10T15:42:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:32Z- handleDvl() - RDI_Pathfinder msg: 1633880552.27 epoch sec; seqNo:285 2021-10-10T15:42:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.39 , -0.39 , -0.69 2021-10-10T15:42:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880552.28 epoch sec; seqNo:613; 4061566.42 north; 594812.73 east 2021-10-10T15:42:32Z- AHRS_M2 msg: 1633880552.67 epoch sec; seqNo:608 2021-10-10T15:42:32Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 1.05 psi 2021-10-10T15:42:32Z- handleDepth()-Depth_Keller msg: 1633880552684 epoch sec; seqNo:613; depth 0.05 2021-10-10T15:42:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880552.74 epoch sec; seqNo:614; 4061566.42 north; 594812.73 east 2021-10-10T15:42:33Z- AHRS_M2 msg: 1633880553.07 epoch sec; seqNo:609 2021-10-10T15:42:33Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.06 psi 2021-10-10T15:42:33Z- handleDepth()-Depth_Keller msg: 1633880553075 epoch sec; seqNo:614; depth 0.06 2021-10-10T15:42:33Z- handleDvl() - RDI_Pathfinder msg: 1633880553.10 epoch sec; seqNo:286 2021-10-10T15:42:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.61 , 91.61 , 96.50 , 85.50 2021-10-10T15:42:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , 0.20 , -0.13 2021-10-10T15:42:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880553.11 epoch sec; seqNo:615; 4061566.42 north; 594812.73 east 2021-10-10T15:42:33Z- LcmTrn::handleMessages() - handling 45 messages took 0.71 ms and 131 calls... 2021-10-10T15:42:33Z- waiting for 1633880550.85, time is 1633880553.11 2021-10-10T15:42:33Z- LcmTrn::updateTrn() equating pose 1633880553.11 and meas times 1633880553.11 2021-10-10T15:42:33Z- LcmTrn::updateTrn() >>>> pose time 1633880553.11, meas time 1633880553.11 <<<< 2021-10-10T15:42:33Z- TerrainNav::Measurement type 1 from time = 1633880553.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:42:33Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594812.73, 0.06) 2021-10-10T15:42:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:33Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:33Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:33Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:33Z- AHRS_M2 msg: 1633880553.47 epoch sec; seqNo:610 2021-10-10T15:42:33Z- AHRS_M2 msg: -0.06 phi; -0.05 theta; 1.08 psi 2021-10-10T15:42:33Z- handleDepth()-Depth_Keller msg: 1633880553478 epoch sec; seqNo:615; depth 0.07 2021-10-10T15:42:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:33Z- handleDvl() - RDI_Pathfinder msg: 1633880553.49 epoch sec; seqNo:287 2021-10-10T15:42:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , 0.20 , -0.13 2021-10-10T15:42:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880553.50 epoch sec; seqNo:616; 4061566.42 north; 594812.73 east 2021-10-10T15:42:33Z- AHRS_M2 msg: 1633880553.89 epoch sec; seqNo:611 2021-10-10T15:42:33Z- AHRS_M2 msg: -0.10 phi; -0.08 theta; 1.06 psi 2021-10-10T15:42:33Z- handleDepth()-Depth_Keller msg: 1633880553903 epoch sec; seqNo:616; depth 0.08 2021-10-10T15:42:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880553.92 epoch sec; seqNo:617; 4061566.05 north; 594812.73 east 2021-10-10T15:42:34Z- AHRS_M2 msg: 1633880554.28 epoch sec; seqNo:612 2021-10-10T15:42:34Z- AHRS_M2 msg: -0.10 phi; -0.06 theta; 1.05 psi 2021-10-10T15:42:34Z- handleDepth()-Depth_Keller msg: 1633880554288 epoch sec; seqNo:617; depth 0.09 2021-10-10T15:42:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880554.31 epoch sec; seqNo:618; 4061566.05 north; 594812.73 east 2021-10-10T15:42:34Z- AHRS_M2 msg: 1633880554.73 epoch sec; seqNo:613 2021-10-10T15:42:34Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 1.06 psi 2021-10-10T15:42:34Z- handleDepth()-Depth_Keller msg: 1633880554736 epoch sec; seqNo:618; depth 0.09 2021-10-10T15:42:34Z- handleDvl() - RDI_Pathfinder msg: 1633880554.78 epoch sec; seqNo:288 2021-10-10T15:42:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.12 , 96.57 , 92.90 , 88.01 2021-10-10T15:42:34Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , -0.36 , 0.07 2021-10-10T15:42:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880554.85 epoch sec; seqNo:619; 4061566.05 north; 594812.73 east 2021-10-10T15:42:35Z- AHRS_M2 msg: 1633880555.09 epoch sec; seqNo:614 2021-10-10T15:42:35Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.06 psi 2021-10-10T15:42:35Z- handleDepth()-Depth_Keller msg: 1633880555100 epoch sec; seqNo:619; depth 0.07 2021-10-10T15:42:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880555.12 epoch sec; seqNo:620; 4061566.42 north; 594812.73 east 2021-10-10T15:42:35Z- AHRS_M2 msg: 1633880555.49 epoch sec; seqNo:615 2021-10-10T15:42:35Z- AHRS_M2 msg: 0.03 phi; -0.09 theta; 1.06 psi 2021-10-10T15:42:35Z- handleDepth()-Depth_Keller msg: 1633880555500 epoch sec; seqNo:620; depth 0.08 2021-10-10T15:42:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880555.52 epoch sec; seqNo:621; 4061566.42 north; 594812.73 east 2021-10-10T15:42:35Z- AHRS_M2 msg: 1633880555.90 epoch sec; seqNo:616 2021-10-10T15:42:35Z- AHRS_M2 msg: 0.07 phi; -0.15 theta; 1.08 psi 2021-10-10T15:42:35Z- handleDepth()-Depth_Keller msg: 1633880555904 epoch sec; seqNo:621; depth 0.08 2021-10-10T15:42:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:35Z- handleDvl() - RDI_Pathfinder msg: 1633880555.91 epoch sec; seqNo:289 2021-10-10T15:42:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , -0.36 , 0.07 2021-10-10T15:42:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880555.92 epoch sec; seqNo:622; 4061566.41 north; 594811.51 east 2021-10-10T15:42:36Z- AHRS_M2 msg: 1633880556.30 epoch sec; seqNo:617 2021-10-10T15:42:36Z- AHRS_M2 msg: 0.15 phi; -0.11 theta; 1.06 psi 2021-10-10T15:42:36Z- handleDepth()-Depth_Keller msg: 1633880556307 epoch sec; seqNo:622; depth 0.10 2021-10-10T15:42:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880556.33 epoch sec; seqNo:623; 4061566.79 north; 594811.50 east 2021-10-10T15:42:36Z- AHRS_M2 msg: 1633880556.74 epoch sec; seqNo:618 2021-10-10T15:42:36Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 1.06 psi 2021-10-10T15:42:36Z- handleDepth()-Depth_Keller msg: 1633880556745 epoch sec; seqNo:623; depth 0.07 2021-10-10T15:42:36Z- handleDvl() - RDI_Pathfinder msg: 1633880556.79 epoch sec; seqNo:290 2021-10-10T15:42:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.82 , 88.15 , 89.37 , 91.82 2021-10-10T15:42:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.16 , 0.07 2021-10-10T15:42:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880556.83 epoch sec; seqNo:624; 4061566.79 north; 594811.50 east 2021-10-10T15:42:37Z- AHRS_M2 msg: 1633880557.11 epoch sec; seqNo:619 2021-10-10T15:42:37Z- AHRS_M2 msg: 0.12 phi; 0.00 theta; 1.06 psi 2021-10-10T15:42:37Z- handleDepth()-Depth_Keller msg: 1633880557116 epoch sec; seqNo:624; depth 0.05 2021-10-10T15:42:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:37Z- handleDvl() - RDI_Pathfinder msg: 1633880557.12 epoch sec; seqNo:291 2021-10-10T15:42:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.16 , 0.07 2021-10-10T15:42:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880557.16 epoch sec; seqNo:625; 4061566.79 north; 594811.50 east 2021-10-10T15:42:37Z- AHRS_M2 msg: 1633880557.51 epoch sec; seqNo:620 2021-10-10T15:42:37Z- AHRS_M2 msg: 0.05 phi; -0.04 theta; 1.06 psi 2021-10-10T15:42:37Z- handleDepth()-Depth_Keller msg: 1633880557519 epoch sec; seqNo:625; depth 0.04 2021-10-10T15:42:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880557.53 epoch sec; seqNo:626; 4061566.79 north; 594811.50 east 2021-10-10T15:42:37Z- AHRS_M2 msg: 1633880557.92 epoch sec; seqNo:621 2021-10-10T15:42:37Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.07 psi 2021-10-10T15:42:37Z- handleDepth()-Depth_Keller msg: 1633880557924 epoch sec; seqNo:626; depth 0.05 2021-10-10T15:42:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880557.94 epoch sec; seqNo:627; 4061566.79 north; 594811.50 east 2021-10-10T15:42:38Z- LcmTrn::handleMessages() - handling 41 messages took 0.80 ms and 125 calls... 2021-10-10T15:42:38Z- waiting for 1633880556.11, time is 1633880557.94 2021-10-10T15:42:38Z- LcmTrn::updateTrn() >>>> pose time 1633880557.94, meas time 1633880557.12 <<<< 2021-10-10T15:42:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880557.12, ping # 0. 2021-10-10T15:42:38Z- TerrainNav::Measurement type 1 from time = 1633880557.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:42:38Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594811.50, 0.05) 2021-10-10T15:42:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:38Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:38Z- AHRS_M2 msg: 1633880558.32 epoch sec; seqNo:622 2021-10-10T15:42:38Z- AHRS_M2 msg: -0.10 phi; 0.04 theta; 1.06 psi 2021-10-10T15:42:38Z- handleDepth()-Depth_Keller msg: 1633880558331 epoch sec; seqNo:627; depth 0.05 2021-10-10T15:42:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:38Z- handleDvl() - RDI_Pathfinder msg: 1633880558.33 epoch sec; seqNo:292 2021-10-10T15:42:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.16 , 0.07 2021-10-10T15:42:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880558.34 epoch sec; seqNo:628; 4061566.79 north; 594811.50 east 2021-10-10T15:42:38Z- AHRS_M2 msg: 1633880558.74 epoch sec; seqNo:623 2021-10-10T15:42:38Z- AHRS_M2 msg: -0.12 phi; 0.06 theta; 1.05 psi 2021-10-10T15:42:38Z- handleDepth()-Depth_Keller msg: 1633880558744 epoch sec; seqNo:628; depth 0.06 2021-10-10T15:42:38Z- handleDvl() - RDI_Pathfinder msg: 1633880558.76 epoch sec; seqNo:293 2021-10-10T15:42:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.86 , 99.08 , 96.64 , 84.41 2021-10-10T15:42:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , 0.24 , -0.14 2021-10-10T15:42:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880558.78 epoch sec; seqNo:629; 4061566.79 north; 594811.50 east 2021-10-10T15:42:39Z- AHRS_M2 msg: 1633880559.13 epoch sec; seqNo:624 2021-10-10T15:42:39Z- AHRS_M2 msg: -0.14 phi; 0.02 theta; 1.05 psi 2021-10-10T15:42:39Z- handleDepth()-Depth_Keller msg: 1633880559136 epoch sec; seqNo:629; depth 0.06 2021-10-10T15:42:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880559.16 epoch sec; seqNo:630; 4061566.79 north; 594811.50 east 2021-10-10T15:42:39Z- AHRS_M2 msg: 1633880559.54 epoch sec; seqNo:625 2021-10-10T15:42:39Z- AHRS_M2 msg: -0.15 phi; -0.03 theta; 1.04 psi 2021-10-10T15:42:39Z- handleDepth()-Depth_Keller msg: 1633880559560 epoch sec; seqNo:630; depth 0.07 2021-10-10T15:42:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:39Z- handleDvl() - RDI_Pathfinder msg: 1633880559.56 epoch sec; seqNo:294 2021-10-10T15:42:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , 0.24 , -0.14 2021-10-10T15:42:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880559.58 epoch sec; seqNo:631; 4061566.79 north; 594811.50 east 2021-10-10T15:42:39Z- AHRS_M2 msg: 1633880559.94 epoch sec; seqNo:626 2021-10-10T15:42:39Z- AHRS_M2 msg: -0.13 phi; -0.08 theta; 1.04 psi 2021-10-10T15:42:39Z- handleDepth()-Depth_Keller msg: 1633880559952 epoch sec; seqNo:631; depth 0.08 2021-10-10T15:42:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880559.97 epoch sec; seqNo:632; 4061566.41 north; 594811.51 east 2021-10-10T15:42:40Z- AHRS_M2 msg: 1633880560.34 epoch sec; seqNo:627 2021-10-10T15:42:40Z- AHRS_M2 msg: -0.12 phi; -0.06 theta; 1.04 psi 2021-10-10T15:42:40Z- handleDepth()-Depth_Keller msg: 1633880560354 epoch sec; seqNo:632; depth 0.08 2021-10-10T15:42:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880560.37 epoch sec; seqNo:633; 4061566.41 north; 594811.51 east 2021-10-10T15:42:40Z- AHRS_M2 msg: 1633880560.74 epoch sec; seqNo:628 2021-10-10T15:42:40Z- AHRS_M2 msg: -0.11 phi; 0.04 theta; 1.04 psi 2021-10-10T15:42:40Z- handleDepth()-Depth_Keller msg: 1633880560752 epoch sec; seqNo:633; depth 0.07 2021-10-10T15:42:40Z- handleDvl() - RDI_Pathfinder msg: 1633880560.80 epoch sec; seqNo:295 2021-10-10T15:42:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.52 , 96.50 , 91.61 , 89.17 2021-10-10T15:42:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.08 , -0.41 2021-10-10T15:42:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880560.83 epoch sec; seqNo:634; 4061566.41 north; 594811.51 east 2021-10-10T15:42:41Z- AHRS_M2 msg: 1633880561.15 epoch sec; seqNo:629 2021-10-10T15:42:41Z- AHRS_M2 msg: -0.06 phi; 0.05 theta; 1.07 psi 2021-10-10T15:42:41Z- handleDepth()-Depth_Keller msg: 1633880561156 epoch sec; seqNo:634; depth 0.04 2021-10-10T15:42:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880561.18 epoch sec; seqNo:635; 4061566.42 north; 594812.73 east 2021-10-10T15:42:41Z- AHRS_M2 msg: 1633880561.56 epoch sec; seqNo:630 2021-10-10T15:42:41Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.11 psi 2021-10-10T15:42:41Z- handleDepth()-Depth_Keller msg: 1633880561560 epoch sec; seqNo:635; depth 0.08 2021-10-10T15:42:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880561.59 epoch sec; seqNo:636; 4061566.42 north; 594812.73 east 2021-10-10T15:42:41Z- AHRS_M2 msg: 1633880561.96 epoch sec; seqNo:631 2021-10-10T15:42:41Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 1.11 psi 2021-10-10T15:42:41Z- handleDepth()-Depth_Keller msg: 1633880561964 epoch sec; seqNo:636; depth 0.08 2021-10-10T15:42:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:41Z- handleDvl() - RDI_Pathfinder msg: 1633880561.97 epoch sec; seqNo:296 2021-10-10T15:42:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.08 , -0.41 2021-10-10T15:42:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880561.99 epoch sec; seqNo:637; 4061566.42 north; 594812.73 east 2021-10-10T15:42:42Z- AHRS_M2 msg: 1633880562.36 epoch sec; seqNo:632 2021-10-10T15:42:42Z- AHRS_M2 msg: 0.02 phi; -0.12 theta; 1.08 psi 2021-10-10T15:42:42Z- handleDepth()-Depth_Keller msg: 1633880562367 epoch sec; seqNo:637; depth 0.06 2021-10-10T15:42:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880562.40 epoch sec; seqNo:638; 4061566.42 north; 594812.73 east 2021-10-10T15:42:42Z- AHRS_M2 msg: 1633880562.77 epoch sec; seqNo:633 2021-10-10T15:42:42Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 1.06 psi 2021-10-10T15:42:42Z- handleDepth()-Depth_Keller msg: 1633880562772 epoch sec; seqNo:638; depth 0.05 2021-10-10T15:42:42Z- handleDvl() - RDI_Pathfinder msg: 1633880562.82 epoch sec; seqNo:297 2021-10-10T15:42:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.59 , 88.15 , 90.59 , 88.15 2021-10-10T15:42:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.56 , -0.44 , -0.08 2021-10-10T15:42:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880562.84 epoch sec; seqNo:639; 4061566.41 north; 594811.51 east 2021-10-10T15:42:43Z- AHRS_M2 msg: 1633880563.17 epoch sec; seqNo:634 2021-10-10T15:42:43Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 1.06 psi 2021-10-10T15:42:43Z- handleDepth()-Depth_Keller msg: 1633880563175 epoch sec; seqNo:639; depth 0.05 2021-10-10T15:42:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:43Z- handleDvl() - RDI_Pathfinder msg: 1633880563.18 epoch sec; seqNo:298 2021-10-10T15:42:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.56 , -0.44 , -0.08 2021-10-10T15:42:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880563.24 epoch sec; seqNo:640; 4061566.79 north; 594811.50 east 2021-10-10T15:42:43Z- LcmTrn::handleMessages() - handling 46 messages took 0.81 ms and 130 calls... 2021-10-10T15:42:43Z- waiting for 1633880560.94, time is 1633880563.24 2021-10-10T15:42:43Z- LcmTrn::updateTrn() equating pose 1633880563.24 and meas times 1633880563.24 2021-10-10T15:42:43Z- LcmTrn::updateTrn() >>>> pose time 1633880563.24, meas time 1633880563.24 <<<< 2021-10-10T15:42:43Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880563.24, ping # 0. 2021-10-10T15:42:43Z- TerrainNav::Measurement type 1 from time = 1633880563.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:42:43Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594811.50, 0.05) 2021-10-10T15:42:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:43Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:43Z- AHRS_M2 msg: 1633880563.57 epoch sec; seqNo:635 2021-10-10T15:42:43Z- AHRS_M2 msg: -0.12 phi; 0.05 theta; 1.06 psi 2021-10-10T15:42:43Z- handleDepth()-Depth_Keller msg: 1633880563591 epoch sec; seqNo:640; depth 0.05 2021-10-10T15:42:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880563.61 epoch sec; seqNo:641; 4061566.79 north; 594811.50 east 2021-10-10T15:42:43Z- AHRS_M2 msg: 1633880563.98 epoch sec; seqNo:636 2021-10-10T15:42:44Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 1.07 psi 2021-10-10T15:42:44Z- handleDepth()-Depth_Keller msg: 1633880564001 epoch sec; seqNo:641; depth 0.03 2021-10-10T15:42:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880564.02 epoch sec; seqNo:642; 4061566.79 north; 594811.50 east 2021-10-10T15:42:44Z- AHRS_M2 msg: 1633880564.38 epoch sec; seqNo:637 2021-10-10T15:42:44Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.09 psi 2021-10-10T15:42:44Z- handleDepth()-Depth_Keller msg: 1633880564400 epoch sec; seqNo:642; depth 0.05 2021-10-10T15:42:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:44Z- handleDvl() - RDI_Pathfinder msg: 1633880564.40 epoch sec; seqNo:299 2021-10-10T15:42:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.56 , -0.44 , -0.08 2021-10-10T15:42:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880564.41 epoch sec; seqNo:643; 4061566.79 north; 594811.50 east 2021-10-10T15:42:44Z- AHRS_M2 msg: 1633880564.79 epoch sec; seqNo:638 2021-10-10T15:42:44Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.07 psi 2021-10-10T15:42:44Z- handleDepth()-Depth_Keller msg: 1633880564791 epoch sec; seqNo:643; depth 0.06 2021-10-10T15:42:44Z- handleDvl() - RDI_Pathfinder msg: 1633880564.84 epoch sec; seqNo:300 2021-10-10T15:42:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.53 , 102.82 , 100.37 , 84.48 2021-10-10T15:42:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , -0.04 , 0.09 2021-10-10T15:42:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880564.87 epoch sec; seqNo:644; 4061566.79 north; 594811.50 east 2021-10-10T15:42:45Z- AHRS_M2 msg: 1633880565.19 epoch sec; seqNo:639 2021-10-10T15:42:45Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 1.06 psi 2021-10-10T15:42:45Z- handleDepth()-Depth_Keller msg: 1633880565201 epoch sec; seqNo:644; depth 0.04 2021-10-10T15:42:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880565.23 epoch sec; seqNo:645; 4061566.79 north; 594811.50 east 2021-10-10T15:42:45Z- AHRS_M2 msg: 1633880565.59 epoch sec; seqNo:640 2021-10-10T15:42:45Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 1.11 psi 2021-10-10T15:42:45Z- handleDepth()-Depth_Keller msg: 1633880565605 epoch sec; seqNo:645; depth 0.07 2021-10-10T15:42:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:45Z- handleDvl() - RDI_Pathfinder msg: 1633880565.61 epoch sec; seqNo:301 2021-10-10T15:42:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , -0.04 , 0.09 2021-10-10T15:42:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880565.63 epoch sec; seqNo:646; 4061566.79 north; 594811.50 east 2021-10-10T15:42:46Z- AHRS_M2 msg: 1633880566.00 epoch sec; seqNo:641 2021-10-10T15:42:46Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.13 psi 2021-10-10T15:42:46Z- handleDepth()-Depth_Keller msg: 1633880566005 epoch sec; seqNo:646; depth 0.06 2021-10-10T15:42:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880566.03 epoch sec; seqNo:647; 4061566.79 north; 594811.50 east 2021-10-10T15:42:46Z- AHRS_M2 msg: 1633880566.40 epoch sec; seqNo:642 2021-10-10T15:42:46Z- AHRS_M2 msg: -0.06 phi; -0.06 theta; 1.09 psi 2021-10-10T15:42:46Z- handleDepth()-Depth_Keller msg: 1633880566412 epoch sec; seqNo:647; depth 0.04 2021-10-10T15:42:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880566.45 epoch sec; seqNo:648; 4061566.79 north; 594811.50 east 2021-10-10T15:42:46Z- AHRS_M2 msg: 1633880566.81 epoch sec; seqNo:643 2021-10-10T15:42:46Z- AHRS_M2 msg: -0.10 phi; -0.00 theta; 1.09 psi 2021-10-10T15:42:46Z- handleDepth()-Depth_Keller msg: 1633880566812 epoch sec; seqNo:648; depth 0.05 2021-10-10T15:42:46Z- handleDvl() - RDI_Pathfinder msg: 1633880566.83 epoch sec; seqNo:302 2021-10-10T15:42:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.95 , 94.06 , 97.72 , 86.72 2021-10-10T15:42:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.31 , 0.26 2021-10-10T15:42:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880566.88 epoch sec; seqNo:649; 4061566.79 north; 594811.50 east 2021-10-10T15:42:47Z- AHRS_M2 msg: 1633880567.21 epoch sec; seqNo:644 2021-10-10T15:42:47Z- AHRS_M2 msg: -0.12 phi; 0.10 theta; 1.13 psi 2021-10-10T15:42:47Z- handleDepth()-Depth_Keller msg: 1633880567224 epoch sec; seqNo:649; depth 0.03 2021-10-10T15:42:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880567.25 epoch sec; seqNo:650; 4061566.79 north; 594811.50 east 2021-10-10T15:42:47Z- AHRS_M2 msg: 1633880567.61 epoch sec; seqNo:645 2021-10-10T15:42:47Z- AHRS_M2 msg: -0.12 phi; 0.12 theta; 1.18 psi 2021-10-10T15:42:47Z- handleDepth()-Depth_Keller msg: 1633880567628 epoch sec; seqNo:650; depth 0.04 2021-10-10T15:42:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880567.66 epoch sec; seqNo:651; 4061566.41 north; 594811.51 east 2021-10-10T15:42:48Z- AHRS_M2 msg: 1633880568.02 epoch sec; seqNo:646 2021-10-10T15:42:48Z- AHRS_M2 msg: -0.16 phi; 0.06 theta; 1.20 psi 2021-10-10T15:42:48Z- handleDepth()-Depth_Keller msg: 1633880568028 epoch sec; seqNo:651; depth 0.04 2021-10-10T15:42:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:48Z- handleDvl() - RDI_Pathfinder msg: 1633880568.03 epoch sec; seqNo:303 2021-10-10T15:42:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.31 , 0.26 2021-10-10T15:42:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880568.06 epoch sec; seqNo:652; 4061566.41 north; 594811.51 east 2021-10-10T15:42:48Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls... 2021-10-10T15:42:48Z- waiting for 1633880566.24, time is 1633880568.06 2021-10-10T15:42:48Z- LcmTrn::updateTrn() equating pose 1633880568.06 and meas times 1633880568.06 2021-10-10T15:42:48Z- LcmTrn::updateTrn() >>>> pose time 1633880568.06, meas time 1633880568.06 <<<< 2021-10-10T15:42:48Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880568.06, ping # 0. 2021-10-10T15:42:48Z- TerrainNav::Measurement type 1 from time = 1633880568.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:42:48Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594811.51, 0.04) 2021-10-10T15:42:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:48Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:48Z- AHRS_M2 msg: 1633880568.42 epoch sec; seqNo:647 2021-10-10T15:42:48Z- AHRS_M2 msg: -0.15 phi; 0.02 theta; 1.20 psi 2021-10-10T15:42:48Z- handleDepth()-Depth_Keller msg: 1633880568426 epoch sec; seqNo:652; depth 0.06 2021-10-10T15:42:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880568.44 epoch sec; seqNo:653; 4061566.41 north; 594811.51 east 2021-10-10T15:42:48Z- handleDepth()-Depth_Keller msg: 1633880568844 epoch sec; seqNo:653; depth 0.06 2021-10-10T15:42:48Z- handleDvl() - RDI_Pathfinder msg: 1633880568.90 epoch sec; seqNo:304 2021-10-10T15:42:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.50 , 103.83 , 103.83 , 83.05 2021-10-10T15:42:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.52 , -0.25 , -1.02 2021-10-10T15:42:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880568.94 epoch sec; seqNo:654; 4061566.41 north; 594811.51 east 2021-10-10T15:42:49Z- AHRS_M2 msg: 1633880569.23 epoch sec; seqNo:648 2021-10-10T15:42:49Z- AHRS_M2 msg: -0.00 phi; -0.08 theta; 1.24 psi 2021-10-10T15:42:49Z- handleDepth()-Depth_Keller msg: 1633880569240 epoch sec; seqNo:654; depth 0.08 2021-10-10T15:42:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:49Z- handleDvl() - RDI_Pathfinder msg: 1633880569.24 epoch sec; seqNo:305 2021-10-10T15:42:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.52 , -0.25 , -1.02 2021-10-10T15:42:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880569.26 epoch sec; seqNo:655; 4061566.41 north; 594811.51 east 2021-10-10T15:42:49Z- AHRS_M2 msg: 1633880569.63 epoch sec; seqNo:649 2021-10-10T15:42:49Z- AHRS_M2 msg: 0.06 phi; -0.10 theta; 1.19 psi 2021-10-10T15:42:49Z- handleDepth()-Depth_Keller msg: 1633880569639 epoch sec; seqNo:655; depth 0.07 2021-10-10T15:42:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880569.67 epoch sec; seqNo:656; 4061566.41 north; 594811.51 east 2021-10-10T15:42:50Z- AHRS_M2 msg: 1633880570.04 epoch sec; seqNo:650 2021-10-10T15:42:50Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 1.19 psi 2021-10-10T15:42:50Z- handleDepth()-Depth_Keller msg: 1633880570044 epoch sec; seqNo:656; depth 0.07 2021-10-10T15:42:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880570.09 epoch sec; seqNo:657; 4061566.40 north; 594810.29 east 2021-10-10T15:42:50Z- AHRS_M2 msg: 1633880570.44 epoch sec; seqNo:651 2021-10-10T15:42:50Z- AHRS_M2 msg: 0.03 phi; -0.08 theta; 1.21 psi 2021-10-10T15:42:50Z- handleDepth()-Depth_Keller msg: 1633880570452 epoch sec; seqNo:657; depth 0.06 2021-10-10T15:42:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:50Z- handleDvl() - RDI_Pathfinder msg: 1633880570.45 epoch sec; seqNo:306 2021-10-10T15:42:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.52 , -0.25 , -1.02 2021-10-10T15:42:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880570.47 epoch sec; seqNo:658; 4061566.40 north; 594810.29 east 2021-10-10T15:42:50Z- AHRS_M2 msg: 1633880570.84 epoch sec; seqNo:652 2021-10-10T15:42:50Z- AHRS_M2 msg: -0.04 phi; -0.10 theta; 1.22 psi 2021-10-10T15:42:50Z- handleDepth()-Depth_Keller msg: 1633880570861 epoch sec; seqNo:658; depth 0.06 2021-10-10T15:42:50Z- handleDvl() - RDI_Pathfinder msg: 1633880570.88 epoch sec; seqNo:307 2021-10-10T15:42:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.22 , 86.79 , 92.22 , 88.15 2021-10-10T15:42:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , -0.15 , 0.38 2021-10-10T15:42:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880570.94 epoch sec; seqNo:659; 4061566.40 north; 594810.29 east 2021-10-10T15:42:51Z- AHRS_M2 msg: 1633880571.25 epoch sec; seqNo:653 2021-10-10T15:42:51Z- AHRS_M2 msg: -0.08 phi; -0.09 theta; 1.19 psi 2021-10-10T15:42:51Z- handleDepth()-Depth_Keller msg: 1633880571256 epoch sec; seqNo:659; depth 0.03 2021-10-10T15:42:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880571.29 epoch sec; seqNo:660; 4061566.40 north; 594810.29 east 2021-10-10T15:42:51Z- AHRS_M2 msg: 1633880571.65 epoch sec; seqNo:654 2021-10-10T15:42:51Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 1.16 psi 2021-10-10T15:42:51Z- handleDepth()-Depth_Keller msg: 1633880571667 epoch sec; seqNo:660; depth 0.03 2021-10-10T15:42:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:51Z- handleDvl() - RDI_Pathfinder msg: 1633880571.67 epoch sec; seqNo:308 2021-10-10T15:42:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , -0.15 , 0.38 2021-10-10T15:42:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880571.73 epoch sec; seqNo:661; 4061566.40 north; 594810.29 east 2021-10-10T15:42:52Z- AHRS_M2 msg: 1633880572.06 epoch sec; seqNo:655 2021-10-10T15:42:52Z- AHRS_M2 msg: -0.01 phi; 0.03 theta; 1.18 psi 2021-10-10T15:42:52Z- handleDepth()-Depth_Keller msg: 1633880572064 epoch sec; seqNo:661; depth 0.05 2021-10-10T15:42:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880572.10 epoch sec; seqNo:662; 4061566.40 north; 594810.29 east 2021-10-10T15:42:52Z- AHRS_M2 msg: 1633880572.46 epoch sec; seqNo:656 2021-10-10T15:42:52Z- AHRS_M2 msg: 0.06 phi; 0.07 theta; 1.26 psi 2021-10-10T15:42:52Z- handleDepth()-Depth_Keller msg: 1633880572472 epoch sec; seqNo:662; depth 0.04 2021-10-10T15:42:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880572.49 epoch sec; seqNo:663; 4061566.40 north; 594810.29 east 2021-10-10T15:42:52Z- AHRS_M2 msg: 1633880572.87 epoch sec; seqNo:657 2021-10-10T15:42:52Z- AHRS_M2 msg: 0.05 phi; 0.08 theta; 1.28 psi 2021-10-10T15:42:52Z- handleDepth()-Depth_Keller msg: 1633880572882 epoch sec; seqNo:663; depth 0.07 2021-10-10T15:42:52Z- handleDvl() - RDI_Pathfinder msg: 1633880572.92 epoch sec; seqNo:309 2021-10-10T15:42:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 92.97 , 96.63 , 85.63 2021-10-10T15:42:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , 0.08 , 0.10 2021-10-10T15:42:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880573.00 epoch sec; seqNo:664; 4061566.40 north; 594810.29 east 2021-10-10T15:42:53Z- AHRS_M2 msg: 1633880573.27 epoch sec; seqNo:658 2021-10-10T15:42:53Z- AHRS_M2 msg: -0.01 phi; 0.07 theta; 1.27 psi 2021-10-10T15:42:53Z- handleDepth()-Depth_Keller msg: 1633880573281 epoch sec; seqNo:664; depth 0.07 2021-10-10T15:42:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880573.31 epoch sec; seqNo:665; 4061566.40 north; 594810.29 east 2021-10-10T15:42:53Z- LcmTrn::handleMessages() - handling 44 messages took 0.87 ms and 126 calls... 2021-10-10T15:42:53Z- waiting for 1633880571.06, time is 1633880573.31 2021-10-10T15:42:53Z- LcmTrn::updateTrn() >>>> pose time 1633880573.31, meas time 1633880572.92 <<<< 2021-10-10T15:42:53Z- TerrainNav::Measurement type 1 from time = 1633880572.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:42:53Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594810.29, 0.07) 2021-10-10T15:42:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:53Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:53Z- AHRS_M2 msg: 1633880573.67 epoch sec; seqNo:659 2021-10-10T15:42:53Z- AHRS_M2 msg: -0.10 phi; 0.01 theta; 1.30 psi 2021-10-10T15:42:53Z- handleDepth()-Depth_Keller msg: 1633880573687 epoch sec; seqNo:665; depth 0.07 2021-10-10T15:42:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880573.78 epoch sec; seqNo:666; 4061566.40 north; 594810.29 east 2021-10-10T15:42:54Z- AHRS_M2 msg: 1633880574.08 epoch sec; seqNo:660 2021-10-10T15:42:54Z- AHRS_M2 msg: -0.15 phi; -0.03 theta; 1.32 psi 2021-10-10T15:42:54Z- handleDepth()-Depth_Keller msg: 1633880574092 epoch sec; seqNo:666; depth 0.08 2021-10-10T15:42:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:54Z- handleDvl() - RDI_Pathfinder msg: 1633880574.09 epoch sec; seqNo:310 2021-10-10T15:42:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , 0.08 , 0.10 2021-10-10T15:42:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880574.14 epoch sec; seqNo:667; 4061566.40 north; 594810.29 east 2021-10-10T15:42:54Z- handleDepth()-Depth_Keller msg: 1633880574500 epoch sec; seqNo:667; depth 0.09 2021-10-10T15:42:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880574.52 epoch sec; seqNo:668; 4061566.40 north; 594810.29 east 2021-10-10T15:42:54Z- AHRS_M2 msg: 1633880574.88 epoch sec; seqNo:661 2021-10-10T15:42:54Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 1.30 psi 2021-10-10T15:42:54Z- handleDepth()-Depth_Keller msg: 1633880574897 epoch sec; seqNo:668; depth 0.10 2021-10-10T15:42:54Z- handleDvl() - RDI_Pathfinder msg: 1633880574.98 epoch sec; seqNo:311 2021-10-10T15:42:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.12 , 96.50 , 97.72 , 86.72 2021-10-10T15:42:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , -0.06 , 0.47 2021-10-10T15:42:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880575.04 epoch sec; seqNo:669; 4061566.40 north; 594810.29 east 2021-10-10T15:42:55Z- AHRS_M2 msg: 1633880575.29 epoch sec; seqNo:662 2021-10-10T15:42:55Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 1.31 psi 2021-10-10T15:42:55Z- handleDepth()-Depth_Keller msg: 1633880575304 epoch sec; seqNo:669; depth 0.11 2021-10-10T15:42:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:55Z- handleDvl() - RDI_Pathfinder msg: 1633880575.31 epoch sec; seqNo:312 2021-10-10T15:42:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , -0.06 , 0.47 2021-10-10T15:42:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880575.40 epoch sec; seqNo:670; 4061566.40 north; 594810.29 east 2021-10-10T15:42:55Z- AHRS_M2 msg: 1633880575.69 epoch sec; seqNo:663 2021-10-10T15:42:55Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.33 psi 2021-10-10T15:42:55Z- handleDepth()-Depth_Keller msg: 1633880575699 epoch sec; seqNo:670; depth 0.09 2021-10-10T15:42:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880575.72 epoch sec; seqNo:671; 4061566.40 north; 594810.29 east 2021-10-10T15:42:56Z- AHRS_M2 msg: 1633880576.10 epoch sec; seqNo:664 2021-10-10T15:42:56Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.34 psi 2021-10-10T15:42:56Z- handleDepth()-Depth_Keller msg: 1633880576108 epoch sec; seqNo:671; depth 0.08 2021-10-10T15:42:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880576.13 epoch sec; seqNo:672; 4061566.40 north; 594810.29 east 2021-10-10T15:42:56Z- AHRS_M2 msg: 1633880576.50 epoch sec; seqNo:665 2021-10-10T15:42:56Z- AHRS_M2 msg: -0.07 phi; -0.09 theta; 1.36 psi 2021-10-10T15:42:56Z- handleDepth()-Depth_Keller msg: 1633880576513 epoch sec; seqNo:672; depth 0.06 2021-10-10T15:42:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:56Z- handleDvl() - RDI_Pathfinder msg: 1633880576.52 epoch sec; seqNo:313 2021-10-10T15:42:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , -0.06 , 0.47 2021-10-10T15:42:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880576.54 epoch sec; seqNo:673; 4061566.38 north; 594809.07 east 2021-10-10T15:42:56Z- AHRS_M2 msg: 1633880576.90 epoch sec; seqNo:666 2021-10-10T15:42:56Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.39 psi 2021-10-10T15:42:56Z- handleDepth()-Depth_Keller msg: 1633880576910 epoch sec; seqNo:673; depth 0.05 2021-10-10T15:42:57Z- handleDvl() - RDI_Pathfinder msg: 1633880576.99 epoch sec; seqNo:314 2021-10-10T15:42:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.08 , 91.75 , 94.19 , 86.86 2021-10-10T15:42:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , 0.33 , -0.07 2021-10-10T15:42:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880577.05 epoch sec; seqNo:674; 4061566.38 north; 594809.07 east 2021-10-10T15:42:57Z- handleDepth()-Depth_Keller msg: 1633880577328 epoch sec; seqNo:674; depth 0.06 2021-10-10T15:42:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880577.36 epoch sec; seqNo:675; 4061566.00 north; 594809.07 east 2021-10-10T15:42:57Z- AHRS_M2 msg: 1633880577.71 epoch sec; seqNo:667 2021-10-10T15:42:57Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 1.42 psi 2021-10-10T15:42:57Z- handleDepth()-Depth_Keller msg: 1633880577724 epoch sec; seqNo:675; depth 0.08 2021-10-10T15:42:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:57Z- handleDvl() - RDI_Pathfinder msg: 1633880577.73 epoch sec; seqNo:315 2021-10-10T15:42:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , 0.33 , -0.07 2021-10-10T15:42:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880577.80 epoch sec; seqNo:676; 4061566.02 north; 594810.29 east 2021-10-10T15:42:58Z- AHRS_M2 msg: 1633880578.12 epoch sec; seqNo:668 2021-10-10T15:42:58Z- AHRS_M2 msg: -0.07 phi; -0.06 theta; 1.44 psi 2021-10-10T15:42:58Z- handleDepth()-Depth_Keller msg: 1633880578127 epoch sec; seqNo:676; depth 0.07 2021-10-10T15:42:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880578.16 epoch sec; seqNo:677; 4061566.02 north; 594810.29 east 2021-10-10T15:42:58Z- LcmTrn::handleMessages() - handling 40 messages took 0.97 ms and 121 calls... 2021-10-10T15:42:58Z- waiting for 1633880576.31, time is 1633880578.16 2021-10-10T15:42:58Z- LcmTrn::updateTrn() >>>> pose time 1633880578.16, meas time 1633880577.73 <<<< 2021-10-10T15:42:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880577.73, ping # 0. 2021-10-10T15:42:58Z- TerrainNav::Measurement type 1 from time = 1633880577.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:42:58Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594810.29, 0.07) 2021-10-10T15:42:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:42:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:42:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:42:58Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:42:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:42:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:42:58Z- AHRS_M2 msg: 1633880578.52 epoch sec; seqNo:669 2021-10-10T15:42:58Z- AHRS_M2 msg: -0.13 phi; -0.03 theta; 1.47 psi 2021-10-10T15:42:58Z- handleDepth()-Depth_Keller msg: 1633880578534 epoch sec; seqNo:677; depth 0.06 2021-10-10T15:42:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880578.62 epoch sec; seqNo:678; 4061565.64 north; 594810.30 east 2021-10-10T15:42:58Z- AHRS_M2 msg: 1633880578.92 epoch sec; seqNo:670 2021-10-10T15:42:58Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 1.47 psi 2021-10-10T15:42:58Z- handleDepth()-Depth_Keller msg: 1633880578933 epoch sec; seqNo:678; depth 0.05 2021-10-10T15:42:59Z- handleDvl() - RDI_Pathfinder msg: 1633880579.04 epoch sec; seqNo:316 2021-10-10T15:42:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.08 , 91.75 , 97.86 , 86.86 2021-10-10T15:42:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.29 , -0.37 , -0.16 2021-10-10T15:42:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880579.17 epoch sec; seqNo:679; 4061566.02 north; 594810.29 east 2021-10-10T15:42:59Z- AHRS_M2 msg: 1633880579.33 epoch sec; seqNo:671 2021-10-10T15:42:59Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 1.44 psi 2021-10-10T15:42:59Z- handleDepth()-Depth_Keller msg: 1633880579352 epoch sec; seqNo:679; depth 0.04 2021-10-10T15:42:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880579.50 epoch sec; seqNo:680; 4061566.00 north; 594809.07 east 2021-10-10T15:42:59Z- AHRS_M2 msg: 1633880579.87 epoch sec; seqNo:672 2021-10-10T15:42:59Z- AHRS_M2 msg: 0.09 phi; 0.07 theta; 1.46 psi 2021-10-10T15:42:59Z- handleDepth()-Depth_Keller msg: 1633880579893 epoch sec; seqNo:680; depth 0.05 2021-10-10T15:42:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:42:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:42:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:42:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:42:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:42:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:42:59Z- handleDvl() - RDI_Pathfinder msg: 1633880579.90 epoch sec; seqNo:317 2021-10-10T15:42:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:42:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.29 , -0.37 , -0.16 2021-10-10T15:42:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880579.93 epoch sec; seqNo:681; 4061566.00 north; 594809.07 east 2021-10-10T15:43:00Z- handleDepth()-Depth_Keller msg: 1633880580226 epoch sec; seqNo:681; depth 0.05 2021-10-10T15:43:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880580.32 epoch sec; seqNo:682; 4061566.38 north; 594809.07 east 2021-10-10T15:43:00Z- handleDepth()-Depth_Keller msg: 1633880580562 epoch sec; seqNo:682; depth 0.08 2021-10-10T15:43:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880580.60 epoch sec; seqNo:683; 4061566.38 north; 594809.07 east 2021-10-10T15:43:00Z- AHRS_M2 msg: 1633880580.96 epoch sec; seqNo:673 2021-10-10T15:43:00Z- AHRS_M2 msg: -0.13 phi; -0.06 theta; 1.53 psi 2021-10-10T15:43:00Z- handleDepth()-Depth_Keller msg: 1633880580981 epoch sec; seqNo:683; depth 0.08 2021-10-10T15:43:01Z- handleDvl() - RDI_Pathfinder msg: 1633880581.03 epoch sec; seqNo:318 2021-10-10T15:43:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.57 , 83.12 , 101.46 , 83.12 2021-10-10T15:43:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , 0.09 , -0.41 2021-10-10T15:43:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880581.10 epoch sec; seqNo:684; 4061566.38 north; 594809.07 east 2021-10-10T15:43:01Z- AHRS_M2 msg: 1633880581.37 epoch sec; seqNo:674 2021-10-10T15:43:01Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 1.54 psi 2021-10-10T15:43:01Z- handleDepth()-Depth_Keller msg: 1633880581376 epoch sec; seqNo:684; depth 0.06 2021-10-10T15:43:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880581.42 epoch sec; seqNo:685; 4061566.38 north; 594809.07 east 2021-10-10T15:43:01Z- AHRS_M2 msg: 1633880581.77 epoch sec; seqNo:675 2021-10-10T15:43:01Z- AHRS_M2 msg: -0.21 phi; -0.03 theta; 1.54 psi 2021-10-10T15:43:01Z- handleDepth()-Depth_Keller msg: 1633880581776 epoch sec; seqNo:685; depth 0.06 2021-10-10T15:43:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880581.80 epoch sec; seqNo:686; 4061566.38 north; 594809.07 east 2021-10-10T15:43:02Z- AHRS_M2 msg: 1633880582.17 epoch sec; seqNo:676 2021-10-10T15:43:02Z- AHRS_M2 msg: -0.13 phi; -0.03 theta; 1.53 psi 2021-10-10T15:43:02Z- handleDepth()-Depth_Keller msg: 1633880582184 epoch sec; seqNo:686; depth 0.08 2021-10-10T15:43:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:02Z- handleDvl() - RDI_Pathfinder msg: 1633880582.19 epoch sec; seqNo:319 2021-10-10T15:43:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:02Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , 0.09 , -0.41 2021-10-10T15:43:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880582.21 epoch sec; seqNo:687; 4061566.38 north; 594809.07 east 2021-10-10T15:43:02Z- AHRS_M2 msg: 1633880582.58 epoch sec; seqNo:677 2021-10-10T15:43:02Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.54 psi 2021-10-10T15:43:02Z- handleDepth()-Depth_Keller msg: 1633880582583 epoch sec; seqNo:687; depth 0.09 2021-10-10T15:43:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880582.61 epoch sec; seqNo:688; 4061566.38 north; 594809.07 east 2021-10-10T15:43:02Z- AHRS_M2 msg: 1633880582.98 epoch sec; seqNo:678 2021-10-10T15:43:02Z- AHRS_M2 msg: 0.02 phi; -0.09 theta; 1.55 psi 2021-10-10T15:43:02Z- handleDepth()-Depth_Keller msg: 1633880582987 epoch sec; seqNo:688; depth 0.08 2021-10-10T15:43:03Z- handleDvl() - RDI_Pathfinder msg: 1633880583.06 epoch sec; seqNo:320 2021-10-10T15:43:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.89 , 105.13 , 96.57 , 88.01 2021-10-10T15:43:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , 0.02 , 0.34 2021-10-10T15:43:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880583.14 epoch sec; seqNo:689; 4061566.38 north; 594809.07 east 2021-10-10T15:43:03Z- AHRS_M2 msg: 1633880583.39 epoch sec; seqNo:679 2021-10-10T15:43:03Z- AHRS_M2 msg: 0.07 phi; -0.12 theta; 1.54 psi 2021-10-10T15:43:03Z- handleDepth()-Depth_Keller msg: 1633880583452 epoch sec; seqNo:689; depth 0.05 2021-10-10T15:43:03Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-10T15:43:03Z- waiting for 1633880581.16, time is 1633880583.39 2021-10-10T15:43:03Z- LcmTrn::updateTrn() >>>> pose time 1633880583.39, meas time 1633880583.06 <<<< 2021-10-10T15:43:03Z- TerrainNav::Measurement type 1 from time = 1633880583.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:43:03Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594809.07, 0.05) 2021-10-10T15:43:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:03Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:03Z- handleDvl() - RDI_Pathfinder msg: 1633880583.46 epoch sec; seqNo:321 2021-10-10T15:43:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , 0.02 , 0.34 2021-10-10T15:43:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880583.54 epoch sec; seqNo:690; 4061566.38 north; 594809.07 east 2021-10-10T15:43:03Z- AHRS_M2 msg: 1633880583.79 epoch sec; seqNo:680 2021-10-10T15:43:03Z- AHRS_M2 msg: 0.10 phi; -0.06 theta; 1.51 psi 2021-10-10T15:43:03Z- handleDepth()-Depth_Keller msg: 1633880583796 epoch sec; seqNo:690; depth 0.07 2021-10-10T15:43:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880583.85 epoch sec; seqNo:691; 4061566.38 north; 594809.07 east 2021-10-10T15:43:04Z- handleDepth()-Depth_Keller msg: 1633880584208 epoch sec; seqNo:691; depth 0.08 2021-10-10T15:43:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880584.27 epoch sec; seqNo:692; 4061566.38 north; 594809.07 east 2021-10-10T15:43:04Z- AHRS_M2 msg: 1633880584.60 epoch sec; seqNo:681 2021-10-10T15:43:04Z- AHRS_M2 msg: -0.06 phi; 0.06 theta; 1.57 psi 2021-10-10T15:43:04Z- handleDepth()-Depth_Keller msg: 1633880584608 epoch sec; seqNo:692; depth 0.04 2021-10-10T15:43:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:04Z- handleDvl() - RDI_Pathfinder msg: 1633880584.61 epoch sec; seqNo:322 2021-10-10T15:43:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , 0.02 , 0.34 2021-10-10T15:43:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880584.64 epoch sec; seqNo:693; 4061566.38 north; 594809.07 east 2021-10-10T15:43:05Z- AHRS_M2 msg: 1633880585.00 epoch sec; seqNo:682 2021-10-10T15:43:05Z- AHRS_M2 msg: -0.11 phi; 0.04 theta; 1.61 psi 2021-10-10T15:43:05Z- handleDepth()-Depth_Keller msg: 1633880585007 epoch sec; seqNo:693; depth 0.03 2021-10-10T15:43:05Z- handleDvl() - RDI_Pathfinder msg: 1633880585.12 epoch sec; seqNo:323 2021-10-10T15:43:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 79.53 , 97.72 , 0.00 2021-10-10T15:43:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.46 , 0.16 2021-10-10T15:43:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880585.16 epoch sec; seqNo:694; 4061566.00 north; 594809.07 east 2021-10-10T15:43:05Z- AHRS_M2 msg: 1633880585.40 epoch sec; seqNo:683 2021-10-10T15:43:05Z- AHRS_M2 msg: -0.07 phi; 0.04 theta; 1.60 psi 2021-10-10T15:43:05Z- handleDepth()-Depth_Keller msg: 1633880585412 epoch sec; seqNo:694; depth 0.05 2021-10-10T15:43:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880585.45 epoch sec; seqNo:695; 4061566.00 north; 594809.07 east 2021-10-10T15:43:05Z- AHRS_M2 msg: 1633880585.81 epoch sec; seqNo:684 2021-10-10T15:43:05Z- AHRS_M2 msg: -0.04 phi; 0.07 theta; 1.61 psi 2021-10-10T15:43:05Z- handleDepth()-Depth_Keller msg: 1633880585820 epoch sec; seqNo:695; depth 0.06 2021-10-10T15:43:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:05Z- handleDvl() - RDI_Pathfinder msg: 1633880585.82 epoch sec; seqNo:324 2021-10-10T15:43:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.46 , 0.16 2021-10-10T15:43:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880585.87 epoch sec; seqNo:696; 4061565.63 north; 594809.08 east 2021-10-10T15:43:06Z- AHRS_M2 msg: 1633880586.21 epoch sec; seqNo:685 2021-10-10T15:43:06Z- AHRS_M2 msg: -0.03 phi; 0.05 theta; 1.64 psi 2021-10-10T15:43:06Z- handleDepth()-Depth_Keller msg: 1633880586228 epoch sec; seqNo:696; depth 0.04 2021-10-10T15:43:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880586.26 epoch sec; seqNo:697; 4061565.63 north; 594809.08 east 2021-10-10T15:43:06Z- AHRS_M2 msg: 1633880586.62 epoch sec; seqNo:686 2021-10-10T15:43:06Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 1.63 psi 2021-10-10T15:43:06Z- handleDepth()-Depth_Keller msg: 1633880586624 epoch sec; seqNo:697; depth 0.06 2021-10-10T15:43:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880586.67 epoch sec; seqNo:698; 4061565.26 north; 594810.30 east 2021-10-10T15:43:07Z- AHRS_M2 msg: 1633880587.02 epoch sec; seqNo:687 2021-10-10T15:43:07Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 1.65 psi 2021-10-10T15:43:07Z- handleDepth()-Depth_Keller msg: 1633880587040 epoch sec; seqNo:698; depth 0.06 2021-10-10T15:43:07Z- handleDvl() - RDI_Pathfinder msg: 1633880587.12 epoch sec; seqNo:325 2021-10-10T15:43:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 89.17 , 101.39 , 81.83 2021-10-10T15:43:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.06 , -0.61 2021-10-10T15:43:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880587.20 epoch sec; seqNo:699; 4061565.26 north; 594810.30 east 2021-10-10T15:43:07Z- AHRS_M2 msg: 1633880587.42 epoch sec; seqNo:688 2021-10-10T15:43:07Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 1.67 psi 2021-10-10T15:43:07Z- handleDepth()-Depth_Keller msg: 1633880587447 epoch sec; seqNo:699; depth 0.07 2021-10-10T15:43:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880587.50 epoch sec; seqNo:700; 4061565.26 north; 594810.30 east 2021-10-10T15:43:07Z- AHRS_M2 msg: 1633880587.83 epoch sec; seqNo:689 2021-10-10T15:43:07Z- AHRS_M2 msg: -0.08 phi; -0.07 theta; 1.70 psi 2021-10-10T15:43:07Z- handleDepth()-Depth_Keller msg: 1633880587835 epoch sec; seqNo:700; depth 0.07 2021-10-10T15:43:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880587.88 epoch sec; seqNo:701; 4061565.25 north; 594809.08 east 2021-10-10T15:43:08Z- AHRS_M2 msg: 1633880588.23 epoch sec; seqNo:690 2021-10-10T15:43:08Z- AHRS_M2 msg: -0.07 phi; -0.12 theta; 1.69 psi 2021-10-10T15:43:08Z- handleDepth()-Depth_Keller msg: 1633880588256 epoch sec; seqNo:701; depth 0.07 2021-10-10T15:43:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:08Z- handleDvl() - RDI_Pathfinder msg: 1633880588.26 epoch sec; seqNo:326 2021-10-10T15:43:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.06 , -0.61 2021-10-10T15:43:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880588.31 epoch sec; seqNo:702; 4061565.25 north; 594809.08 east 2021-10-10T15:43:08Z- LcmTrn::handleMessages() - handling 42 messages took 0.87 ms and 124 calls... 2021-10-10T15:43:08Z- waiting for 1633880586.39, time is 1633880588.31 2021-10-10T15:43:08Z- LcmTrn::updateTrn() equating pose 1633880588.31 and meas times 1633880588.31 2021-10-10T15:43:08Z- LcmTrn::updateTrn() >>>> pose time 1633880588.31, meas time 1633880588.31 <<<< 2021-10-10T15:43:08Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880588.31, ping # 0. 2021-10-10T15:43:08Z- TerrainNav::Measurement type 1 from time = 1633880588.31 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:08Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594809.08, 0.07) 2021-10-10T15:43:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:08Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:08Z- AHRS_M2 msg: 1633880588.64 epoch sec; seqNo:691 2021-10-10T15:43:08Z- AHRS_M2 msg: -0.02 phi; -0.10 theta; 1.68 psi 2021-10-10T15:43:08Z- handleDepth()-Depth_Keller msg: 1633880588673 epoch sec; seqNo:702; depth 0.06 2021-10-10T15:43:08Z- handleDvl() - RDI_Pathfinder msg: 1633880588.81 epoch sec; seqNo:327 2021-10-10T15:43:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.28 , 89.64 , 97.79 , 86.92 2021-10-10T15:43:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.84 , -0.29 , 0.15 2021-10-10T15:43:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880588.87 epoch sec; seqNo:703; 4061565.63 north; 594809.08 east 2021-10-10T15:43:09Z- AHRS_M2 msg: 1633880589.15 epoch sec; seqNo:692 2021-10-10T15:43:09Z- AHRS_M2 msg: -0.00 phi; -0.08 theta; 1.69 psi 2021-10-10T15:43:09Z- handleDepth()-Depth_Keller msg: 1633880589183 epoch sec; seqNo:703; depth 0.06 2021-10-10T15:43:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880589.27 epoch sec; seqNo:704; 4061565.63 north; 594809.08 east 2021-10-10T15:43:09Z- handleDepth()-Depth_Keller msg: 1633880589526 epoch sec; seqNo:704; depth 0.05 2021-10-10T15:43:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:09Z- handleDvl() - RDI_Pathfinder msg: 1633880589.54 epoch sec; seqNo:328 2021-10-10T15:43:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.84 , -0.29 , 0.15 2021-10-10T15:43:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880589.62 epoch sec; seqNo:705; 4061565.63 north; 594809.08 east 2021-10-10T15:43:09Z- AHRS_M2 msg: 1633880589.91 epoch sec; seqNo:693 2021-10-10T15:43:09Z- AHRS_M2 msg: 0.07 phi; -0.08 theta; 1.67 psi 2021-10-10T15:43:09Z- handleDepth()-Depth_Keller msg: 1633880589915 epoch sec; seqNo:705; depth 0.05 2021-10-10T15:43:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880589.93 epoch sec; seqNo:706; 4061565.99 north; 594807.85 east 2021-10-10T15:43:10Z- AHRS_M2 msg: 1633880590.31 epoch sec; seqNo:694 2021-10-10T15:43:10Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 1.65 psi 2021-10-10T15:43:10Z- handleDepth()-Depth_Keller msg: 1633880590328 epoch sec; seqNo:706; depth 0.05 2021-10-10T15:43:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880590.39 epoch sec; seqNo:707; 4061565.99 north; 594807.85 east 2021-10-10T15:43:10Z- AHRS_M2 msg: 1633880590.75 epoch sec; seqNo:695 2021-10-10T15:43:10Z- AHRS_M2 msg: -0.04 phi; 0.08 theta; 1.67 psi 2021-10-10T15:43:10Z- handleDepth()-Depth_Keller msg: 1633880590798 epoch sec; seqNo:707; depth 0.02 2021-10-10T15:43:10Z- handleDvl() - RDI_Pathfinder msg: 1633880590.90 epoch sec; seqNo:329 2021-10-10T15:43:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.57 , 83.12 , 97.79 , 0.00 2021-10-10T15:43:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , -0.05 , 0.41 2021-10-10T15:43:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880590.96 epoch sec; seqNo:708; 4061565.99 north; 594807.85 east 2021-10-10T15:43:11Z- AHRS_M2 msg: 1633880591.12 epoch sec; seqNo:696 2021-10-10T15:43:11Z- AHRS_M2 msg: -0.05 phi; 0.08 theta; 1.69 psi 2021-10-10T15:43:11Z- handleDepth()-Depth_Keller msg: 1633880591130 epoch sec; seqNo:708; depth 0.04 2021-10-10T15:43:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880591.18 epoch sec; seqNo:709; 4061565.99 north; 594807.85 east 2021-10-10T15:43:11Z- AHRS_M2 msg: 1633880591.52 epoch sec; seqNo:697 2021-10-10T15:43:11Z- AHRS_M2 msg: -0.02 phi; 0.06 theta; 1.71 psi 2021-10-10T15:43:11Z- handleDepth()-Depth_Keller msg: 1633880591540 epoch sec; seqNo:709; depth 0.04 2021-10-10T15:43:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880591.56 epoch sec; seqNo:710; 4061566.00 north; 594809.07 east 2021-10-10T15:43:11Z- AHRS_M2 msg: 1633880591.92 epoch sec; seqNo:698 2021-10-10T15:43:11Z- AHRS_M2 msg: -0.00 phi; 0.05 theta; 1.73 psi 2021-10-10T15:43:11Z- handleDepth()-Depth_Keller msg: 1633880591936 epoch sec; seqNo:710; depth 0.06 2021-10-10T15:43:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:11Z- handleDvl() - RDI_Pathfinder msg: 1633880591.94 epoch sec; seqNo:330 2021-10-10T15:43:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , -0.05 , 0.41 2021-10-10T15:43:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880591.99 epoch sec; seqNo:711; 4061566.00 north; 594809.07 east 2021-10-10T15:43:12Z- AHRS_M2 msg: 1633880592.33 epoch sec; seqNo:699 2021-10-10T15:43:12Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 1.71 psi 2021-10-10T15:43:12Z- handleDepth()-Depth_Keller msg: 1633880592336 epoch sec; seqNo:711; depth 0.06 2021-10-10T15:43:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880592.38 epoch sec; seqNo:712; 4061566.00 north; 594809.07 east 2021-10-10T15:43:12Z- AHRS_M2 msg: 1633880592.74 epoch sec; seqNo:700 2021-10-10T15:43:12Z- AHRS_M2 msg: -0.07 phi; -0.05 theta; 1.72 psi 2021-10-10T15:43:12Z- handleDepth()-Depth_Keller msg: 1633880592747 epoch sec; seqNo:712; depth 0.10 2021-10-10T15:43:12Z- handleDvl() - RDI_Pathfinder msg: 1633880592.81 epoch sec; seqNo:331 2021-10-10T15:43:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.71 , 0.00 , 99.15 , 84.21 2021-10-10T15:43:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.39 , 0.15 , -0.51 2021-10-10T15:43:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880592.86 epoch sec; seqNo:713; 4061566.00 north; 594809.07 east 2021-10-10T15:43:13Z- AHRS_M2 msg: 1633880593.14 epoch sec; seqNo:701 2021-10-10T15:43:13Z- AHRS_M2 msg: -0.08 phi; -0.11 theta; 1.76 psi 2021-10-10T15:43:13Z- handleDepth()-Depth_Keller msg: 1633880593148 epoch sec; seqNo:713; depth 0.11 2021-10-10T15:43:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:13Z- handleDvl() - RDI_Pathfinder msg: 1633880593.15 epoch sec; seqNo:332 2021-10-10T15:43:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.39 , 0.15 , -0.51 2021-10-10T15:43:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880593.25 epoch sec; seqNo:714; 4061566.00 north; 594809.07 east 2021-10-10T15:43:13Z- LcmTrn::handleMessages() - handling 41 messages took 0.97 ms and 121 calls... 2021-10-10T15:43:13Z- waiting for 1633880591.31, time is 1633880593.25 2021-10-10T15:43:13Z- LcmTrn::updateTrn() equating pose 1633880593.25 and meas times 1633880593.25 2021-10-10T15:43:13Z- LcmTrn::updateTrn() >>>> pose time 1633880593.25, meas time 1633880593.25 <<<< 2021-10-10T15:43:13Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880593.25, ping # 0. 2021-10-10T15:43:13Z- TerrainNav::Measurement type 1 from time = 1633880593.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:13Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594809.07, 0.11) 2021-10-10T15:43:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:13Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:13Z- AHRS_M2 msg: 1633880593.54 epoch sec; seqNo:702 2021-10-10T15:43:13Z- AHRS_M2 msg: -0.09 phi; -0.10 theta; 1.77 psi 2021-10-10T15:43:13Z- handleDepth()-Depth_Keller msg: 1633880593548 epoch sec; seqNo:714; depth 0.10 2021-10-10T15:43:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880593.60 epoch sec; seqNo:715; 4061566.00 north; 594809.07 east 2021-10-10T15:43:14Z- AHRS_M2 msg: 1633880593.99 epoch sec; seqNo:703 2021-10-10T15:43:14Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 1.78 psi 2021-10-10T15:43:14Z- handleDepth()-Depth_Keller msg: 1633880594047 epoch sec; seqNo:715; depth 0.08 2021-10-10T15:43:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:14Z- handleDvl() - RDI_Pathfinder msg: 1633880594.06 epoch sec; seqNo:333 2021-10-10T15:43:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.39 , 0.15 , -0.51 2021-10-10T15:43:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880594.12 epoch sec; seqNo:716; 4061565.99 north; 594807.85 east 2021-10-10T15:43:14Z- handleDepth()-Depth_Keller msg: 1633880594372 epoch sec; seqNo:716; depth 0.08 2021-10-10T15:43:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880594.39 epoch sec; seqNo:717; 4061565.99 north; 594807.85 east 2021-10-10T15:43:14Z- AHRS_M2 msg: 1633880594.75 epoch sec; seqNo:704 2021-10-10T15:43:14Z- AHRS_M2 msg: 0.09 phi; -0.05 theta; 1.77 psi 2021-10-10T15:43:14Z- handleDepth()-Depth_Keller msg: 1633880594758 epoch sec; seqNo:717; depth 0.12 2021-10-10T15:43:14Z- handleDvl() - RDI_Pathfinder msg: 1633880594.90 epoch sec; seqNo:334 2021-10-10T15:43:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 89.64 , 97.79 , 86.93 2021-10-10T15:43:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.27 , -0.21 , 0.05 2021-10-10T15:43:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880595.01 epoch sec; seqNo:718; 4061565.99 north; 594807.85 east 2021-10-10T15:43:15Z- AHRS_M2 msg: 1633880595.18 epoch sec; seqNo:705 2021-10-10T15:43:15Z- AHRS_M2 msg: 0.16 phi; -0.05 theta; 1.80 psi 2021-10-10T15:43:15Z- handleDepth()-Depth_Keller msg: 1633880595207 epoch sec; seqNo:718; depth 0.06 2021-10-10T15:43:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:15Z- handleDvl() - RDI_Pathfinder msg: 1633880595.21 epoch sec; seqNo:335 2021-10-10T15:43:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.27 , -0.21 , 0.05 2021-10-10T15:43:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880595.31 epoch sec; seqNo:719; 4061565.99 north; 594807.85 east 2021-10-10T15:43:15Z- AHRS_M2 msg: 1633880595.57 epoch sec; seqNo:706 2021-10-10T15:43:15Z- AHRS_M2 msg: 0.17 phi; -0.09 theta; 1.76 psi 2021-10-10T15:43:15Z- handleDepth()-Depth_Keller msg: 1633880595580 epoch sec; seqNo:719; depth 0.05 2021-10-10T15:43:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880595.61 epoch sec; seqNo:720; 4061566.00 north; 594809.07 east 2021-10-10T15:43:15Z- AHRS_M2 msg: 1633880595.96 epoch sec; seqNo:707 2021-10-10T15:43:15Z- AHRS_M2 msg: 0.09 phi; -0.04 theta; 1.76 psi 2021-10-10T15:43:15Z- handleDepth()-Depth_Keller msg: 1633880595992 epoch sec; seqNo:720; depth 0.07 2021-10-10T15:43:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880596.03 epoch sec; seqNo:721; 4061566.00 north; 594809.07 east 2021-10-10T15:43:16Z- AHRS_M2 msg: 1633880596.37 epoch sec; seqNo:708 2021-10-10T15:43:16Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 1.79 psi 2021-10-10T15:43:16Z- handleDepth()-Depth_Keller msg: 1633880596376 epoch sec; seqNo:721; depth 0.07 2021-10-10T15:43:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:16Z- handleDvl() - RDI_Pathfinder msg: 1633880596.38 epoch sec; seqNo:336 2021-10-10T15:43:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.27 , -0.21 , 0.05 2021-10-10T15:43:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880596.45 epoch sec; seqNo:722; 4061566.38 north; 594809.07 east 2021-10-10T15:43:16Z- AHRS_M2 msg: 1633880596.78 epoch sec; seqNo:709 2021-10-10T15:43:16Z- AHRS_M2 msg: -0.11 phi; 0.06 theta; 1.80 psi 2021-10-10T15:43:16Z- handleDepth()-Depth_Keller msg: 1633880596792 epoch sec; seqNo:722; depth 0.05 2021-10-10T15:43:16Z- handleDvl() - RDI_Pathfinder msg: 1633880596.85 epoch sec; seqNo:337 2021-10-10T15:43:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 100.44 , 77.47 , 97.72 , 0.00 2021-10-10T15:43:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , 0.11 , -0.18 2021-10-10T15:43:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880596.91 epoch sec; seqNo:723; 4061566.38 north; 594809.07 east 2021-10-10T15:43:17Z- AHRS_M2 msg: 1633880597.18 epoch sec; seqNo:710 2021-10-10T15:43:17Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.81 psi 2021-10-10T15:43:17Z- handleDepth()-Depth_Keller msg: 1633880597189 epoch sec; seqNo:723; depth 0.04 2021-10-10T15:43:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880597.25 epoch sec; seqNo:724; 4061566.38 north; 594809.07 east 2021-10-10T15:43:17Z- AHRS_M2 msg: 1633880597.58 epoch sec; seqNo:711 2021-10-10T15:43:17Z- AHRS_M2 msg: 0.06 phi; -0.02 theta; 1.82 psi 2021-10-10T15:43:17Z- handleDepth()-Depth_Keller msg: 1633880597588 epoch sec; seqNo:724; depth 0.07 2021-10-10T15:43:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:17Z- handleDvl() - RDI_Pathfinder msg: 1633880597.59 epoch sec; seqNo:338 2021-10-10T15:43:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , 0.11 , -0.18 2021-10-10T15:43:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880597.63 epoch sec; seqNo:725; 4061566.00 north; 594809.07 east 2021-10-10T15:43:17Z- AHRS_M2 msg: 1633880597.98 epoch sec; seqNo:712 2021-10-10T15:43:17Z- AHRS_M2 msg: 0.10 phi; -0.10 theta; 1.81 psi 2021-10-10T15:43:17Z- handleDepth()-Depth_Keller msg: 1633880597996 epoch sec; seqNo:725; depth 0.07 2021-10-10T15:43:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880598.01 epoch sec; seqNo:726; 4061566.00 north; 594809.07 east 2021-10-10T15:43:18Z- AHRS_M2 msg: 1633880598.39 epoch sec; seqNo:713 2021-10-10T15:43:18Z- AHRS_M2 msg: 0.04 phi; -0.15 theta; 1.78 psi 2021-10-10T15:43:18Z- handleDepth()-Depth_Keller msg: 1633880598400 epoch sec; seqNo:726; depth 0.09 2021-10-10T15:43:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880598.42 epoch sec; seqNo:727; 4061566.00 north; 594809.07 east 2021-10-10T15:43:18Z- LcmTrn::handleMessages() - handling 44 messages took 0.88 ms and 126 calls... 2021-10-10T15:43:18Z- waiting for 1633880596.25, time is 1633880598.42 2021-10-10T15:43:18Z- LcmTrn::updateTrn() >>>> pose time 1633880598.42, meas time 1633880597.59 <<<< 2021-10-10T15:43:18Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880597.59, ping # 0. 2021-10-10T15:43:18Z- TerrainNav::Measurement type 1 from time = 1633880597.59 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:18Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594809.07, 0.09) 2021-10-10T15:43:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:18Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:18Z- AHRS_M2 msg: 1633880598.79 epoch sec; seqNo:714 2021-10-10T15:43:18Z- AHRS_M2 msg: -0.02 phi; -0.16 theta; 1.81 psi 2021-10-10T15:43:18Z- handleDepth()-Depth_Keller msg: 1633880598807 epoch sec; seqNo:727; depth 0.07 2021-10-10T15:43:18Z- handleDvl() - RDI_Pathfinder msg: 1633880598.84 epoch sec; seqNo:339 2021-10-10T15:43:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.50 , 78.30 , 97.72 , 87.95 2021-10-10T15:43:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , 0.13 , 0.14 2021-10-10T15:43:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880598.92 epoch sec; seqNo:728; 4061565.99 north; 594807.85 east 2021-10-10T15:43:19Z- handleDepth()-Depth_Keller msg: 1633880599212 epoch sec; seqNo:728; depth 0.06 2021-10-10T15:43:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880599.31 epoch sec; seqNo:729; 4061565.99 north; 594807.85 east 2021-10-10T15:43:19Z- AHRS_M2 msg: 1633880599.60 epoch sec; seqNo:715 2021-10-10T15:43:19Z- AHRS_M2 msg: -0.04 phi; -0.07 theta; 1.79 psi 2021-10-10T15:43:19Z- handleDepth()-Depth_Keller msg: 1633880599611 epoch sec; seqNo:729; depth 0.06 2021-10-10T15:43:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880599.65 epoch sec; seqNo:730; 4061565.99 north; 594807.85 east 2021-10-10T15:43:20Z- AHRS_M2 msg: 1633880600.01 epoch sec; seqNo:716 2021-10-10T15:43:20Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 1.80 psi 2021-10-10T15:43:20Z- handleDepth()-Depth_Keller msg: 1633880600011 epoch sec; seqNo:730; depth 0.10 2021-10-10T15:43:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:20Z- handleDvl() - RDI_Pathfinder msg: 1633880600.01 epoch sec; seqNo:340 2021-10-10T15:43:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:20Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , 0.13 , 0.14 2021-10-10T15:43:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880600.02 epoch sec; seqNo:731; 4061565.99 north; 594807.85 east 2021-10-10T15:43:20Z- AHRS_M2 msg: 1633880600.41 epoch sec; seqNo:717 2021-10-10T15:43:20Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.84 psi 2021-10-10T15:43:20Z- handleDepth()-Depth_Keller msg: 1633880600420 epoch sec; seqNo:731; depth 0.08 2021-10-10T15:43:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880600.43 epoch sec; seqNo:732; 4061565.99 north; 594807.85 east 2021-10-10T15:43:20Z- AHRS_M2 msg: 1633880600.82 epoch sec; seqNo:718 2021-10-10T15:43:20Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.86 psi 2021-10-10T15:43:20Z- handleDepth()-Depth_Keller msg: 1633880600844 epoch sec; seqNo:732; depth 0.07 2021-10-10T15:43:20Z- handleDvl() - RDI_Pathfinder msg: 1633880600.91 epoch sec; seqNo:341 2021-10-10T15:43:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.86 , 86.86 , 97.86 , 85.64 2021-10-10T15:43:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.16 , 0.14 , -0.03 2021-10-10T15:43:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880600.99 epoch sec; seqNo:733; 4061565.99 north; 594807.85 east 2021-10-10T15:43:21Z- AHRS_M2 msg: 1633880601.22 epoch sec; seqNo:719 2021-10-10T15:43:21Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 1.86 psi 2021-10-10T15:43:21Z- handleDepth()-Depth_Keller msg: 1633880601229 epoch sec; seqNo:733; depth 0.08 2021-10-10T15:43:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:21Z- handleDvl() - RDI_Pathfinder msg: 1633880601.23 epoch sec; seqNo:342 2021-10-10T15:43:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.16 , 0.14 , -0.03 2021-10-10T15:43:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880601.29 epoch sec; seqNo:734; 4061565.99 north; 594807.85 east 2021-10-10T15:43:21Z- AHRS_M2 msg: 1633880601.62 epoch sec; seqNo:720 2021-10-10T15:43:21Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.87 psi 2021-10-10T15:43:21Z- handleDepth()-Depth_Keller msg: 1633880601628 epoch sec; seqNo:734; depth 0.08 2021-10-10T15:43:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880601.66 epoch sec; seqNo:735; 4061565.99 north; 594807.85 east 2021-10-10T15:43:22Z- AHRS_M2 msg: 1633880602.03 epoch sec; seqNo:721 2021-10-10T15:43:22Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 1.88 psi 2021-10-10T15:43:22Z- handleDepth()-Depth_Keller msg: 1633880602032 epoch sec; seqNo:735; depth 0.04 2021-10-10T15:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880602.08 epoch sec; seqNo:736; 4061565.61 north; 594807.86 east 2021-10-10T15:43:22Z- AHRS_M2 msg: 1633880602.43 epoch sec; seqNo:722 2021-10-10T15:43:22Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.86 psi 2021-10-10T15:43:22Z- handleDepth()-Depth_Keller msg: 1633880602454 epoch sec; seqNo:736; depth 0.04 2021-10-10T15:43:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:22Z- handleDvl() - RDI_Pathfinder msg: 1633880602.46 epoch sec; seqNo:343 2021-10-10T15:43:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.16 , 0.14 , -0.03 2021-10-10T15:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880602.53 epoch sec; seqNo:737; 4061565.61 north; 594807.86 east 2021-10-10T15:43:22Z- AHRS_M2 msg: 1633880602.83 epoch sec; seqNo:723 2021-10-10T15:43:22Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.84 psi 2021-10-10T15:43:22Z- handleDepth()-Depth_Keller msg: 1633880602840 epoch sec; seqNo:737; depth 0.05 2021-10-10T15:43:22Z- handleDvl() - RDI_Pathfinder msg: 1633880602.90 epoch sec; seqNo:344 2021-10-10T15:43:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.83 , 89.17 , 98.95 , 85.50 2021-10-10T15:43:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.15 , 0.24 2021-10-10T15:43:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880603.00 epoch sec; seqNo:738; 4061565.61 north; 594807.86 east 2021-10-10T15:43:23Z- AHRS_M2 msg: 1633880603.24 epoch sec; seqNo:724 2021-10-10T15:43:23Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 1.84 psi 2021-10-10T15:43:23Z- handleDepth()-Depth_Keller msg: 1633880603243 epoch sec; seqNo:738; depth 0.03 2021-10-10T15:43:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880603.28 epoch sec; seqNo:739; 4061565.99 north; 594807.85 east 2021-10-10T15:43:23Z- LcmTrn::handleMessages() - handling 41 messages took 0.75 ms and 126 calls... 2021-10-10T15:43:23Z- waiting for 1633880601.42, time is 1633880603.28 2021-10-10T15:43:23Z- LcmTrn::updateTrn() >>>> pose time 1633880603.28, meas time 1633880602.90 <<<< 2021-10-10T15:43:23Z- TerrainNav::Measurement type 1 from time = 1633880602.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:43:23Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594807.85, 0.03) 2021-10-10T15:43:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:23Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:23Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:23Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:23Z- AHRS_M2 msg: 1633880603.64 epoch sec; seqNo:725 2021-10-10T15:43:23Z- AHRS_M2 msg: 0.04 phi; -0.04 theta; 1.86 psi 2021-10-10T15:43:23Z- handleDepth()-Depth_Keller msg: 1633880603648 epoch sec; seqNo:739; depth 0.04 2021-10-10T15:43:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:23Z- handleDvl() - RDI_Pathfinder msg: 1633880603.65 epoch sec; seqNo:345 2021-10-10T15:43:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.15 , 0.24 2021-10-10T15:43:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880603.68 epoch sec; seqNo:740; 4061565.99 north; 594807.85 east 2021-10-10T15:43:24Z- AHRS_M2 msg: 1633880604.04 epoch sec; seqNo:726 2021-10-10T15:43:24Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 1.86 psi 2021-10-10T15:43:24Z- handleDepth()-Depth_Keller msg: 1633880604052 epoch sec; seqNo:740; depth 0.06 2021-10-10T15:43:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880604.13 epoch sec; seqNo:741; 4061565.99 north; 594807.85 east 2021-10-10T15:43:24Z- handleDepth()-Depth_Keller msg: 1633880604477 epoch sec; seqNo:741; depth 0.05 2021-10-10T15:43:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880604.50 epoch sec; seqNo:742; 4061565.99 north; 594807.85 east 2021-10-10T15:43:24Z- AHRS_M2 msg: 1633880604.85 epoch sec; seqNo:727 2021-10-10T15:43:24Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 1.81 psi 2021-10-10T15:43:24Z- handleDepth()-Depth_Keller msg: 1633880604875 epoch sec; seqNo:742; depth 0.05 2021-10-10T15:43:24Z- handleDvl() - RDI_Pathfinder msg: 1633880604.94 epoch sec; seqNo:346 2021-10-10T15:43:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.50 , 84.28 , 95.28 , 87.94 2021-10-10T15:43:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.19 , 0.00 , 0.36 2021-10-10T15:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880605.04 epoch sec; seqNo:743; 4061565.99 north; 594807.85 east 2021-10-10T15:43:25Z- AHRS_M2 msg: 1633880605.26 epoch sec; seqNo:728 2021-10-10T15:43:25Z- AHRS_M2 msg: 0.04 phi; 0.03 theta; 1.78 psi 2021-10-10T15:43:25Z- handleDepth()-Depth_Keller msg: 1633880605264 epoch sec; seqNo:743; depth 0.05 2021-10-10T15:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880605.29 epoch sec; seqNo:744; 4061565.99 north; 594807.85 east 2021-10-10T15:43:25Z- AHRS_M2 msg: 1633880605.66 epoch sec; seqNo:729 2021-10-10T15:43:25Z- AHRS_M2 msg: 0.02 phi; 0.07 theta; 1.82 psi 2021-10-10T15:43:25Z- handleDepth()-Depth_Keller msg: 1633880605683 epoch sec; seqNo:744; depth 0.04 2021-10-10T15:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880605.72 epoch sec; seqNo:745; 4061565.99 north; 594807.85 east 2021-10-10T15:43:26Z- AHRS_M2 msg: 1633880606.06 epoch sec; seqNo:730 2021-10-10T15:43:26Z- AHRS_M2 msg: 0.02 phi; 0.05 theta; 1.83 psi 2021-10-10T15:43:26Z- handleDepth()-Depth_Keller msg: 1633880606075 epoch sec; seqNo:745; depth 0.06 2021-10-10T15:43:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:26Z- handleDvl() - RDI_Pathfinder msg: 1633880606.08 epoch sec; seqNo:347 2021-10-10T15:43:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.19 , 0.00 , 0.36 2021-10-10T15:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880606.09 epoch sec; seqNo:746; 4061565.99 north; 594807.85 east 2021-10-10T15:43:26Z- AHRS_M2 msg: 1633880606.48 epoch sec; seqNo:731 2021-10-10T15:43:26Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.83 psi 2021-10-10T15:43:26Z- handleDepth()-Depth_Keller msg: 1633880606488 epoch sec; seqNo:746; depth 0.06 2021-10-10T15:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880606.51 epoch sec; seqNo:747; 4061565.99 north; 594807.85 east 2021-10-10T15:43:26Z- AHRS_M2 msg: 1633880606.87 epoch sec; seqNo:732 2021-10-10T15:43:26Z- AHRS_M2 msg: -0.13 phi; 0.01 theta; 1.83 psi 2021-10-10T15:43:26Z- handleDepth()-Depth_Keller msg: 1633880606877 epoch sec; seqNo:747; depth 0.04 2021-10-10T15:43:26Z- handleDvl() - RDI_Pathfinder msg: 1633880606.90 epoch sec; seqNo:348 2021-10-10T15:43:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 85.57 , 100.23 , 0.00 2021-10-10T15:43:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , 0.30 , -0.60 2021-10-10T15:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880606.92 epoch sec; seqNo:748; 4061565.99 north; 594807.85 east 2021-10-10T15:43:27Z- AHRS_M2 msg: 1633880607.28 epoch sec; seqNo:733 2021-10-10T15:43:27Z- AHRS_M2 msg: -0.14 phi; -0.02 theta; 1.85 psi 2021-10-10T15:43:27Z- handleDepth()-Depth_Keller msg: 1633880607287 epoch sec; seqNo:748; depth 0.06 2021-10-10T15:43:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:27Z- handleDvl() - RDI_Pathfinder msg: 1633880607.29 epoch sec; seqNo:349 2021-10-10T15:43:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , 0.30 , -0.60 2021-10-10T15:43:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880607.31 epoch sec; seqNo:749; 4061565.99 north; 594807.85 east 2021-10-10T15:43:27Z- AHRS_M2 msg: 1633880607.68 epoch sec; seqNo:734 2021-10-10T15:43:27Z- AHRS_M2 msg: -0.08 phi; -0.00 theta; 1.84 psi 2021-10-10T15:43:27Z- handleDepth()-Depth_Keller msg: 1633880607688 epoch sec; seqNo:749; depth 0.08 2021-10-10T15:43:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880607.70 epoch sec; seqNo:750; 4061565.99 north; 594807.85 east 2021-10-10T15:43:28Z- AHRS_M2 msg: 1633880608.09 epoch sec; seqNo:735 2021-10-10T15:43:28Z- AHRS_M2 msg: -0.02 phi; 0.00 theta; 1.86 psi 2021-10-10T15:43:28Z- handleDepth()-Depth_Keller msg: 1633880608090 epoch sec; seqNo:750; depth 0.06 2021-10-10T15:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880608.10 epoch sec; seqNo:751; 4061565.61 north; 594807.86 east 2021-10-10T15:43:28Z- AHRS_M2 msg: 1633880608.49 epoch sec; seqNo:736 2021-10-10T15:43:28Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.85 psi 2021-10-10T15:43:28Z- handleDepth()-Depth_Keller msg: 1633880608503 epoch sec; seqNo:751; depth 0.06 2021-10-10T15:43:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:28Z- handleDvl() - RDI_Pathfinder msg: 1633880608.51 epoch sec; seqNo:350 2021-10-10T15:43:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.32 , 0.30 , -0.60 2021-10-10T15:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880608.52 epoch sec; seqNo:752; 4061565.60 north; 594806.64 east 2021-10-10T15:43:28Z- LcmTrn::handleMessages() - handling 44 messages took 0.79 ms and 128 calls... 2021-10-10T15:43:28Z- waiting for 1633880606.28, time is 1633880608.52 2021-10-10T15:43:28Z- LcmTrn::updateTrn() equating pose 1633880608.52 and meas times 1633880608.52 2021-10-10T15:43:28Z- LcmTrn::updateTrn() >>>> pose time 1633880608.52, meas time 1633880608.52 <<<< 2021-10-10T15:43:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880608.52, ping # 0. 2021-10-10T15:43:28Z- TerrainNav::Measurement type 1 from time = 1633880608.52 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:28Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594806.64, 0.06) 2021-10-10T15:43:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:28Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:28Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:28Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:28Z- AHRS_M2 msg: 1633880608.89 epoch sec; seqNo:737 2021-10-10T15:43:28Z- AHRS_M2 msg: 0.07 phi; -0.07 theta; 1.80 psi 2021-10-10T15:43:28Z- handleDepth()-Depth_Keller msg: 1633880608903 epoch sec; seqNo:752; depth 0.04 2021-10-10T15:43:28Z- handleDvl() - RDI_Pathfinder msg: 1633880608.93 epoch sec; seqNo:351 2021-10-10T15:43:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.59 , 88.08 , 96.23 , 84.01 2021-10-10T15:43:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -0.23 , 0.07 2021-10-10T15:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880608.94 epoch sec; seqNo:753; 4061565.60 north; 594806.64 east 2021-10-10T15:43:29Z- AHRS_M2 msg: 1633880609.30 epoch sec; seqNo:738 2021-10-10T15:43:29Z- AHRS_M2 msg: 0.08 phi; -0.04 theta; 1.77 psi 2021-10-10T15:43:29Z- handleDepth()-Depth_Keller msg: 1633880609309 epoch sec; seqNo:753; depth 0.04 2021-10-10T15:43:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880609.35 epoch sec; seqNo:754; 4061565.98 north; 594806.63 east 2021-10-10T15:43:29Z- handleDepth()-Depth_Keller msg: 1633880609720 epoch sec; seqNo:754; depth 0.05 2021-10-10T15:43:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:29Z- handleDvl() - RDI_Pathfinder msg: 1633880609.72 epoch sec; seqNo:352 2021-10-10T15:43:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -0.23 , 0.07 2021-10-10T15:43:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880609.78 epoch sec; seqNo:755; 4061565.98 north; 594806.63 east 2021-10-10T15:43:30Z- AHRS_M2 msg: 1633880610.11 epoch sec; seqNo:739 2021-10-10T15:43:30Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.82 psi 2021-10-10T15:43:30Z- handleDepth()-Depth_Keller msg: 1633880610114 epoch sec; seqNo:755; depth 0.04 2021-10-10T15:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880610.13 epoch sec; seqNo:756; 4061565.98 north; 594806.63 east 2021-10-10T15:43:30Z- AHRS_M2 msg: 1633880610.51 epoch sec; seqNo:740 2021-10-10T15:43:30Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 1.82 psi 2021-10-10T15:43:30Z- handleDepth()-Depth_Keller msg: 1633880610516 epoch sec; seqNo:756; depth 0.05 2021-10-10T15:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880610.53 epoch sec; seqNo:757; 4061566.36 north; 594806.63 east 2021-10-10T15:43:30Z- AHRS_M2 msg: 1633880610.91 epoch sec; seqNo:741 2021-10-10T15:43:30Z- AHRS_M2 msg: -0.11 phi; -0.03 theta; 1.82 psi 2021-10-10T15:43:30Z- handleDepth()-Depth_Keller msg: 1633880610923 epoch sec; seqNo:757; depth 0.04 2021-10-10T15:43:30Z- handleDvl() - RDI_Pathfinder msg: 1633880610.94 epoch sec; seqNo:353 2021-10-10T15:43:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 92.83 , 89.17 , 96.50 , 84.28 2021-10-10T15:43:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.10 , 0.01 2021-10-10T15:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880610.97 epoch sec; seqNo:758; 4061566.36 north; 594806.63 east 2021-10-10T15:43:31Z- AHRS_M2 msg: 1633880611.32 epoch sec; seqNo:742 2021-10-10T15:43:31Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 1.83 psi 2021-10-10T15:43:31Z- handleDepth()-Depth_Keller msg: 1633880611324 epoch sec; seqNo:758; depth 0.05 2021-10-10T15:43:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880611.37 epoch sec; seqNo:759; 4061566.36 north; 594806.63 east 2021-10-10T15:43:31Z- AHRS_M2 msg: 1633880611.72 epoch sec; seqNo:743 2021-10-10T15:43:31Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.82 psi 2021-10-10T15:43:31Z- handleDepth()-Depth_Keller msg: 1633880611725 epoch sec; seqNo:759; depth 0.05 2021-10-10T15:43:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880611.74 epoch sec; seqNo:760; 4061566.36 north; 594806.63 east 2021-10-10T15:43:32Z- AHRS_M2 msg: 1633880612.12 epoch sec; seqNo:744 2021-10-10T15:43:32Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 1.82 psi 2021-10-10T15:43:32Z- handleDepth()-Depth_Keller msg: 1633880612146 epoch sec; seqNo:760; depth 0.04 2021-10-10T15:43:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:32Z- handleDvl() - RDI_Pathfinder msg: 1633880612.15 epoch sec; seqNo:354 2021-10-10T15:43:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.10 , 0.01 2021-10-10T15:43:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880612.17 epoch sec; seqNo:761; 4061566.34 north; 594805.41 east 2021-10-10T15:43:32Z- AHRS_M2 msg: 1633880612.54 epoch sec; seqNo:745 2021-10-10T15:43:32Z- AHRS_M2 msg: 0.07 phi; 0.03 theta; 1.80 psi 2021-10-10T15:43:32Z- handleDepth()-Depth_Keller msg: 1633880612548 epoch sec; seqNo:761; depth 0.06 2021-10-10T15:43:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880612.57 epoch sec; seqNo:762; 4061566.34 north; 594805.41 east 2021-10-10T15:43:32Z- AHRS_M2 msg: 1633880612.94 epoch sec; seqNo:746 2021-10-10T15:43:32Z- AHRS_M2 msg: 0.07 phi; 0.02 theta; 1.82 psi 2021-10-10T15:43:32Z- handleDepth()-Depth_Keller msg: 1633880612940 epoch sec; seqNo:762; depth 0.06 2021-10-10T15:43:32Z- handleDvl() - RDI_Pathfinder msg: 1633880612.98 epoch sec; seqNo:355 2021-10-10T15:43:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.57 , 84.35 , 97.79 , 86.79 2021-10-10T15:43:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.14 , 0.16 2021-10-10T15:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880613.01 epoch sec; seqNo:763; 4061565.96 north; 594805.41 east 2021-10-10T15:43:33Z- AHRS_M2 msg: 1633880613.34 epoch sec; seqNo:747 2021-10-10T15:43:33Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 1.81 psi 2021-10-10T15:43:33Z- handleDepth()-Depth_Keller msg: 1633880613349 epoch sec; seqNo:763; depth 0.08 2021-10-10T15:43:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:33Z- handleDvl() - RDI_Pathfinder msg: 1633880613.36 epoch sec; seqNo:356 2021-10-10T15:43:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.14 , 0.16 2021-10-10T15:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880613.38 epoch sec; seqNo:764; 4061565.98 north; 594806.63 east 2021-10-10T15:43:33Z- LcmTrn::handleMessages() - handling 41 messages took 0.81 ms and 124 calls... 2021-10-10T15:43:33Z- waiting for 1633880611.52, time is 1633880613.38 2021-10-10T15:43:33Z- LcmTrn::updateTrn() equating pose 1633880613.38 and meas times 1633880613.38 2021-10-10T15:43:33Z- LcmTrn::updateTrn() >>>> pose time 1633880613.38, meas time 1633880613.38 <<<< 2021-10-10T15:43:33Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880613.38, ping # 0. 2021-10-10T15:43:33Z- TerrainNav::Measurement type 1 from time = 1633880613.38 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:33Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594806.63, 0.08) 2021-10-10T15:43:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:33Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:33Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:33Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:33Z- AHRS_M2 msg: 1633880613.74 epoch sec; seqNo:748 2021-10-10T15:43:33Z- AHRS_M2 msg: -0.01 phi; 0.06 theta; 1.81 psi 2021-10-10T15:43:33Z- handleDepth()-Depth_Keller msg: 1633880613745 epoch sec; seqNo:764; depth 0.07 2021-10-10T15:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880613.77 epoch sec; seqNo:765; 4061565.98 north; 594806.63 east 2021-10-10T15:43:34Z- AHRS_M2 msg: 1633880614.14 epoch sec; seqNo:749 2021-10-10T15:43:34Z- AHRS_M2 msg: -0.03 phi; 0.11 theta; 1.85 psi 2021-10-10T15:43:34Z- handleDepth()-Depth_Keller msg: 1633880614152 epoch sec; seqNo:765; depth 0.07 2021-10-10T15:43:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880614.17 epoch sec; seqNo:766; 4061565.98 north; 594806.63 east 2021-10-10T15:43:34Z- AHRS_M2 msg: 1633880614.55 epoch sec; seqNo:750 2021-10-10T15:43:34Z- AHRS_M2 msg: -0.04 phi; 0.04 theta; 1.84 psi 2021-10-10T15:43:34Z- handleDepth()-Depth_Keller msg: 1633880614553 epoch sec; seqNo:766; depth 0.06 2021-10-10T15:43:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:34Z- handleDvl() - RDI_Pathfinder msg: 1633880614.57 epoch sec; seqNo:357 2021-10-10T15:43:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.14 , 0.16 2021-10-10T15:43:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880614.58 epoch sec; seqNo:767; 4061565.60 north; 594806.64 east 2021-10-10T15:43:34Z- AHRS_M2 msg: 1633880614.95 epoch sec; seqNo:751 2021-10-10T15:43:34Z- AHRS_M2 msg: -0.06 phi; -0.00 theta; 1.82 psi 2021-10-10T15:43:34Z- handleDepth()-Depth_Keller msg: 1633880614957 epoch sec; seqNo:767; depth 0.07 2021-10-10T15:43:35Z- handleDvl() - RDI_Pathfinder msg: 1633880614.99 epoch sec; seqNo:358 2021-10-10T15:43:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 89.17 , 102.61 , 83.06 2021-10-10T15:43:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.13 , -0.35 2021-10-10T15:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880615.03 epoch sec; seqNo:768; 4061565.60 north; 594806.64 east 2021-10-10T15:43:35Z- AHRS_M2 msg: 1633880615.36 epoch sec; seqNo:752 2021-10-10T15:43:35Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 1.85 psi 2021-10-10T15:43:35Z- handleDepth()-Depth_Keller msg: 1633880615361 epoch sec; seqNo:768; depth 0.04 2021-10-10T15:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880615.39 epoch sec; seqNo:769; 4061565.60 north; 594806.64 east 2021-10-10T15:43:35Z- AHRS_M2 msg: 1633880615.76 epoch sec; seqNo:753 2021-10-10T15:43:35Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 1.85 psi 2021-10-10T15:43:35Z- handleDepth()-Depth_Keller msg: 1633880615767 epoch sec; seqNo:769; depth 0.04 2021-10-10T15:43:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:35Z- handleDvl() - RDI_Pathfinder msg: 1633880615.77 epoch sec; seqNo:359 2021-10-10T15:43:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.13 , -0.35 2021-10-10T15:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880615.79 epoch sec; seqNo:770; 4061565.60 north; 594806.64 east 2021-10-10T15:43:36Z- AHRS_M2 msg: 1633880616.16 epoch sec; seqNo:754 2021-10-10T15:43:36Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 1.82 psi 2021-10-10T15:43:36Z- handleDepth()-Depth_Keller msg: 1633880616169 epoch sec; seqNo:770; depth 0.07 2021-10-10T15:43:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880616.18 epoch sec; seqNo:771; 4061565.60 north; 594806.64 east 2021-10-10T15:43:36Z- AHRS_M2 msg: 1633880616.57 epoch sec; seqNo:755 2021-10-10T15:43:36Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 1.81 psi 2021-10-10T15:43:36Z- handleDepth()-Depth_Keller msg: 1633880616576 epoch sec; seqNo:771; depth 0.06 2021-10-10T15:43:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880616.60 epoch sec; seqNo:772; 4061565.60 north; 594806.64 east 2021-10-10T15:43:36Z- AHRS_M2 msg: 1633880616.97 epoch sec; seqNo:756 2021-10-10T15:43:36Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 1.78 psi 2021-10-10T15:43:36Z- handleDepth()-Depth_Keller msg: 1633880616979 epoch sec; seqNo:772; depth 0.06 2021-10-10T15:43:37Z- handleDvl() - RDI_Pathfinder msg: 1633880617.02 epoch sec; seqNo:360 2021-10-10T15:43:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.65 , 85.50 , 97.72 , 86.86 2021-10-10T15:43:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.43 , -0.07 , 0.22 2021-10-10T15:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880617.04 epoch sec; seqNo:773; 4061565.60 north; 594806.64 east 2021-10-10T15:43:37Z- AHRS_M2 msg: 1633880617.38 epoch sec; seqNo:757 2021-10-10T15:43:37Z- AHRS_M2 msg: -0.08 phi; -0.05 theta; 1.76 psi 2021-10-10T15:43:37Z- handleDepth()-Depth_Keller msg: 1633880617381 epoch sec; seqNo:773; depth 0.06 2021-10-10T15:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880617.41 epoch sec; seqNo:774; 4061565.60 north; 594806.64 east 2021-10-10T15:43:37Z- AHRS_M2 msg: 1633880617.78 epoch sec; seqNo:758 2021-10-10T15:43:37Z- AHRS_M2 msg: -0.05 phi; -0.00 theta; 1.79 psi 2021-10-10T15:43:37Z- handleDepth()-Depth_Keller msg: 1633880617785 epoch sec; seqNo:774; depth 0.04 2021-10-10T15:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880617.80 epoch sec; seqNo:775; 4061565.59 north; 594805.42 east 2021-10-10T15:43:38Z- AHRS_M2 msg: 1633880618.19 epoch sec; seqNo:759 2021-10-10T15:43:38Z- AHRS_M2 msg: 0.04 phi; 0.03 theta; 1.82 psi 2021-10-10T15:43:38Z- handleDepth()-Depth_Keller msg: 1633880618190 epoch sec; seqNo:775; depth 0.02 2021-10-10T15:43:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880618.21 epoch sec; seqNo:776; 4061565.59 north; 594805.42 east 2021-10-10T15:43:38Z- AHRS_M2 msg: 1633880618.59 epoch sec; seqNo:760 2021-10-10T15:43:38Z- AHRS_M2 msg: 0.09 phi; 0.03 theta; 1.82 psi 2021-10-10T15:43:38Z- LcmTrn::handleMessages() - handling 41 messages took 0.75 ms and 125 calls... 2021-10-10T15:43:38Z- waiting for 1633880616.38, time is 1633880618.59 2021-10-10T15:43:38Z- LcmTrn::updateTrn() >>>> pose time 1633880618.59, meas time 1633880617.02 <<<< 2021-10-10T15:43:38Z- TerrainNav::Measurement type 1 from time = 1633880617.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:43:38Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594805.42, 0.02) 2021-10-10T15:43:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:38Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:38Z- handleDepth()-Depth_Keller msg: 1633880618610 epoch sec; seqNo:776; depth 0.05 2021-10-10T15:43:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880618.62 epoch sec; seqNo:777; 4061565.96 north; 594805.41 east 2021-10-10T15:43:39Z- AHRS_M2 msg: 1633880618.99 epoch sec; seqNo:761 2021-10-10T15:43:39Z- AHRS_M2 msg: 0.06 phi; 0.05 theta; 1.83 psi 2021-10-10T15:43:39Z- handleDepth()-Depth_Keller msg: 1633880618999 epoch sec; seqNo:777; depth 0.05 2021-10-10T15:43:39Z- handleDvl() - RDI_Pathfinder msg: 1633880619.03 epoch sec; seqNo:361 2021-10-10T15:43:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 89.23 , 97.79 , 85.57 2021-10-10T15:43:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.39 , 0.16 , -0.02 2021-10-10T15:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880619.07 epoch sec; seqNo:778; 4061565.59 north; 594805.42 east 2021-10-10T15:43:39Z- AHRS_M2 msg: 1633880619.40 epoch sec; seqNo:762 2021-10-10T15:43:39Z- AHRS_M2 msg: -0.01 phi; 0.05 theta; 1.85 psi 2021-10-10T15:43:39Z- handleDepth()-Depth_Keller msg: 1633880619404 epoch sec; seqNo:778; depth 0.07 2021-10-10T15:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880619.56 epoch sec; seqNo:779; 4061565.59 north; 594805.42 east 2021-10-10T15:43:39Z- AHRS_M2 msg: 1633880619.80 epoch sec; seqNo:763 2021-10-10T15:43:39Z- AHRS_M2 msg: -0.09 phi; -0.01 theta; 1.81 psi 2021-10-10T15:43:39Z- handleDepth()-Depth_Keller msg: 1633880619808 epoch sec; seqNo:779; depth 0.07 2021-10-10T15:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880619.84 epoch sec; seqNo:780; 4061565.60 north; 594806.64 east 2021-10-10T15:43:40Z- AHRS_M2 msg: 1633880620.20 epoch sec; seqNo:764 2021-10-10T15:43:40Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 1.79 psi 2021-10-10T15:43:40Z- handleDepth()-Depth_Keller msg: 1633880620212 epoch sec; seqNo:780; depth 0.09 2021-10-10T15:43:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880620.23 epoch sec; seqNo:781; 4061565.22 north; 594806.64 east 2021-10-10T15:43:40Z- AHRS_M2 msg: 1633880620.61 epoch sec; seqNo:765 2021-10-10T15:43:40Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 1.83 psi 2021-10-10T15:43:40Z- handleDepth()-Depth_Keller msg: 1633880620629 epoch sec; seqNo:781; depth 0.10 2021-10-10T15:43:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:40Z- handleDvl() - RDI_Pathfinder msg: 1633880620.63 epoch sec; seqNo:362 2021-10-10T15:43:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.39 , 0.16 , -0.02 2021-10-10T15:43:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880620.64 epoch sec; seqNo:782; 4061565.22 north; 594806.64 east 2021-10-10T15:43:41Z- AHRS_M2 msg: 1633880621.01 epoch sec; seqNo:766 2021-10-10T15:43:41Z- AHRS_M2 msg: -0.07 phi; -0.05 theta; 1.82 psi 2021-10-10T15:43:41Z- handleDepth()-Depth_Keller msg: 1633880621017 epoch sec; seqNo:782; depth 0.10 2021-10-10T15:43:41Z- handleDvl() - RDI_Pathfinder msg: 1633880621.04 epoch sec; seqNo:363 2021-10-10T15:43:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.64 , 92.36 , 97.79 , 84.21 2021-10-10T15:43:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.34 , -0.50 2021-10-10T15:43:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880621.07 epoch sec; seqNo:783; 4061565.60 north; 594806.64 east 2021-10-10T15:43:41Z- AHRS_M2 msg: 1633880621.42 epoch sec; seqNo:767 2021-10-10T15:43:41Z- AHRS_M2 msg: -0.02 phi; -0.09 theta; 1.78 psi 2021-10-10T15:43:41Z- handleDepth()-Depth_Keller msg: 1633880621424 epoch sec; seqNo:783; depth 0.10 2021-10-10T15:43:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880621.46 epoch sec; seqNo:784; 4061565.60 north; 594806.64 east 2021-10-10T15:43:41Z- AHRS_M2 msg: 1633880621.82 epoch sec; seqNo:768 2021-10-10T15:43:41Z- AHRS_M2 msg: 0.02 phi; -0.11 theta; 1.76 psi 2021-10-10T15:43:41Z- handleDepth()-Depth_Keller msg: 1633880621828 epoch sec; seqNo:784; depth 0.09 2021-10-10T15:43:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:41Z- handleDvl() - RDI_Pathfinder msg: 1633880621.83 epoch sec; seqNo:364 2021-10-10T15:43:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.34 , -0.50 2021-10-10T15:43:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880621.86 epoch sec; seqNo:785; 4061565.60 north; 594806.64 east 2021-10-10T15:43:42Z- AHRS_M2 msg: 1633880622.22 epoch sec; seqNo:769 2021-10-10T15:43:42Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 1.76 psi 2021-10-10T15:43:42Z- handleDepth()-Depth_Keller msg: 1633880622232 epoch sec; seqNo:785; depth 0.06 2021-10-10T15:43:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880622.27 epoch sec; seqNo:786; 4061565.98 north; 594806.63 east 2021-10-10T15:43:42Z- AHRS_M2 msg: 1633880622.63 epoch sec; seqNo:770 2021-10-10T15:43:42Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 1.79 psi 2021-10-10T15:43:42Z- handleDepth()-Depth_Keller msg: 1633880622640 epoch sec; seqNo:786; depth 0.06 2021-10-10T15:43:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880622.66 epoch sec; seqNo:787; 4061565.96 north; 594805.41 east 2021-10-10T15:43:43Z- AHRS_M2 msg: 1633880623.03 epoch sec; seqNo:771 2021-10-10T15:43:43Z- AHRS_M2 msg: -0.01 phi; -0.11 theta; 1.81 psi 2021-10-10T15:43:43Z- handleDepth()-Depth_Keller msg: 1633880623043 epoch sec; seqNo:787; depth 0.05 2021-10-10T15:43:43Z- handleDvl() - RDI_Pathfinder msg: 1633880623.08 epoch sec; seqNo:365 2021-10-10T15:43:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 86.79 , 90.46 , 88.01 2021-10-10T15:43:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.12 , 0.29 2021-10-10T15:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880623.13 epoch sec; seqNo:788; 4061565.96 north; 594805.41 east 2021-10-10T15:43:43Z- AHRS_M2 msg: 1633880623.44 epoch sec; seqNo:772 2021-10-10T15:43:43Z- AHRS_M2 msg: 0.04 phi; -0.09 theta; 1.79 psi 2021-10-10T15:43:43Z- handleDepth()-Depth_Keller msg: 1633880623448 epoch sec; seqNo:788; depth 0.06 2021-10-10T15:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880623.49 epoch sec; seqNo:789; 4061565.96 north; 594805.41 east 2021-10-10T15:43:43Z- LcmTrn::handleMessages() - handling 43 messages took 0.87 ms and 125 calls... 2021-10-10T15:43:43Z- waiting for 1633880621.59, time is 1633880623.49 2021-10-10T15:43:43Z- LcmTrn::updateTrn() >>>> pose time 1633880623.49, meas time 1633880623.08 <<<< 2021-10-10T15:43:43Z- TerrainNav::Measurement type 1 from time = 1633880623.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:43:43Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594805.41, 0.06) 2021-10-10T15:43:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:43Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:43Z- AHRS_M2 msg: 1633880623.84 epoch sec; seqNo:773 2021-10-10T15:43:43Z- AHRS_M2 msg: 0.04 phi; 0.01 theta; 1.77 psi 2021-10-10T15:43:43Z- handleDepth()-Depth_Keller msg: 1633880623848 epoch sec; seqNo:789; depth 0.07 2021-10-10T15:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880623.88 epoch sec; seqNo:790; 4061565.96 north; 594805.41 east 2021-10-10T15:43:44Z- AHRS_M2 msg: 1633880624.24 epoch sec; seqNo:774 2021-10-10T15:43:44Z- AHRS_M2 msg: 0.03 phi; 0.08 theta; 1.80 psi 2021-10-10T15:43:44Z- handleDepth()-Depth_Keller msg: 1633880624263 epoch sec; seqNo:790; depth 0.04 2021-10-10T15:43:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:44Z- handleDvl() - RDI_Pathfinder msg: 1633880624.27 epoch sec; seqNo:366 2021-10-10T15:43:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.12 , 0.29 2021-10-10T15:43:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880624.32 epoch sec; seqNo:791; 4061565.96 north; 594805.41 east 2021-10-10T15:43:44Z- AHRS_M2 msg: 1633880624.65 epoch sec; seqNo:775 2021-10-10T15:43:44Z- AHRS_M2 msg: 0.00 phi; 0.07 theta; 1.84 psi 2021-10-10T15:43:44Z- handleDepth()-Depth_Keller msg: 1633880624660 epoch sec; seqNo:791; depth 0.05 2021-10-10T15:43:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880624.73 epoch sec; seqNo:792; 4061565.96 north; 594805.41 east 2021-10-10T15:43:45Z- AHRS_M2 msg: 1633880625.05 epoch sec; seqNo:776 2021-10-10T15:43:45Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 1.83 psi 2021-10-10T15:43:45Z- handleDepth()-Depth_Keller msg: 1633880625060 epoch sec; seqNo:792; depth 0.05 2021-10-10T15:43:45Z- handleDvl() - RDI_Pathfinder msg: 1633880625.10 epoch sec; seqNo:367 2021-10-10T15:43:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 83.12 , 101.46 , 78.70 2021-10-10T15:43:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , -0.13 , 0.14 2021-10-10T15:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880625.13 epoch sec; seqNo:793; 4061565.96 north; 594805.41 east 2021-10-10T15:43:45Z- AHRS_M2 msg: 1633880625.47 epoch sec; seqNo:777 2021-10-10T15:43:45Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.80 psi 2021-10-10T15:43:45Z- handleDepth()-Depth_Keller msg: 1633880625476 epoch sec; seqNo:793; depth 0.04 2021-10-10T15:43:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:45Z- handleDvl() - RDI_Pathfinder msg: 1633880625.48 epoch sec; seqNo:368 2021-10-10T15:43:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , -0.13 , 0.14 2021-10-10T15:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880625.54 epoch sec; seqNo:794; 4061565.96 north; 594805.41 east 2021-10-10T15:43:45Z- AHRS_M2 msg: 1633880625.87 epoch sec; seqNo:778 2021-10-10T15:43:45Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 1.78 psi 2021-10-10T15:43:45Z- handleDepth()-Depth_Keller msg: 1633880625876 epoch sec; seqNo:794; depth 0.07 2021-10-10T15:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880625.92 epoch sec; seqNo:795; 4061565.96 north; 594805.41 east 2021-10-10T15:43:46Z- AHRS_M2 msg: 1633880626.27 epoch sec; seqNo:779 2021-10-10T15:43:46Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.79 psi 2021-10-10T15:43:46Z- handleDepth()-Depth_Keller msg: 1633880626280 epoch sec; seqNo:795; depth 0.08 2021-10-10T15:43:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880626.31 epoch sec; seqNo:796; 4061565.96 north; 594805.41 east 2021-10-10T15:43:46Z- AHRS_M2 msg: 1633880626.72 epoch sec; seqNo:780 2021-10-10T15:43:46Z- AHRS_M2 msg: 0.02 phi; -0.16 theta; 1.80 psi 2021-10-10T15:43:46Z- handleDepth()-Depth_Keller msg: 1633880626741 epoch sec; seqNo:796; depth 0.07 2021-10-10T15:43:46Z- handleDvl() - RDI_Pathfinder msg: 1633880626.81 epoch sec; seqNo:369 2021-10-10T15:43:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.19 , 84.41 , 95.42 , 84.41 2021-10-10T15:43:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.41 , 0.05 , 0.15 2021-10-10T15:43:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880626.89 epoch sec; seqNo:797; 4061565.96 north; 594805.41 east 2021-10-10T15:43:47Z- AHRS_M2 msg: 1633880627.10 epoch sec; seqNo:781 2021-10-10T15:43:47Z- AHRS_M2 msg: 0.01 phi; -0.22 theta; 1.77 psi 2021-10-10T15:43:47Z- handleDepth()-Depth_Keller msg: 1633880627124 epoch sec; seqNo:797; depth 0.08 2021-10-10T15:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880627.19 epoch sec; seqNo:798; 4061565.96 north; 594805.41 east 2021-10-10T15:43:47Z- AHRS_M2 msg: 1633880627.48 epoch sec; seqNo:782 2021-10-10T15:43:47Z- AHRS_M2 msg: -0.04 phi; -0.16 theta; 1.71 psi 2021-10-10T15:43:47Z- handleDepth()-Depth_Keller msg: 1633880627494 epoch sec; seqNo:798; depth 0.07 2021-10-10T15:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880627.53 epoch sec; seqNo:799; 4061565.96 north; 594805.41 east 2021-10-10T15:43:47Z- AHRS_M2 msg: 1633880627.89 epoch sec; seqNo:783 2021-10-10T15:43:47Z- AHRS_M2 msg: -0.04 phi; -0.06 theta; 1.70 psi 2021-10-10T15:43:47Z- handleDepth()-Depth_Keller msg: 1633880627904 epoch sec; seqNo:799; depth 0.03 2021-10-10T15:43:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:47Z- handleDvl() - RDI_Pathfinder msg: 1633880627.91 epoch sec; seqNo:370 2021-10-10T15:43:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.41 , 0.05 , 0.15 2021-10-10T15:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880627.93 epoch sec; seqNo:800; 4061565.96 north; 594805.41 east 2021-10-10T15:43:48Z- AHRS_M2 msg: 1633880628.29 epoch sec; seqNo:784 2021-10-10T15:43:48Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.73 psi 2021-10-10T15:43:48Z- handleDepth()-Depth_Keller msg: 1633880628300 epoch sec; seqNo:800; depth 0.06 2021-10-10T15:43:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880628.34 epoch sec; seqNo:801; 4061565.96 north; 594805.41 east 2021-10-10T15:43:48Z- LcmTrn::handleMessages() - handling 41 messages took 0.82 ms and 124 calls... 2021-10-10T15:43:48Z- waiting for 1633880626.49, time is 1633880628.34 2021-10-10T15:43:48Z- LcmTrn::updateTrn() >>>> pose time 1633880628.34, meas time 1633880627.91 <<<< 2021-10-10T15:43:48Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880627.91, ping # 0. 2021-10-10T15:43:48Z- TerrainNav::Measurement type 1 from time = 1633880627.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:48Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594805.41, 0.06) 2021-10-10T15:43:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:48Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:48Z- AHRS_M2 msg: 1633880628.74 epoch sec; seqNo:785 2021-10-10T15:43:48Z- AHRS_M2 msg: 0.11 phi; 0.03 theta; 1.72 psi 2021-10-10T15:43:48Z- handleDepth()-Depth_Keller msg: 1633880628753 epoch sec; seqNo:801; depth 0.07 2021-10-10T15:43:48Z- handleDvl() - RDI_Pathfinder msg: 1633880628.81 epoch sec; seqNo:371 2021-10-10T15:43:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.92 , 86.92 , 97.92 , 0.00 2021-10-10T15:43:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.32 , 0.07 2021-10-10T15:43:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880628.86 epoch sec; seqNo:802; 4061565.96 north; 594805.41 east 2021-10-10T15:43:49Z- handleDepth()-Depth_Keller msg: 1633880629116 epoch sec; seqNo:802; depth 0.05 2021-10-10T15:43:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:49Z- handleDvl() - RDI_Pathfinder msg: 1633880629.12 epoch sec; seqNo:372 2021-10-10T15:43:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.32 , 0.07 2021-10-10T15:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880629.15 epoch sec; seqNo:803; 4061565.59 north; 594805.42 east 2021-10-10T15:43:49Z- AHRS_M2 msg: 1633880629.51 epoch sec; seqNo:786 2021-10-10T15:43:49Z- AHRS_M2 msg: -0.02 phi; 0.08 theta; 1.73 psi 2021-10-10T15:43:49Z- handleDepth()-Depth_Keller msg: 1633880629548 epoch sec; seqNo:803; depth 0.04 2021-10-10T15:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880629.57 epoch sec; seqNo:804; 4061565.60 north; 594806.64 east 2021-10-10T15:43:49Z- AHRS_M2 msg: 1633880629.91 epoch sec; seqNo:787 2021-10-10T15:43:49Z- AHRS_M2 msg: -0.03 phi; 0.09 theta; 1.76 psi 2021-10-10T15:43:49Z- handleDepth()-Depth_Keller msg: 1633880629916 epoch sec; seqNo:804; depth 0.06 2021-10-10T15:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880629.95 epoch sec; seqNo:805; 4061565.22 north; 594806.64 east 2021-10-10T15:43:50Z- AHRS_M2 msg: 1633880630.31 epoch sec; seqNo:788 2021-10-10T15:43:50Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 1.80 psi 2021-10-10T15:43:50Z- handleDepth()-Depth_Keller msg: 1633880630331 epoch sec; seqNo:805; depth 0.06 2021-10-10T15:43:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:50Z- handleDvl() - RDI_Pathfinder msg: 1633880630.35 epoch sec; seqNo:373 2021-10-10T15:43:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.32 , 0.07 2021-10-10T15:43:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880630.40 epoch sec; seqNo:806; 4061565.22 north; 594806.64 east 2021-10-10T15:43:50Z- AHRS_M2 msg: 1633880630.74 epoch sec; seqNo:789 2021-10-10T15:43:50Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.77 psi 2021-10-10T15:43:50Z- handleDepth()-Depth_Keller msg: 1633880630752 epoch sec; seqNo:806; depth 0.09 2021-10-10T15:43:50Z- handleDvl() - RDI_Pathfinder msg: 1633880630.82 epoch sec; seqNo:374 2021-10-10T15:43:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.58 , 88.15 , 104.45 , 77.07 2021-10-10T15:43:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.26 , -0.70 2021-10-10T15:43:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880630.87 epoch sec; seqNo:807; 4061564.94 north; 594815.19 east 2021-10-10T15:43:51Z- AHRS_M2 msg: 1633880631.12 epoch sec; seqNo:790 2021-10-10T15:43:51Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.76 psi 2021-10-10T15:43:51Z- handleDepth()-Depth_Keller msg: 1633880631128 epoch sec; seqNo:807; depth 0.11 2021-10-10T15:43:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880631.18 epoch sec; seqNo:808; 4061565.31 north; 594815.18 east 2021-10-10T15:43:52Z- AHRS_M2 msg: 1633880632.01 epoch sec; seqNo:791 2021-10-10T15:43:52Z- AHRS_M2 msg: 0.07 phi; -0.16 theta; 1.71 psi 2021-10-10T15:43:52Z- handleDepth()-Depth_Keller msg: 1633880632031 epoch sec; seqNo:808; depth 0.08 2021-10-10T15:43:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:52Z- handleDvl() - RDI_Pathfinder msg: 1633880632.03 epoch sec; seqNo:375 2021-10-10T15:43:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.26 , -0.70 2021-10-10T15:43:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880632.08 epoch sec; seqNo:809; 4061565.68 north; 594813.96 east 2021-10-10T15:43:52Z- AHRS_M2 msg: 1633880632.38 epoch sec; seqNo:792 2021-10-10T15:43:52Z- AHRS_M2 msg: 0.10 phi; -0.13 theta; 1.65 psi 2021-10-10T15:43:52Z- handleDepth()-Depth_Keller msg: 1633880632408 epoch sec; seqNo:809; depth 0.09 2021-10-10T15:43:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880632.46 epoch sec; seqNo:810; 4061565.68 north; 594813.96 east 2021-10-10T15:43:52Z- AHRS_M2 msg: 1633880632.79 epoch sec; seqNo:793 2021-10-10T15:43:52Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 1.63 psi 2021-10-10T15:43:52Z- handleDepth()-Depth_Keller msg: 1633880632812 epoch sec; seqNo:810; depth 0.07 2021-10-10T15:43:52Z- handleDvl() - RDI_Pathfinder msg: 1633880632.93 epoch sec; seqNo:376 2021-10-10T15:43:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 83.12 , 0.00 , 88.01 2021-10-10T15:43:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.24 , 0.68 2021-10-10T15:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880632.98 epoch sec; seqNo:811; 4061565.68 north; 594813.96 east 2021-10-10T15:43:53Z- AHRS_M2 msg: 1633880633.20 epoch sec; seqNo:794 2021-10-10T15:43:53Z- AHRS_M2 msg: 0.09 phi; -0.02 theta; 1.63 psi 2021-10-10T15:43:53Z- handleDepth()-Depth_Keller msg: 1633880633218 epoch sec; seqNo:811; depth 0.04 2021-10-10T15:43:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:53Z- handleDvl() - RDI_Pathfinder msg: 1633880633.24 epoch sec; seqNo:377 2021-10-10T15:43:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.24 , 0.68 2021-10-10T15:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880633.31 epoch sec; seqNo:812; 4061566.06 north; 594813.95 east 2021-10-10T15:43:53Z- AHRS_M2 msg: 1633880633.60 epoch sec; seqNo:795 2021-10-10T15:43:53Z- AHRS_M2 msg: 0.12 phi; -0.00 theta; 1.63 psi 2021-10-10T15:43:53Z- handleDepth()-Depth_Keller msg: 1633880633604 epoch sec; seqNo:812; depth 0.04 2021-10-10T15:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880633.64 epoch sec; seqNo:813; 4061566.06 north; 594813.95 east 2021-10-10T15:43:53Z- LcmTrn::handleMessages() - handling 42 messages took 1.02 ms and 121 calls... 2021-10-10T15:43:53Z- waiting for 1633880631.34, time is 1633880633.64 2021-10-10T15:43:53Z- LcmTrn::updateTrn() >>>> pose time 1633880633.64, meas time 1633880633.24 <<<< 2021-10-10T15:43:53Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880633.24, ping # 0. 2021-10-10T15:43:53Z- TerrainNav::Measurement type 1 from time = 1633880633.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:53Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594813.95, 0.04) 2021-10-10T15:43:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:53Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:54Z- AHRS_M2 msg: 1633880634.00 epoch sec; seqNo:796 2021-10-10T15:43:54Z- AHRS_M2 msg: 0.05 phi; -0.01 theta; 1.62 psi 2021-10-10T15:43:54Z- handleDepth()-Depth_Keller msg: 1633880634008 epoch sec; seqNo:813; depth 0.06 2021-10-10T15:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880634.06 epoch sec; seqNo:814; 4061566.05 north; 594812.73 east 2021-10-10T15:43:54Z- AHRS_M2 msg: 1633880634.40 epoch sec; seqNo:797 2021-10-10T15:43:54Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.60 psi 2021-10-10T15:43:54Z- handleDepth()-Depth_Keller msg: 1633880634412 epoch sec; seqNo:814; depth 0.05 2021-10-10T15:43:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:54Z- handleDvl() - RDI_Pathfinder msg: 1633880634.41 epoch sec; seqNo:378 2021-10-10T15:43:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.24 , 0.68 2021-10-10T15:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880634.45 epoch sec; seqNo:815; 4061566.05 north; 594812.73 east 2021-10-10T15:43:54Z- AHRS_M2 msg: 1633880634.81 epoch sec; seqNo:798 2021-10-10T15:43:54Z- AHRS_M2 msg: -0.15 phi; 0.02 theta; 1.59 psi 2021-10-10T15:43:54Z- handleDepth()-Depth_Keller msg: 1633880634813 epoch sec; seqNo:815; depth 0.05 2021-10-10T15:43:54Z- handleDvl() - RDI_Pathfinder msg: 1633880634.84 epoch sec; seqNo:379 2021-10-10T15:43:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.93 , 83.26 , 97.93 , 84.48 2021-10-10T15:43:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , 0.37 , 0.13 2021-10-10T15:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880634.87 epoch sec; seqNo:816; 4061566.05 north; 594812.73 east 2021-10-10T15:43:55Z- AHRS_M2 msg: 1633880635.21 epoch sec; seqNo:799 2021-10-10T15:43:55Z- AHRS_M2 msg: -0.14 phi; 0.04 theta; 1.61 psi 2021-10-10T15:43:55Z- handleDepth()-Depth_Keller msg: 1633880635220 epoch sec; seqNo:816; depth 0.04 2021-10-10T15:43:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880635.24 epoch sec; seqNo:817; 4061566.05 north; 594812.73 east 2021-10-10T15:43:55Z- AHRS_M2 msg: 1633880635.62 epoch sec; seqNo:800 2021-10-10T15:43:55Z- AHRS_M2 msg: -0.13 phi; 0.05 theta; 1.59 psi 2021-10-10T15:43:55Z- handleDepth()-Depth_Keller msg: 1633880635624 epoch sec; seqNo:817; depth 0.08 2021-10-10T15:43:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:55Z- handleDvl() - RDI_Pathfinder msg: 1633880635.63 epoch sec; seqNo:380 2021-10-10T15:43:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , 0.37 , 0.13 2021-10-10T15:43:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880635.65 epoch sec; seqNo:818; 4061565.67 north; 594812.74 east 2021-10-10T15:43:56Z- AHRS_M2 msg: 1633880636.02 epoch sec; seqNo:801 2021-10-10T15:43:56Z- AHRS_M2 msg: -0.10 phi; 0.03 theta; 1.60 psi 2021-10-10T15:43:56Z- handleDepth()-Depth_Keller msg: 1633880636028 epoch sec; seqNo:818; depth 0.06 2021-10-10T15:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880636.07 epoch sec; seqNo:819; 4061565.67 north; 594812.74 east 2021-10-10T15:43:56Z- AHRS_M2 msg: 1633880636.43 epoch sec; seqNo:802 2021-10-10T15:43:56Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.63 psi 2021-10-10T15:43:56Z- handleDepth()-Depth_Keller msg: 1633880636436 epoch sec; seqNo:819; depth 0.08 2021-10-10T15:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880636.46 epoch sec; seqNo:820; 4061565.29 north; 594812.74 east 2021-10-10T15:43:56Z- AHRS_M2 msg: 1633880636.83 epoch sec; seqNo:803 2021-10-10T15:43:56Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 1.65 psi 2021-10-10T15:43:56Z- handleDepth()-Depth_Keller msg: 1633880636840 epoch sec; seqNo:820; depth 0.06 2021-10-10T15:43:56Z- handleDvl() - RDI_Pathfinder msg: 1633880636.88 epoch sec; seqNo:381 2021-10-10T15:43:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.23 , 94.12 , 100.23 , 83.12 2021-10-10T15:43:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , 0.01 , -0.43 2021-10-10T15:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880636.91 epoch sec; seqNo:821; 4061565.29 north; 594812.74 east 2021-10-10T15:43:57Z- AHRS_M2 msg: 1633880637.23 epoch sec; seqNo:804 2021-10-10T15:43:57Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 1.60 psi 2021-10-10T15:43:57Z- handleDepth()-Depth_Keller msg: 1633880637244 epoch sec; seqNo:821; depth 0.08 2021-10-10T15:43:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880637.28 epoch sec; seqNo:822; 4061565.29 north; 594812.74 east 2021-10-10T15:43:57Z- AHRS_M2 msg: 1633880637.64 epoch sec; seqNo:805 2021-10-10T15:43:57Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.54 psi 2021-10-10T15:43:57Z- handleDepth()-Depth_Keller msg: 1633880637644 epoch sec; seqNo:822; depth 0.08 2021-10-10T15:43:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880637.68 epoch sec; seqNo:823; 4061565.29 north; 594812.74 east 2021-10-10T15:43:58Z- AHRS_M2 msg: 1633880638.04 epoch sec; seqNo:806 2021-10-10T15:43:58Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.59 psi 2021-10-10T15:43:58Z- handleDepth()-Depth_Keller msg: 1633880638052 epoch sec; seqNo:823; depth 0.04 2021-10-10T15:43:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:43:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:43:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:43:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:43:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:43:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:43:58Z- handleDvl() - RDI_Pathfinder msg: 1633880638.07 epoch sec; seqNo:382 2021-10-10T15:43:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:43:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , 0.01 , -0.43 2021-10-10T15:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880638.11 epoch sec; seqNo:824; 4061565.29 north; 594812.74 east 2021-10-10T15:43:58Z- AHRS_M2 msg: 1633880638.45 epoch sec; seqNo:807 2021-10-10T15:43:58Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 1.63 psi 2021-10-10T15:43:58Z- handleDepth()-Depth_Keller msg: 1633880638456 epoch sec; seqNo:824; depth 0.03 2021-10-10T15:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880638.48 epoch sec; seqNo:825; 4061565.29 north; 594812.74 east 2021-10-10T15:43:58Z- LcmTrn::handleMessages() - handling 41 messages took 0.87 ms and 123 calls... 2021-10-10T15:43:58Z- waiting for 1633880636.64, time is 1633880638.48 2021-10-10T15:43:58Z- LcmTrn::updateTrn() >>>> pose time 1633880638.48, meas time 1633880638.07 <<<< 2021-10-10T15:43:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880638.07, ping # 0. 2021-10-10T15:43:58Z- TerrainNav::Measurement type 1 from time = 1633880638.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:43:58Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594812.74, 0.03) 2021-10-10T15:43:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:43:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:43:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:43:58Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:43:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:43:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:43:58Z- AHRS_M2 msg: 1633880638.85 epoch sec; seqNo:808 2021-10-10T15:43:58Z- AHRS_M2 msg: 0.04 phi; -0.04 theta; 1.57 psi 2021-10-10T15:43:58Z- handleDepth()-Depth_Keller msg: 1633880638856 epoch sec; seqNo:825; depth 0.05 2021-10-10T15:43:58Z- handleDvl() - RDI_Pathfinder msg: 1633880638.90 epoch sec; seqNo:383 2021-10-10T15:43:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.17 , 90.39 , 97.72 , 84.28 2021-10-10T15:43:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.12 , 0.00 2021-10-10T15:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880638.95 epoch sec; seqNo:826; 4061565.29 north; 594812.74 east 2021-10-10T15:43:59Z- AHRS_M2 msg: 1633880639.25 epoch sec; seqNo:809 2021-10-10T15:43:59Z- AHRS_M2 msg: 0.02 phi; 0.02 theta; 1.52 psi 2021-10-10T15:43:59Z- handleDepth()-Depth_Keller msg: 1633880639260 epoch sec; seqNo:826; depth 0.05 2021-10-10T15:43:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880639.32 epoch sec; seqNo:827; 4061565.67 north; 594812.74 east 2021-10-10T15:43:59Z- AHRS_M2 msg: 1633880639.66 epoch sec; seqNo:810 2021-10-10T15:43:59Z- AHRS_M2 msg: -0.02 phi; 0.05 theta; 1.52 psi 2021-10-10T15:43:59Z- handleDepth()-Depth_Keller msg: 1633880639664 epoch sec; seqNo:827; depth 0.06 2021-10-10T15:43:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880639.71 epoch sec; seqNo:828; 4061565.67 north; 594812.74 east 2021-10-10T15:44:00Z- AHRS_M2 msg: 1633880640.06 epoch sec; seqNo:811 2021-10-10T15:44:00Z- AHRS_M2 msg: -0.08 phi; 0.05 theta; 1.54 psi 2021-10-10T15:44:00Z- handleDepth()-Depth_Keller msg: 1633880640068 epoch sec; seqNo:828; depth 0.03 2021-10-10T15:44:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880640.13 epoch sec; seqNo:829; 4061565.67 north; 594812.74 east 2021-10-10T15:44:00Z- AHRS_M2 msg: 1633880640.47 epoch sec; seqNo:812 2021-10-10T15:44:00Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 1.52 psi 2021-10-10T15:44:00Z- handleDepth()-Depth_Keller msg: 1633880640483 epoch sec; seqNo:829; depth 0.04 2021-10-10T15:44:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880640.50 epoch sec; seqNo:830; 4061565.67 north; 594812.74 east 2021-10-10T15:44:00Z- AHRS_M2 msg: 1633880640.87 epoch sec; seqNo:813 2021-10-10T15:44:00Z- AHRS_M2 msg: -0.09 phi; -0.08 theta; 1.51 psi 2021-10-10T15:44:00Z- handleDepth()-Depth_Keller msg: 1633880640880 epoch sec; seqNo:830; depth 0.06 2021-10-10T15:44:00Z- handleDvl() - RDI_Pathfinder msg: 1633880640.94 epoch sec; seqNo:384 2021-10-10T15:44:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.30 , 97.86 , 96.63 , 81.97 2021-10-10T15:44:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.01 , -0.11 2021-10-10T15:44:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880640.99 epoch sec; seqNo:831; 4061565.67 north; 594812.74 east 2021-10-10T15:44:01Z- AHRS_M2 msg: 1633880641.27 epoch sec; seqNo:814 2021-10-10T15:44:01Z- AHRS_M2 msg: -0.08 phi; -0.08 theta; 1.54 psi 2021-10-10T15:44:01Z- handleDepth()-Depth_Keller msg: 1633880641280 epoch sec; seqNo:831; depth 0.04 2021-10-10T15:44:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880641.30 epoch sec; seqNo:832; 4061565.67 north; 594812.74 east 2021-10-10T15:44:01Z- AHRS_M2 msg: 1633880641.68 epoch sec; seqNo:815 2021-10-10T15:44:01Z- AHRS_M2 msg: -0.04 phi; -0.08 theta; 1.55 psi 2021-10-10T15:44:01Z- handleDepth()-Depth_Keller msg: 1633880641688 epoch sec; seqNo:832; depth 0.05 2021-10-10T15:44:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:01Z- handleDvl() - RDI_Pathfinder msg: 1633880641.70 epoch sec; seqNo:385 2021-10-10T15:44:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.01 , -0.11 2021-10-10T15:44:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880641.79 epoch sec; seqNo:833; 4061565.67 north; 594812.74 east 2021-10-10T15:44:02Z- AHRS_M2 msg: 1633880642.08 epoch sec; seqNo:816 2021-10-10T15:44:02Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 1.53 psi 2021-10-10T15:44:02Z- handleDepth()-Depth_Keller msg: 1633880642088 epoch sec; seqNo:833; depth 0.08 2021-10-10T15:44:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880642.12 epoch sec; seqNo:834; 4061565.67 north; 594812.74 east 2021-10-10T15:44:02Z- AHRS_M2 msg: 1633880642.48 epoch sec; seqNo:817 2021-10-10T15:44:02Z- AHRS_M2 msg: 0.04 phi; -0.06 theta; 1.48 psi 2021-10-10T15:44:02Z- handleDepth()-Depth_Keller msg: 1633880642492 epoch sec; seqNo:834; depth 0.08 2021-10-10T15:44:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880642.53 epoch sec; seqNo:835; 4061565.65 north; 594811.52 east 2021-10-10T15:44:02Z- AHRS_M2 msg: 1633880642.89 epoch sec; seqNo:818 2021-10-10T15:44:02Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 1.44 psi 2021-10-10T15:44:02Z- handleDepth()-Depth_Keller msg: 1633880642900 epoch sec; seqNo:835; depth 0.07 2021-10-10T15:44:02Z- handleDvl() - RDI_Pathfinder msg: 1633880642.97 epoch sec; seqNo:386 2021-10-10T15:44:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.61 , 86.72 , 91.61 , 85.50 2021-10-10T15:44:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.17 , 0.63 2021-10-10T15:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880643.01 epoch sec; seqNo:836; 4061565.65 north; 594811.52 east 2021-10-10T15:44:03Z- AHRS_M2 msg: 1633880643.29 epoch sec; seqNo:819 2021-10-10T15:44:03Z- AHRS_M2 msg: 0.05 phi; -0.09 theta; 1.43 psi 2021-10-10T15:44:03Z- handleDepth()-Depth_Keller msg: 1633880643300 epoch sec; seqNo:836; depth 0.03 2021-10-10T15:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880643.40 epoch sec; seqNo:837; 4061565.65 north; 594811.52 east 2021-10-10T15:44:03Z- AHRS_M2 msg: 1633880643.70 epoch sec; seqNo:820 2021-10-10T15:44:03Z- AHRS_M2 msg: 0.06 phi; -0.14 theta; 1.42 psi 2021-10-10T15:44:03Z- handleDepth()-Depth_Keller msg: 1633880643704 epoch sec; seqNo:837; depth 0.04 2021-10-10T15:44:03Z- LcmTrn::handleMessages() - handling 42 messages took 1.01 ms and 121 calls... 2021-10-10T15:44:03Z- waiting for 1633880641.48, time is 1633880643.70 2021-10-10T15:44:03Z- LcmTrn::updateTrn() >>>> pose time 1633880643.70, meas time 1633880642.97 <<<< 2021-10-10T15:44:03Z- TerrainNav::Measurement type 1 from time = 1633880642.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:44:03Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594811.52, 0.04) 2021-10-10T15:44:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:03Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880643.73 epoch sec; seqNo:838; 4061566.03 north; 594811.51 east 2021-10-10T15:44:04Z- AHRS_M2 msg: 1633880644.10 epoch sec; seqNo:821 2021-10-10T15:44:04Z- AHRS_M2 msg: 0.03 phi; -0.03 theta; 1.39 psi 2021-10-10T15:44:04Z- handleDepth()-Depth_Keller msg: 1633880644112 epoch sec; seqNo:838; depth 0.02 2021-10-10T15:44:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:04Z- handleDvl() - RDI_Pathfinder msg: 1633880644.12 epoch sec; seqNo:387 2021-10-10T15:44:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.17 , 0.63 2021-10-10T15:44:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880644.18 epoch sec; seqNo:839; 4061566.03 north; 594811.51 east 2021-10-10T15:44:04Z- AHRS_M2 msg: 1633880644.51 epoch sec; seqNo:822 2021-10-10T15:44:04Z- AHRS_M2 msg: -0.07 phi; 0.17 theta; 1.38 psi 2021-10-10T15:44:04Z- handleDepth()-Depth_Keller msg: 1633880644547 epoch sec; seqNo:839; depth 0.00 2021-10-10T15:44:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880644.57 epoch sec; seqNo:840; 4061566.03 north; 594811.51 east 2021-10-10T15:44:04Z- AHRS_M2 msg: 1633880644.91 epoch sec; seqNo:823 2021-10-10T15:44:04Z- AHRS_M2 msg: -0.09 phi; 0.12 theta; 1.41 psi 2021-10-10T15:44:04Z- handleDepth()-Depth_Keller msg: 1633880644920 epoch sec; seqNo:840; depth 0.03 2021-10-10T15:44:04Z- handleDvl() - RDI_Pathfinder msg: 1633880644.97 epoch sec; seqNo:388 2021-10-10T15:44:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 115.11 , 127.33 , 98.00 , 0.00 2021-10-10T15:44:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -1.76 , -0.81 2021-10-10T15:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880645.00 epoch sec; seqNo:841; 4061566.79 north; 594811.50 east 2021-10-10T15:44:05Z- AHRS_M2 msg: 1633880645.31 epoch sec; seqNo:824 2021-10-10T15:44:05Z- AHRS_M2 msg: -0.13 phi; 0.03 theta; 1.42 psi 2021-10-10T15:44:05Z- handleDepth()-Depth_Keller msg: 1633880645328 epoch sec; seqNo:841; depth 0.05 2021-10-10T15:44:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:05Z- handleDvl() - RDI_Pathfinder msg: 1633880645.33 epoch sec; seqNo:389 2021-10-10T15:44:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -1.76 , -0.81 2021-10-10T15:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880645.37 epoch sec; seqNo:842; 4061567.55 north; 594811.50 east 2021-10-10T15:44:05Z- AHRS_M2 msg: 1633880645.72 epoch sec; seqNo:825 2021-10-10T15:44:05Z- AHRS_M2 msg: -0.12 phi; -0.05 theta; 1.42 psi 2021-10-10T15:44:05Z- handleDepth()-Depth_Keller msg: 1633880645724 epoch sec; seqNo:842; depth 0.07 2021-10-10T15:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880645.76 epoch sec; seqNo:843; 4061567.93 north; 594811.49 east 2021-10-10T15:44:06Z- AHRS_M2 msg: 1633880646.12 epoch sec; seqNo:826 2021-10-10T15:44:06Z- AHRS_M2 msg: -0.05 phi; -0.11 theta; 1.42 psi 2021-10-10T15:44:06Z- handleDepth()-Depth_Keller msg: 1633880646132 epoch sec; seqNo:843; depth 0.06 2021-10-10T15:44:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880646.17 epoch sec; seqNo:844; 4061568.68 north; 594811.48 east 2021-10-10T15:44:06Z- AHRS_M2 msg: 1633880646.53 epoch sec; seqNo:827 2021-10-10T15:44:06Z- AHRS_M2 msg: 0.03 phi; -0.12 theta; 1.40 psi 2021-10-10T15:44:06Z- handleDepth()-Depth_Keller msg: 1633880646532 epoch sec; seqNo:844; depth 0.07 2021-10-10T15:44:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:06Z- handleDvl() - RDI_Pathfinder msg: 1633880646.53 epoch sec; seqNo:390 2021-10-10T15:44:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -1.76 , -0.81 2021-10-10T15:44:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880646.60 epoch sec; seqNo:845; 4061569.44 north; 594811.48 east 2021-10-10T15:44:06Z- AHRS_M2 msg: 1633880646.93 epoch sec; seqNo:828 2021-10-10T15:44:06Z- AHRS_M2 msg: 0.10 phi; -0.09 theta; 1.38 psi 2021-10-10T15:44:06Z- handleDepth()-Depth_Keller msg: 1633880646936 epoch sec; seqNo:845; depth 0.10 2021-10-10T15:44:07Z- handleDvl() - RDI_Pathfinder msg: 1633880646.98 epoch sec; seqNo:391 2021-10-10T15:44:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.71 , 95.89 , 97.39 , 86.93 2021-10-10T15:44:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.39 , -0.41 2021-10-10T15:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880647.02 epoch sec; seqNo:846; 4061569.43 north; 594810.26 east 2021-10-10T15:44:07Z- AHRS_M2 msg: 1633880647.34 epoch sec; seqNo:829 2021-10-10T15:44:07Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 1.38 psi 2021-10-10T15:44:07Z- handleDepth()-Depth_Keller msg: 1633880647344 epoch sec; seqNo:846; depth 0.09 2021-10-10T15:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880647.37 epoch sec; seqNo:847; 4061569.81 north; 594810.25 east 2021-10-10T15:44:07Z- AHRS_M2 msg: 1633880647.74 epoch sec; seqNo:830 2021-10-10T15:44:07Z- AHRS_M2 msg: 0.03 phi; -0.10 theta; 1.34 psi 2021-10-10T15:44:07Z- handleDepth()-Depth_Keller msg: 1633880647750 epoch sec; seqNo:847; depth 0.08 2021-10-10T15:44:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:07Z- handleDvl() - RDI_Pathfinder msg: 1633880647.75 epoch sec; seqNo:392 2021-10-10T15:44:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.39 , -0.41 2021-10-10T15:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880647.79 epoch sec; seqNo:848; 4061569.81 north; 594810.25 east 2021-10-10T15:44:08Z- AHRS_M2 msg: 1633880648.14 epoch sec; seqNo:831 2021-10-10T15:44:08Z- AHRS_M2 msg: -0.00 phi; -0.14 theta; 1.33 psi 2021-10-10T15:44:08Z- handleDepth()-Depth_Keller msg: 1633880648148 epoch sec; seqNo:848; depth 0.10 2021-10-10T15:44:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880648.18 epoch sec; seqNo:849; 4061569.81 north; 594810.25 east 2021-10-10T15:44:08Z- AHRS_M2 msg: 1633880648.55 epoch sec; seqNo:832 2021-10-10T15:44:08Z- AHRS_M2 msg: -0.02 phi; -0.15 theta; 1.34 psi 2021-10-10T15:44:08Z- handleDepth()-Depth_Keller msg: 1633880648561 epoch sec; seqNo:849; depth 0.08 2021-10-10T15:44:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880648.59 epoch sec; seqNo:850; 4061569.79 north; 594809.03 east 2021-10-10T15:44:08Z- LcmTrn::handleMessages() - handling 43 messages took 0.93 ms and 124 calls... 2021-10-10T15:44:08Z- waiting for 1633880646.70, time is 1633880648.59 2021-10-10T15:44:08Z- LcmTrn::updateTrn() >>>> pose time 1633880648.59, meas time 1633880647.75 <<<< 2021-10-10T15:44:08Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880647.75, ping # 0. 2021-10-10T15:44:08Z- TerrainNav::Measurement type 1 from time = 1633880647.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:44:08Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594809.03, 0.08) 2021-10-10T15:44:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:08Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:08Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:08Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:08Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:08Z- AHRS_M2 msg: 1633880648.95 epoch sec; seqNo:833 2021-10-10T15:44:08Z- AHRS_M2 msg: -0.01 phi; -0.12 theta; 1.33 psi 2021-10-10T15:44:08Z- handleDepth()-Depth_Keller msg: 1633880648956 epoch sec; seqNo:850; depth 0.09 2021-10-10T15:44:09Z- handleDvl() - RDI_Pathfinder msg: 1633880649.00 epoch sec; seqNo:393 2021-10-10T15:44:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.37 , 88.15 , 0.00 , 85.70 2021-10-10T15:44:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.38 , 0.14 2021-10-10T15:44:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880649.02 epoch sec; seqNo:851; 4061570.17 north; 594809.03 east 2021-10-10T15:44:09Z- AHRS_M2 msg: 1633880649.35 epoch sec; seqNo:834 2021-10-10T15:44:09Z- AHRS_M2 msg: 0.03 phi; -0.10 theta; 1.32 psi 2021-10-10T15:44:09Z- handleDepth()-Depth_Keller msg: 1633880649364 epoch sec; seqNo:851; depth 0.07 2021-10-10T15:44:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880649.41 epoch sec; seqNo:852; 4061570.17 north; 594809.03 east 2021-10-10T15:44:09Z- handleDepth()-Depth_Keller msg: 1633880649772 epoch sec; seqNo:852; depth 0.08 2021-10-10T15:44:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880649.79 epoch sec; seqNo:853; 4061570.17 north; 594809.03 east 2021-10-10T15:44:10Z- AHRS_M2 msg: 1633880650.16 epoch sec; seqNo:835 2021-10-10T15:44:10Z- AHRS_M2 msg: 0.02 phi; -0.09 theta; 1.30 psi 2021-10-10T15:44:10Z- handleDepth()-Depth_Keller msg: 1633880650168 epoch sec; seqNo:853; depth 0.09 2021-10-10T15:44:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:10Z- handleDvl() - RDI_Pathfinder msg: 1633880650.17 epoch sec; seqNo:394 2021-10-10T15:44:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.38 , 0.14 2021-10-10T15:44:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880650.20 epoch sec; seqNo:854; 4061570.17 north; 594809.03 east 2021-10-10T15:44:10Z- AHRS_M2 msg: 1633880650.57 epoch sec; seqNo:836 2021-10-10T15:44:10Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.29 psi 2021-10-10T15:44:10Z- handleDepth()-Depth_Keller msg: 1633880650572 epoch sec; seqNo:854; depth 0.06 2021-10-10T15:44:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880650.59 epoch sec; seqNo:855; 4061570.54 north; 594807.80 east 2021-10-10T15:44:10Z- AHRS_M2 msg: 1633880650.97 epoch sec; seqNo:837 2021-10-10T15:44:10Z- AHRS_M2 msg: -0.07 phi; 0.02 theta; 1.29 psi 2021-10-10T15:44:10Z- handleDepth()-Depth_Keller msg: 1633880650980 epoch sec; seqNo:855; depth 0.05 2021-10-10T15:44:11Z- handleDvl() - RDI_Pathfinder msg: 1633880651.02 epoch sec; seqNo:395 2021-10-10T15:44:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.73 , 87.06 , 90.73 , 87.06 2021-10-10T15:44:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.01 , 0.42 2021-10-10T15:44:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880651.05 epoch sec; seqNo:856; 4061570.55 north; 594809.02 east 2021-10-10T15:44:11Z- AHRS_M2 msg: 1633880651.37 epoch sec; seqNo:838 2021-10-10T15:44:11Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.29 psi 2021-10-10T15:44:11Z- handleDepth()-Depth_Keller msg: 1633880651379 epoch sec; seqNo:856; depth 0.04 2021-10-10T15:44:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:11Z- handleDvl() - RDI_Pathfinder msg: 1633880651.38 epoch sec; seqNo:396 2021-10-10T15:44:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.01 , 0.42 2021-10-10T15:44:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880651.45 epoch sec; seqNo:857; 4061570.55 north; 594809.02 east 2021-10-10T15:44:11Z- AHRS_M2 msg: 1633880651.78 epoch sec; seqNo:839 2021-10-10T15:44:11Z- AHRS_M2 msg: -0.02 phi; 0.01 theta; 1.29 psi 2021-10-10T15:44:11Z- handleDepth()-Depth_Keller msg: 1633880651793 epoch sec; seqNo:857; depth 0.05 2021-10-10T15:44:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880651.81 epoch sec; seqNo:858; 4061570.55 north; 594809.02 east 2021-10-10T15:44:12Z- AHRS_M2 msg: 1633880652.18 epoch sec; seqNo:840 2021-10-10T15:44:12Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.34 psi 2021-10-10T15:44:12Z- handleDepth()-Depth_Keller msg: 1633880652188 epoch sec; seqNo:858; depth 0.05 2021-10-10T15:44:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880652.23 epoch sec; seqNo:859; 4061570.55 north; 594809.02 east 2021-10-10T15:44:12Z- AHRS_M2 msg: 1633880652.59 epoch sec; seqNo:841 2021-10-10T15:44:12Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 1.35 psi 2021-10-10T15:44:12Z- handleDepth()-Depth_Keller msg: 1633880652596 epoch sec; seqNo:859; depth 0.05 2021-10-10T15:44:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:12Z- handleDvl() - RDI_Pathfinder msg: 1633880652.60 epoch sec; seqNo:397 2021-10-10T15:44:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.01 , 0.42 2021-10-10T15:44:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880652.66 epoch sec; seqNo:860; 4061570.55 north; 594809.02 east 2021-10-10T15:44:13Z- AHRS_M2 msg: 1633880652.99 epoch sec; seqNo:842 2021-10-10T15:44:13Z- AHRS_M2 msg: 0.00 phi; -0.04 theta; 1.29 psi 2021-10-10T15:44:13Z- handleDepth()-Depth_Keller msg: 1633880652998 epoch sec; seqNo:860; depth 0.09 2021-10-10T15:44:13Z- handleDvl() - RDI_Pathfinder msg: 1633880653.03 epoch sec; seqNo:398 2021-10-10T15:44:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.00 , 91.88 , 96.77 , 84.55 2021-10-10T15:44:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.32 , -0.27 2021-10-10T15:44:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880653.09 epoch sec; seqNo:861; 4061570.17 north; 594809.03 east 2021-10-10T15:44:13Z- AHRS_M2 msg: 1633880653.39 epoch sec; seqNo:843 2021-10-10T15:44:13Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.30 psi 2021-10-10T15:44:13Z- handleDepth()-Depth_Keller msg: 1633880653400 epoch sec; seqNo:861; depth 0.09 2021-10-10T15:44:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880653.45 epoch sec; seqNo:862; 4061570.17 north; 594809.03 east 2021-10-10T15:44:13Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-10T15:44:13Z- waiting for 1633880651.59, time is 1633880653.45 2021-10-10T15:44:13Z- LcmTrn::updateTrn() >>>> pose time 1633880653.45, meas time 1633880653.03 <<<< 2021-10-10T15:44:13Z- TerrainNav::Measurement type 1 from time = 1633880653.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:44:13Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594809.03, 0.09) 2021-10-10T15:44:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:13Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:13Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:13Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:13Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:13Z- AHRS_M2 msg: 1633880653.80 epoch sec; seqNo:844 2021-10-10T15:44:13Z- AHRS_M2 msg: -0.15 phi; 0.07 theta; 1.33 psi 2021-10-10T15:44:13Z- handleDepth()-Depth_Keller msg: 1633880653804 epoch sec; seqNo:862; depth 0.08 2021-10-10T15:44:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:13Z- handleDvl() - RDI_Pathfinder msg: 1633880653.81 epoch sec; seqNo:399 2021-10-10T15:44:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.32 , -0.27 2021-10-10T15:44:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880653.84 epoch sec; seqNo:863; 4061570.17 north; 594809.03 east 2021-10-10T15:44:14Z- AHRS_M2 msg: 1633880654.20 epoch sec; seqNo:845 2021-10-10T15:44:14Z- AHRS_M2 msg: -0.22 phi; 0.09 theta; 1.35 psi 2021-10-10T15:44:14Z- handleDepth()-Depth_Keller msg: 1633880654208 epoch sec; seqNo:863; depth 0.07 2021-10-10T15:44:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880654.25 epoch sec; seqNo:864; 4061570.17 north; 594809.03 east 2021-10-10T15:44:14Z- AHRS_M2 msg: 1633880654.60 epoch sec; seqNo:846 2021-10-10T15:44:14Z- AHRS_M2 msg: -0.23 phi; 0.06 theta; 1.36 psi 2021-10-10T15:44:14Z- handleDepth()-Depth_Keller msg: 1633880654638 epoch sec; seqNo:864; depth 0.07 2021-10-10T15:44:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880654.75 epoch sec; seqNo:865; 4061569.79 north; 594809.03 east 2021-10-10T15:44:15Z- AHRS_M2 msg: 1633880655.01 epoch sec; seqNo:847 2021-10-10T15:44:15Z- AHRS_M2 msg: -0.14 phi; 0.01 theta; 1.39 psi 2021-10-10T15:44:15Z- handleDepth()-Depth_Keller msg: 1633880655019 epoch sec; seqNo:865; depth 0.05 2021-10-10T15:44:15Z- handleDvl() - RDI_Pathfinder msg: 1633880655.08 epoch sec; seqNo:400 2021-10-10T15:44:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.11 , 107.63 , 105.19 , 79.52 2021-10-10T15:44:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.30 , -0.87 2021-10-10T15:44:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880655.13 epoch sec; seqNo:866; 4061570.17 north; 594809.03 east 2021-10-10T15:44:15Z- AHRS_M2 msg: 1633880655.41 epoch sec; seqNo:848 2021-10-10T15:44:15Z- AHRS_M2 msg: 0.01 phi; -0.05 theta; 1.43 psi 2021-10-10T15:44:15Z- handleDepth()-Depth_Keller msg: 1633880655426 epoch sec; seqNo:866; depth 0.05 2021-10-10T15:44:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880655.46 epoch sec; seqNo:867; 4061570.17 north; 594809.03 east 2021-10-10T15:44:15Z- AHRS_M2 msg: 1633880655.82 epoch sec; seqNo:849 2021-10-10T15:44:15Z- AHRS_M2 msg: 0.16 phi; -0.08 theta; 1.39 psi 2021-10-10T15:44:15Z- handleDepth()-Depth_Keller msg: 1633880655824 epoch sec; seqNo:867; depth 0.08 2021-10-10T15:44:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880655.86 epoch sec; seqNo:868; 4061570.17 north; 594809.03 east 2021-10-10T15:44:16Z- AHRS_M2 msg: 1633880656.22 epoch sec; seqNo:850 2021-10-10T15:44:16Z- AHRS_M2 msg: 0.18 phi; -0.05 theta; 1.35 psi 2021-10-10T15:44:16Z- handleDepth()-Depth_Keller msg: 1633880656228 epoch sec; seqNo:868; depth 0.10 2021-10-10T15:44:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:16Z- handleDvl() - RDI_Pathfinder msg: 1633880656.23 epoch sec; seqNo:401 2021-10-10T15:44:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , -0.30 , -0.87 2021-10-10T15:44:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880656.25 epoch sec; seqNo:869; 4061570.17 north; 594809.03 east 2021-10-10T15:44:16Z- AHRS_M2 msg: 1633880656.62 epoch sec; seqNo:851 2021-10-10T15:44:16Z- AHRS_M2 msg: 0.16 phi; -0.06 theta; 1.36 psi 2021-10-10T15:44:16Z- handleDepth()-Depth_Keller msg: 1633880656632 epoch sec; seqNo:869; depth 0.08 2021-10-10T15:44:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880656.66 epoch sec; seqNo:870; 4061570.55 north; 594809.02 east 2021-10-10T15:44:17Z- AHRS_M2 msg: 1633880657.03 epoch sec; seqNo:852 2021-10-10T15:44:17Z- AHRS_M2 msg: 0.14 phi; -0.14 theta; 1.35 psi 2021-10-10T15:44:17Z- handleDepth()-Depth_Keller msg: 1633880657036 epoch sec; seqNo:870; depth 0.07 2021-10-10T15:44:17Z- handleDvl() - RDI_Pathfinder msg: 1633880657.07 epoch sec; seqNo:402 2021-10-10T15:44:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 95.08 , 78.78 , 95.08 , 85.57 2021-10-10T15:44:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.92 , 0.45 2021-10-10T15:44:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880657.10 epoch sec; seqNo:871; 4061570.93 north; 594809.02 east 2021-10-10T15:44:17Z- AHRS_M2 msg: 1633880657.44 epoch sec; seqNo:853 2021-10-10T15:44:17Z- AHRS_M2 msg: 0.11 phi; -0.20 theta; 1.29 psi 2021-10-10T15:44:17Z- handleDepth()-Depth_Keller msg: 1633880657444 epoch sec; seqNo:871; depth 0.07 2021-10-10T15:44:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:17Z- handleDvl() - RDI_Pathfinder msg: 1633880657.45 epoch sec; seqNo:403 2021-10-10T15:44:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.92 , 0.45 2021-10-10T15:44:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880657.49 epoch sec; seqNo:872; 4061570.93 north; 594809.02 east 2021-10-10T15:44:17Z- AHRS_M2 msg: 1633880657.84 epoch sec; seqNo:854 2021-10-10T15:44:17Z- AHRS_M2 msg: 0.05 phi; -0.11 theta; 1.28 psi 2021-10-10T15:44:17Z- handleDepth()-Depth_Keller msg: 1633880657855 epoch sec; seqNo:872; depth 0.06 2021-10-10T15:44:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880657.88 epoch sec; seqNo:873; 4061571.29 north; 594807.79 east 2021-10-10T15:44:18Z- AHRS_M2 msg: 1633880658.24 epoch sec; seqNo:855 2021-10-10T15:44:18Z- AHRS_M2 msg: -0.05 phi; 0.08 theta; 1.26 psi 2021-10-10T15:44:18Z- handleDepth()-Depth_Keller msg: 1633880658252 epoch sec; seqNo:873; depth 0.03 2021-10-10T15:44:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880658.28 epoch sec; seqNo:874; 4061571.67 north; 594807.79 east 2021-10-10T15:44:18Z- AHRS_M2 msg: 1633880658.65 epoch sec; seqNo:856 2021-10-10T15:44:18Z- AHRS_M2 msg: -0.12 phi; 0.13 theta; 1.28 psi 2021-10-10T15:44:18Z- handleDepth()-Depth_Keller msg: 1633880658656 epoch sec; seqNo:874; depth 0.00 2021-10-10T15:44:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:18Z- handleDvl() - RDI_Pathfinder msg: 1633880658.66 epoch sec; seqNo:404 2021-10-10T15:44:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.92 , 0.45 2021-10-10T15:44:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880658.77 epoch sec; seqNo:875; 4061572.05 north; 594807.79 east 2021-10-10T15:44:18Z- LcmTrn::handleMessages() - handling 45 messages took 1.07 ms and 123 calls... 2021-10-10T15:44:18Z- waiting for 1633880656.45, time is 1633880658.77 2021-10-10T15:44:18Z- LcmTrn::updateTrn() >>>> pose time 1633880658.77, meas time 1633880658.66 <<<< 2021-10-10T15:44:18Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880658.66, ping # 0. 2021-10-10T15:44:18Z- TerrainNav::Measurement type 1 from time = 1633880658.66 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:44:18Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594807.79, 0.00) 2021-10-10T15:44:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:18Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:18Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:18Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:18Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:19Z- AHRS_M2 msg: 1633880659.05 epoch sec; seqNo:857 2021-10-10T15:44:19Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 1.33 psi 2021-10-10T15:44:19Z- handleDepth()-Depth_Keller msg: 1633880659060 epoch sec; seqNo:875; depth 0.06 2021-10-10T15:44:19Z- handleDvl() - RDI_Pathfinder msg: 1633880659.10 epoch sec; seqNo:405 2021-10-10T15:44:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:44:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880659.25 epoch sec; seqNo:876; 4061572.04 north; 594806.56 east 2021-10-10T15:44:19Z- AHRS_M2 msg: 1633880659.45 epoch sec; seqNo:858 2021-10-10T15:44:19Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.33 psi 2021-10-10T15:44:19Z- handleDepth()-Depth_Keller msg: 1633880659502 epoch sec; seqNo:876; depth 0.07 2021-10-10T15:44:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880659.54 epoch sec; seqNo:877; 4061572.42 north; 594806.56 east 2021-10-10T15:44:19Z- AHRS_M2 msg: 1633880659.86 epoch sec; seqNo:859 2021-10-10T15:44:19Z- AHRS_M2 msg: 0.07 phi; 0.00 theta; 1.34 psi 2021-10-10T15:44:19Z- handleDepth()-Depth_Keller msg: 1633880659879 epoch sec; seqNo:877; depth 0.08 2021-10-10T15:44:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:19Z- handleDvl() - RDI_Pathfinder msg: 1633880659.88 epoch sec; seqNo:406 2021-10-10T15:44:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:44:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880659.98 epoch sec; seqNo:878; 4061572.80 north; 594806.56 east 2021-10-10T15:44:20Z- AHRS_M2 msg: 1633880660.26 epoch sec; seqNo:860 2021-10-10T15:44:20Z- AHRS_M2 msg: 0.08 phi; -0.07 theta; 1.35 psi 2021-10-10T15:44:20Z- handleDepth()-Depth_Keller msg: 1633880660279 epoch sec; seqNo:878; depth 0.12 2021-10-10T15:44:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880660.43 epoch sec; seqNo:879; 4061573.18 north; 594806.55 east 2021-10-10T15:44:20Z- handleDepth()-Depth_Keller msg: 1633880660756 epoch sec; seqNo:879; depth 0.13 2021-10-10T15:44:20Z- handleDvl() - RDI_Pathfinder msg: 1633880660.81 epoch sec; seqNo:407 2021-10-10T15:44:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.88 , 84.55 , 95.55 , 79.94 2021-10-10T15:44:20Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.12 , -0.54 2021-10-10T15:44:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880660.87 epoch sec; seqNo:880; 4061573.18 north; 594806.55 east 2021-10-10T15:44:21Z- handleDepth()-Depth_Keller msg: 1633880661088 epoch sec; seqNo:880; depth 0.13 2021-10-10T15:44:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:21Z- handleDvl() - RDI_Pathfinder msg: 1633880661.09 epoch sec; seqNo:408 2021-10-10T15:44:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.12 , -0.54 2021-10-10T15:44:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880661.19 epoch sec; seqNo:881; 4061572.80 north; 594806.56 east 2021-10-10T15:44:21Z- AHRS_M2 msg: 1633880661.48 epoch sec; seqNo:861 2021-10-10T15:44:21Z- AHRS_M2 msg: -0.16 phi; -0.12 theta; 1.31 psi 2021-10-10T15:44:21Z- handleDepth()-Depth_Keller msg: 1633880661488 epoch sec; seqNo:881; depth 0.11 2021-10-10T15:44:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880661.51 epoch sec; seqNo:882; 4061572.80 north; 594806.56 east 2021-10-10T15:44:21Z- AHRS_M2 msg: 1633880661.88 epoch sec; seqNo:862 2021-10-10T15:44:21Z- AHRS_M2 msg: -0.11 phi; -0.10 theta; 1.31 psi 2021-10-10T15:44:21Z- handleDepth()-Depth_Keller msg: 1633880661888 epoch sec; seqNo:882; depth 0.13 2021-10-10T15:44:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880661.90 epoch sec; seqNo:883; 4061572.80 north; 594806.56 east 2021-10-10T15:44:22Z- AHRS_M2 msg: 1633880662.28 epoch sec; seqNo:863 2021-10-10T15:44:22Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 1.32 psi 2021-10-10T15:44:22Z- handleDepth()-Depth_Keller msg: 1633880662294 epoch sec; seqNo:883; depth 0.13 2021-10-10T15:44:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:22Z- handleDvl() - RDI_Pathfinder msg: 1633880662.30 epoch sec; seqNo:409 2021-10-10T15:44:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.12 , -0.54 2021-10-10T15:44:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880662.31 epoch sec; seqNo:884; 4061572.80 north; 594806.56 east 2021-10-10T15:44:22Z- AHRS_M2 msg: 1633880662.75 epoch sec; seqNo:864 2021-10-10T15:44:22Z- AHRS_M2 msg: 0.05 phi; -0.15 theta; 1.30 psi 2021-10-10T15:44:22Z- handleDepth()-Depth_Keller msg: 1633880662761 epoch sec; seqNo:884; depth 0.13 2021-10-10T15:44:22Z- handleDvl() - RDI_Pathfinder msg: 1633880662.82 epoch sec; seqNo:410 2021-10-10T15:44:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.48 , 100.51 , 98.06 , 88.29 2021-10-10T15:44:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.16 , -0.49 , -0.20 2021-10-10T15:44:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880662.88 epoch sec; seqNo:885; 4061573.16 north; 594805.33 east 2021-10-10T15:44:23Z- AHRS_M2 msg: 1633880663.09 epoch sec; seqNo:865 2021-10-10T15:44:23Z- AHRS_M2 msg: 0.10 phi; -0.17 theta; 1.28 psi 2021-10-10T15:44:23Z- handleDepth()-Depth_Keller msg: 1633880663096 epoch sec; seqNo:885; depth 0.16 2021-10-10T15:44:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880663.11 epoch sec; seqNo:886; 4061573.16 north; 594805.33 east 2021-10-10T15:44:23Z- AHRS_M2 msg: 1633880663.49 epoch sec; seqNo:866 2021-10-10T15:44:23Z- AHRS_M2 msg: 0.08 phi; -0.20 theta; 1.27 psi 2021-10-10T15:44:23Z- handleDepth()-Depth_Keller msg: 1633880663504 epoch sec; seqNo:886; depth 0.16 2021-10-10T15:44:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:23Z- handleDvl() - RDI_Pathfinder msg: 1633880663.51 epoch sec; seqNo:411 2021-10-10T15:44:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.16 , -0.49 , -0.20 2021-10-10T15:44:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880663.53 epoch sec; seqNo:887; 4061573.54 north; 594805.33 east 2021-10-10T15:44:23Z- LcmTrn::handleMessages() - handling 41 messages took 1.08 ms and 119 calls... 2021-10-10T15:44:23Z- waiting for 1633880661.77, time is 1633880663.53 2021-10-10T15:44:23Z- LcmTrn::updateTrn() equating pose 1633880663.53 and meas times 1633880663.53 2021-10-10T15:44:23Z- LcmTrn::updateTrn() >>>> pose time 1633880663.53, meas time 1633880663.53 <<<< 2021-10-10T15:44:23Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880663.53, ping # 0. 2021-10-10T15:44:23Z- TerrainNav::Measurement type 1 from time = 1633880663.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:44:23Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594805.33, 0.16) 2021-10-10T15:44:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:23Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:23Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:23Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:23Z- AHRS_M2 msg: 1633880663.90 epoch sec; seqNo:867 2021-10-10T15:44:23Z- AHRS_M2 msg: 0.06 phi; -0.24 theta; 1.24 psi 2021-10-10T15:44:23Z- handleDepth()-Depth_Keller msg: 1633880663908 epoch sec; seqNo:887; depth 0.12 2021-10-10T15:44:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880663.94 epoch sec; seqNo:888; 4061573.54 north; 594805.33 east 2021-10-10T15:44:24Z- AHRS_M2 msg: 1633880664.30 epoch sec; seqNo:868 2021-10-10T15:44:24Z- AHRS_M2 msg: 0.05 phi; -0.17 theta; 1.22 psi 2021-10-10T15:44:24Z- handleDepth()-Depth_Keller msg: 1633880664332 epoch sec; seqNo:888; depth 0.15 2021-10-10T15:44:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880664.43 epoch sec; seqNo:889; 4061573.92 north; 594805.32 east 2021-10-10T15:44:24Z- AHRS_M2 msg: 1633880664.82 epoch sec; seqNo:869 2021-10-10T15:44:24Z- AHRS_M2 msg: 0.03 phi; -0.07 theta; 1.23 psi 2021-10-10T15:44:24Z- handleDepth()-Depth_Keller msg: 1633880664826 epoch sec; seqNo:889; depth 0.12 2021-10-10T15:44:24Z- handleDvl() - RDI_Pathfinder msg: 1633880664.93 epoch sec; seqNo:412 2021-10-10T15:44:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.13 , 86.79 , 85.57 , 92.90 2021-10-10T15:44:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.04 , 0.34 2021-10-10T15:44:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880665.10 epoch sec; seqNo:890; 4061573.92 north; 594805.32 east 2021-10-10T15:44:25Z- AHRS_M2 msg: 1633880665.33 epoch sec; seqNo:870 2021-10-10T15:44:25Z- AHRS_M2 msg: 0.04 phi; -0.11 theta; 1.23 psi 2021-10-10T15:44:25Z- handleDepth()-Depth_Keller msg: 1633880665436 epoch sec; seqNo:890; depth 0.08 2021-10-10T15:44:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880665.54 epoch sec; seqNo:891; 4061573.54 north; 594805.33 east 2021-10-10T15:44:25Z- AHRS_M2 msg: 1633880665.78 epoch sec; seqNo:871 2021-10-10T15:44:25Z- AHRS_M2 msg: 0.03 phi; -0.16 theta; 1.20 psi 2021-10-10T15:44:25Z- handleDepth()-Depth_Keller msg: 1633880665817 epoch sec; seqNo:891; depth 0.10 2021-10-10T15:44:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880665.89 epoch sec; seqNo:892; 4061573.54 north; 594805.33 east 2021-10-10T15:44:26Z- AHRS_M2 msg: 1633880666.12 epoch sec; seqNo:872 2021-10-10T15:44:26Z- AHRS_M2 msg: 0.00 phi; -0.09 theta; 1.18 psi 2021-10-10T15:44:26Z- handleDepth()-Depth_Keller msg: 1633880666132 epoch sec; seqNo:892; depth 0.07 2021-10-10T15:44:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:26Z- handleDvl() - RDI_Pathfinder msg: 1633880666.13 epoch sec; seqNo:413 2021-10-10T15:44:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.04 , 0.34 2021-10-10T15:44:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880666.20 epoch sec; seqNo:893; 4061573.54 north; 594805.33 east 2021-10-10T15:44:26Z- AHRS_M2 msg: 1633880666.53 epoch sec; seqNo:873 2021-10-10T15:44:26Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 1.20 psi 2021-10-10T15:44:26Z- handleDepth()-Depth_Keller msg: 1633880666536 epoch sec; seqNo:893; depth 0.04 2021-10-10T15:44:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880666.58 epoch sec; seqNo:894; 4061573.54 north; 594805.33 east 2021-10-10T15:44:26Z- AHRS_M2 msg: 1633880666.93 epoch sec; seqNo:874 2021-10-10T15:44:26Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.21 psi 2021-10-10T15:44:26Z- handleDepth()-Depth_Keller msg: 1633880666943 epoch sec; seqNo:894; depth 0.02 2021-10-10T15:44:27Z- handleDvl() - RDI_Pathfinder msg: 1633880666.99 epoch sec; seqNo:414 2021-10-10T15:44:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.30 , 90.53 , 97.86 , 0.00 2021-10-10T15:44:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.08 , 0.51 2021-10-10T15:44:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880667.04 epoch sec; seqNo:895; 4061573.54 north; 594805.33 east 2021-10-10T15:44:27Z- AHRS_M2 msg: 1633880667.34 epoch sec; seqNo:875 2021-10-10T15:44:27Z- AHRS_M2 msg: -0.00 phi; -0.01 theta; 1.16 psi 2021-10-10T15:44:27Z- handleDepth()-Depth_Keller msg: 1633880667344 epoch sec; seqNo:895; depth 0.03 2021-10-10T15:44:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:27Z- handleDvl() - RDI_Pathfinder msg: 1633880667.35 epoch sec; seqNo:415 2021-10-10T15:44:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.08 , 0.51 2021-10-10T15:44:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880667.38 epoch sec; seqNo:896; 4061573.54 north; 594805.33 east 2021-10-10T15:44:27Z- AHRS_M2 msg: 1633880667.74 epoch sec; seqNo:876 2021-10-10T15:44:27Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 1.16 psi 2021-10-10T15:44:27Z- handleDepth()-Depth_Keller msg: 1633880667756 epoch sec; seqNo:896; depth 0.04 2021-10-10T15:44:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880667.81 epoch sec; seqNo:897; 4061573.92 north; 594805.32 east 2021-10-10T15:44:28Z- AHRS_M2 msg: 1633880668.15 epoch sec; seqNo:877 2021-10-10T15:44:28Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 1.20 psi 2021-10-10T15:44:28Z- handleDepth()-Depth_Keller msg: 1633880668152 epoch sec; seqNo:897; depth 0.06 2021-10-10T15:44:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880668.17 epoch sec; seqNo:898; 4061573.92 north; 594805.32 east 2021-10-10T15:44:28Z- AHRS_M2 msg: 1633880668.55 epoch sec; seqNo:878 2021-10-10T15:44:28Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 1.18 psi 2021-10-10T15:44:28Z- handleDepth()-Depth_Keller msg: 1633880668560 epoch sec; seqNo:898; depth 0.05 2021-10-10T15:44:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:28Z- handleDvl() - RDI_Pathfinder msg: 1633880668.56 epoch sec; seqNo:416 2021-10-10T15:44:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.08 , 0.51 2021-10-10T15:44:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880668.63 epoch sec; seqNo:899; 4061573.92 north; 594805.32 east 2021-10-10T15:44:28Z- LcmTrn::handleMessages() - handling 41 messages took 0.93 ms and 122 calls... 2021-10-10T15:44:28Z- waiting for 1633880666.53, time is 1633880668.63 2021-10-10T15:44:28Z- LcmTrn::updateTrn() equating pose 1633880668.63 and meas times 1633880668.63 2021-10-10T15:44:28Z- LcmTrn::updateTrn() >>>> pose time 1633880668.63, meas time 1633880668.63 <<<< 2021-10-10T15:44:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880668.63, ping # 0. 2021-10-10T15:44:28Z- TerrainNav::Measurement type 1 from time = 1633880668.63 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:44:28Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594805.32, 0.05) 2021-10-10T15:44:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:28Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:28Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:28Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:28Z- AHRS_M2 msg: 1633880668.95 epoch sec; seqNo:879 2021-10-10T15:44:28Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.17 psi 2021-10-10T15:44:28Z- handleDepth()-Depth_Keller msg: 1633880668960 epoch sec; seqNo:899; depth 0.05 2021-10-10T15:44:29Z- handleDvl() - RDI_Pathfinder msg: 1633880669.02 epoch sec; seqNo:417 2021-10-10T15:44:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.64 , 89.64 , 97.79 , 84.21 2021-10-10T15:44:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.40 , 0.10 , -0.44 2021-10-10T15:44:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880669.07 epoch sec; seqNo:900; 4061573.92 north; 594805.32 east 2021-10-10T15:44:29Z- AHRS_M2 msg: 1633880669.36 epoch sec; seqNo:880 2021-10-10T15:44:29Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.20 psi 2021-10-10T15:44:29Z- handleDepth()-Depth_Keller msg: 1633880669369 epoch sec; seqNo:900; depth 0.09 2021-10-10T15:44:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880669.40 epoch sec; seqNo:901; 4061573.92 north; 594805.32 east 2021-10-10T15:44:29Z- AHRS_M2 msg: 1633880669.77 epoch sec; seqNo:881 2021-10-10T15:44:29Z- AHRS_M2 msg: -0.02 phi; 0.03 theta; 1.21 psi 2021-10-10T15:44:29Z- handleDepth()-Depth_Keller msg: 1633880669780 epoch sec; seqNo:901; depth 0.09 2021-10-10T15:44:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:29Z- handleDvl() - RDI_Pathfinder msg: 1633880669.78 epoch sec; seqNo:418 2021-10-10T15:44:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.40 , 0.10 , -0.44 2021-10-10T15:44:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880669.80 epoch sec; seqNo:902; 4061573.92 north; 594805.32 east 2021-10-10T15:44:30Z- AHRS_M2 msg: 1633880670.17 epoch sec; seqNo:882 2021-10-10T15:44:30Z- AHRS_M2 msg: -0.00 phi; -0.05 theta; 1.23 psi 2021-10-10T15:44:30Z- handleDepth()-Depth_Keller msg: 1633880670180 epoch sec; seqNo:902; depth 0.06 2021-10-10T15:44:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880670.21 epoch sec; seqNo:903; 4061573.92 north; 594805.32 east 2021-10-10T15:44:30Z- AHRS_M2 msg: 1633880670.57 epoch sec; seqNo:883 2021-10-10T15:44:30Z- AHRS_M2 msg: 0.05 phi; -0.07 theta; 1.22 psi 2021-10-10T15:44:30Z- handleDepth()-Depth_Keller msg: 1633880670576 epoch sec; seqNo:903; depth 0.05 2021-10-10T15:44:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880670.60 epoch sec; seqNo:904; 4061573.92 north; 594805.32 east 2021-10-10T15:44:30Z- AHRS_M2 msg: 1633880670.98 epoch sec; seqNo:884 2021-10-10T15:44:30Z- AHRS_M2 msg: 0.07 phi; -0.03 theta; 1.21 psi 2021-10-10T15:44:30Z- handleDepth()-Depth_Keller msg: 1633880670988 epoch sec; seqNo:904; depth 0.07 2021-10-10T15:44:31Z- handleDvl() - RDI_Pathfinder msg: 1633880671.05 epoch sec; seqNo:419 2021-10-10T15:44:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.64 , 97.86 , 99.08 , 78.30 2021-10-10T15:44:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.56 , -0.27 , -0.31 2021-10-10T15:44:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880671.10 epoch sec; seqNo:905; 4061573.92 north; 594805.32 east 2021-10-10T15:44:31Z- AHRS_M2 msg: 1633880671.38 epoch sec; seqNo:885 2021-10-10T15:44:31Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 1.17 psi 2021-10-10T15:44:31Z- handleDepth()-Depth_Keller msg: 1633880671384 epoch sec; seqNo:905; depth 0.06 2021-10-10T15:44:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880671.43 epoch sec; seqNo:906; 4061573.92 north; 594805.32 east 2021-10-10T15:44:31Z- AHRS_M2 msg: 1633880671.78 epoch sec; seqNo:886 2021-10-10T15:44:31Z- AHRS_M2 msg: -0.09 phi; -0.05 theta; 1.15 psi 2021-10-10T15:44:31Z- handleDepth()-Depth_Keller msg: 1633880671791 epoch sec; seqNo:906; depth 0.05 2021-10-10T15:44:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880671.82 epoch sec; seqNo:907; 4061573.92 north; 594805.32 east 2021-10-10T15:44:32Z- AHRS_M2 msg: 1633880672.19 epoch sec; seqNo:887 2021-10-10T15:44:32Z- AHRS_M2 msg: -0.13 phi; -0.08 theta; 1.14 psi 2021-10-10T15:44:32Z- handleDepth()-Depth_Keller msg: 1633880672196 epoch sec; seqNo:907; depth 0.05 2021-10-10T15:44:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:32Z- handleDvl() - RDI_Pathfinder msg: 1633880672.20 epoch sec; seqNo:420 2021-10-10T15:44:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.56 , -0.27 , -0.31 2021-10-10T15:44:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880672.21 epoch sec; seqNo:908; 4061573.92 north; 594805.32 east 2021-10-10T15:44:32Z- AHRS_M2 msg: 1633880672.59 epoch sec; seqNo:888 2021-10-10T15:44:32Z- AHRS_M2 msg: -0.16 phi; -0.05 theta; 1.11 psi 2021-10-10T15:44:32Z- handleDepth()-Depth_Keller msg: 1633880672608 epoch sec; seqNo:908; depth 0.04 2021-10-10T15:44:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880672.63 epoch sec; seqNo:909; 4061573.91 north; 594804.10 east 2021-10-10T15:44:32Z- AHRS_M2 msg: 1633880672.99 epoch sec; seqNo:889 2021-10-10T15:44:33Z- AHRS_M2 msg: -0.11 phi; -0.03 theta; 1.09 psi 2021-10-10T15:44:33Z- handleDepth()-Depth_Keller msg: 1633880673004 epoch sec; seqNo:909; depth 0.05 2021-10-10T15:44:33Z- handleDvl() - RDI_Pathfinder msg: 1633880673.06 epoch sec; seqNo:421 2021-10-10T15:44:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.19 , 100.31 , 97.86 , 85.64 2021-10-10T15:44:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.03 , 0.29 2021-10-10T15:44:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880673.09 epoch sec; seqNo:910; 4061573.91 north; 594804.10 east 2021-10-10T15:44:33Z- AHRS_M2 msg: 1633880673.40 epoch sec; seqNo:890 2021-10-10T15:44:33Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 1.10 psi 2021-10-10T15:44:33Z- handleDepth()-Depth_Keller msg: 1633880673403 epoch sec; seqNo:910; depth 0.03 2021-10-10T15:44:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:33Z- handleDvl() - RDI_Pathfinder msg: 1633880673.41 epoch sec; seqNo:422 2021-10-10T15:44:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.03 , 0.29 2021-10-10T15:44:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880673.43 epoch sec; seqNo:911; 4061573.91 north; 594804.10 east 2021-10-10T15:44:33Z- AHRS_M2 msg: 1633880673.80 epoch sec; seqNo:891 2021-10-10T15:44:33Z- AHRS_M2 msg: 0.05 phi; -0.08 theta; 1.10 psi 2021-10-10T15:44:33Z- handleDepth()-Depth_Keller msg: 1633880673808 epoch sec; seqNo:911; depth 0.05 2021-10-10T15:44:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880673.83 epoch sec; seqNo:912; 4061573.91 north; 594804.10 east 2021-10-10T15:44:33Z- LcmTrn::handleMessages() - handling 45 messages took 0.89 ms and 127 calls... 2021-10-10T15:44:33Z- waiting for 1633880671.63, time is 1633880673.83 2021-10-10T15:44:33Z- LcmTrn::updateTrn() >>>> pose time 1633880673.83, meas time 1633880673.41 <<<< 2021-10-10T15:44:33Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880673.41, ping # 0. 2021-10-10T15:44:33Z- TerrainNav::Measurement type 1 from time = 1633880673.41 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:44:33Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594804.10, 0.05) 2021-10-10T15:44:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:33Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:33Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:33Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:34Z- AHRS_M2 msg: 1633880674.20 epoch sec; seqNo:892 2021-10-10T15:44:34Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 1.07 psi 2021-10-10T15:44:34Z- handleDepth()-Depth_Keller msg: 1633880674212 epoch sec; seqNo:912; depth 0.06 2021-10-10T15:44:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880674.26 epoch sec; seqNo:913; 4061573.91 north; 594804.10 east 2021-10-10T15:44:34Z- AHRS_M2 msg: 1633880674.61 epoch sec; seqNo:893 2021-10-10T15:44:34Z- AHRS_M2 msg: -0.07 phi; 0.06 theta; 1.06 psi 2021-10-10T15:44:34Z- handleDepth()-Depth_Keller msg: 1633880674616 epoch sec; seqNo:913; depth 0.05 2021-10-10T15:44:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:34Z- handleDvl() - RDI_Pathfinder msg: 1633880674.62 epoch sec; seqNo:423 2021-10-10T15:44:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:34Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.03 , 0.29 2021-10-10T15:44:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880674.72 epoch sec; seqNo:914; 4061573.53 north; 594804.11 east 2021-10-10T15:44:35Z- AHRS_M2 msg: 1633880675.01 epoch sec; seqNo:894 2021-10-10T15:44:35Z- AHRS_M2 msg: -0.11 phi; 0.07 theta; 1.06 psi 2021-10-10T15:44:35Z- handleDepth()-Depth_Keller msg: 1633880675024 epoch sec; seqNo:914; depth 0.03 2021-10-10T15:44:35Z- handleDvl() - RDI_Pathfinder msg: 1633880675.09 epoch sec; seqNo:424 2021-10-10T15:44:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.61 , 89.17 , 97.72 , 89.17 2021-10-10T15:44:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.47 , 0.44 , 0.20 2021-10-10T15:44:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880675.13 epoch sec; seqNo:915; 4061573.53 north; 594804.11 east 2021-10-10T15:44:35Z- AHRS_M2 msg: 1633880675.42 epoch sec; seqNo:895 2021-10-10T15:44:35Z- AHRS_M2 msg: -0.08 phi; 0.04 theta; 1.09 psi 2021-10-10T15:44:35Z- handleDepth()-Depth_Keller msg: 1633880675424 epoch sec; seqNo:915; depth 0.03 2021-10-10T15:44:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880675.47 epoch sec; seqNo:916; 4061573.53 north; 594804.11 east 2021-10-10T15:44:35Z- AHRS_M2 msg: 1633880675.82 epoch sec; seqNo:896 2021-10-10T15:44:35Z- AHRS_M2 msg: -0.05 phi; 0.04 theta; 1.11 psi 2021-10-10T15:44:35Z- handleDepth()-Depth_Keller msg: 1633880675828 epoch sec; seqNo:916; depth 0.06 2021-10-10T15:44:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:35Z- handleDvl() - RDI_Pathfinder msg: 1633880675.83 epoch sec; seqNo:425 2021-10-10T15:44:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.47 , 0.44 , 0.20 2021-10-10T15:44:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880675.86 epoch sec; seqNo:917; 4061573.53 north; 594804.11 east 2021-10-10T15:44:36Z- AHRS_M2 msg: 1633880676.23 epoch sec; seqNo:897 2021-10-10T15:44:36Z- AHRS_M2 msg: -0.01 phi; -0.00 theta; 1.14 psi 2021-10-10T15:44:36Z- handleDepth()-Depth_Keller msg: 1633880676232 epoch sec; seqNo:917; depth 0.06 2021-10-10T15:44:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880676.28 epoch sec; seqNo:918; 4061573.54 north; 594805.33 east 2021-10-10T15:44:36Z- AHRS_M2 msg: 1633880676.63 epoch sec; seqNo:898 2021-10-10T15:44:36Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 1.13 psi 2021-10-10T15:44:36Z- handleDepth()-Depth_Keller msg: 1633880676640 epoch sec; seqNo:918; depth 0.07 2021-10-10T15:44:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880676.67 epoch sec; seqNo:919; 4061573.16 north; 594805.33 east 2021-10-10T15:44:37Z- AHRS_M2 msg: 1633880677.04 epoch sec; seqNo:899 2021-10-10T15:44:37Z- AHRS_M2 msg: -0.03 phi; -0.07 theta; 1.12 psi 2021-10-10T15:44:37Z- handleDepth()-Depth_Keller msg: 1633880677040 epoch sec; seqNo:919; depth 0.09 2021-10-10T15:44:37Z- handleDvl() - RDI_Pathfinder msg: 1633880677.08 epoch sec; seqNo:426 2021-10-10T15:44:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.50 , 97.72 , 100.17 , 77.48 2021-10-10T15:44:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.41 , -0.76 2021-10-10T15:44:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880677.11 epoch sec; seqNo:920; 4061573.54 north; 594805.33 east 2021-10-10T15:44:37Z- AHRS_M2 msg: 1633880677.44 epoch sec; seqNo:900 2021-10-10T15:44:37Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.12 psi 2021-10-10T15:44:37Z- handleDepth()-Depth_Keller msg: 1633880677453 epoch sec; seqNo:920; depth 0.12 2021-10-10T15:44:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880677.49 epoch sec; seqNo:921; 4061573.53 north; 594804.11 east 2021-10-10T15:44:37Z- AHRS_M2 msg: 1633880677.84 epoch sec; seqNo:901 2021-10-10T15:44:37Z- AHRS_M2 msg: -0.05 phi; -0.07 theta; 1.09 psi 2021-10-10T15:44:37Z- handleDepth()-Depth_Keller msg: 1633880677848 epoch sec; seqNo:921; depth 0.08 2021-10-10T15:44:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880677.88 epoch sec; seqNo:922; 4061573.53 north; 594804.11 east 2021-10-10T15:44:38Z- AHRS_M2 msg: 1633880678.24 epoch sec; seqNo:902 2021-10-10T15:44:38Z- AHRS_M2 msg: 0.02 phi; -0.15 theta; 1.08 psi 2021-10-10T15:44:38Z- handleDepth()-Depth_Keller msg: 1633880678252 epoch sec; seqNo:922; depth 0.07 2021-10-10T15:44:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:38Z- handleDvl() - RDI_Pathfinder msg: 1633880678.25 epoch sec; seqNo:427 2021-10-10T15:44:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , -0.41 , -0.76 2021-10-10T15:44:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880678.31 epoch sec; seqNo:923; 4061573.53 north; 594804.11 east 2021-10-10T15:44:38Z- AHRS_M2 msg: 1633880678.65 epoch sec; seqNo:903 2021-10-10T15:44:38Z- AHRS_M2 msg: 0.12 phi; -0.14 theta; 1.08 psi 2021-10-10T15:44:38Z- handleDepth()-Depth_Keller msg: 1633880678660 epoch sec; seqNo:923; depth 0.08 2021-10-10T15:44:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880678.73 epoch sec; seqNo:924; 4061573.91 north; 594804.10 east 2021-10-10T15:44:38Z- LcmTrn::handleMessages() - handling 41 messages took 0.81 ms and 124 calls... 2021-10-10T15:44:38Z- waiting for 1633880676.83, time is 1633880678.73 2021-10-10T15:44:38Z- LcmTrn::updateTrn() >>>> pose time 1633880678.73, meas time 1633880678.25 <<<< 2021-10-10T15:44:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880678.25, ping # 0. 2021-10-10T15:44:38Z- TerrainNav::Measurement type 1 from time = 1633880678.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:44:38Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594804.10, 0.08) 2021-10-10T15:44:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:38Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:38Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:38Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:39Z- AHRS_M2 msg: 1633880679.05 epoch sec; seqNo:904 2021-10-10T15:44:39Z- AHRS_M2 msg: 0.11 phi; -0.10 theta; 1.07 psi 2021-10-10T15:44:39Z- handleDepth()-Depth_Keller msg: 1633880679060 epoch sec; seqNo:924; depth 0.09 2021-10-10T15:44:39Z- handleDvl() - RDI_Pathfinder msg: 1633880679.09 epoch sec; seqNo:428 2021-10-10T15:44:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.64 , 94.19 , 91.75 , 86.86 2021-10-10T15:44:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.56 , -0.13 , 0.73 2021-10-10T15:44:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880679.16 epoch sec; seqNo:925; 4061573.91 north; 594804.10 east 2021-10-10T15:44:39Z- AHRS_M2 msg: 1633880679.46 epoch sec; seqNo:905 2021-10-10T15:44:39Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 1.07 psi 2021-10-10T15:44:39Z- handleDepth()-Depth_Keller msg: 1633880679467 epoch sec; seqNo:925; depth 0.06 2021-10-10T15:44:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:39Z- handleDvl() - RDI_Pathfinder msg: 1633880679.47 epoch sec; seqNo:429 2021-10-10T15:44:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.56 , -0.13 , 0.73 2021-10-10T15:44:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880679.57 epoch sec; seqNo:926; 4061573.53 north; 594804.11 east 2021-10-10T15:44:39Z- AHRS_M2 msg: 1633880679.86 epoch sec; seqNo:906 2021-10-10T15:44:39Z- AHRS_M2 msg: -0.09 phi; -0.03 theta; 1.07 psi 2021-10-10T15:44:39Z- handleDepth()-Depth_Keller msg: 1633880679868 epoch sec; seqNo:926; depth 0.01 2021-10-10T15:44:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880679.92 epoch sec; seqNo:927; 4061573.51 north; 594802.89 east 2021-10-10T15:44:40Z- AHRS_M2 msg: 1633880680.27 epoch sec; seqNo:907 2021-10-10T15:44:40Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.08 psi 2021-10-10T15:44:40Z- handleDepth()-Depth_Keller msg: 1633880680272 epoch sec; seqNo:927; depth 0.01 2021-10-10T15:44:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880680.29 epoch sec; seqNo:928; 4061573.51 north; 594802.89 east 2021-10-10T15:44:40Z- AHRS_M2 msg: 1633880680.69 epoch sec; seqNo:908 2021-10-10T15:44:40Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 1.07 psi 2021-10-10T15:44:40Z- handleDepth()-Depth_Keller msg: 1633880680744 epoch sec; seqNo:928; depth 0.05 2021-10-10T15:44:40Z- handleDvl() - RDI_Pathfinder msg: 1633880680.80 epoch sec; seqNo:430 2021-10-10T15:44:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.48 , 96.70 , 96.70 , 84.48 2021-10-10T15:44:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.14 , 0.26 , 0.24 2021-10-10T15:44:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880680.90 epoch sec; seqNo:929; 4061573.51 north; 594802.89 east 2021-10-10T15:44:41Z- AHRS_M2 msg: 1633880681.07 epoch sec; seqNo:909 2021-10-10T15:44:41Z- AHRS_M2 msg: 0.06 phi; 0.00 theta; 1.09 psi 2021-10-10T15:44:41Z- handleDepth()-Depth_Keller msg: 1633880681088 epoch sec; seqNo:929; depth 0.07 2021-10-10T15:44:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880681.14 epoch sec; seqNo:930; 4061573.51 north; 594802.89 east 2021-10-10T15:44:41Z- AHRS_M2 msg: 1633880681.48 epoch sec; seqNo:910 2021-10-10T15:44:41Z- AHRS_M2 msg: 0.03 phi; 0.02 theta; 1.10 psi 2021-10-10T15:44:41Z- handleDepth()-Depth_Keller msg: 1633880681488 epoch sec; seqNo:930; depth 0.07 2021-10-10T15:44:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880681.51 epoch sec; seqNo:931; 4061573.14 north; 594802.89 east 2021-10-10T15:44:41Z- AHRS_M2 msg: 1633880681.88 epoch sec; seqNo:911 2021-10-10T15:44:41Z- AHRS_M2 msg: -0.09 phi; 0.03 theta; 1.10 psi 2021-10-10T15:44:41Z- handleDepth()-Depth_Keller msg: 1633880681888 epoch sec; seqNo:931; depth 0.07 2021-10-10T15:44:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:41Z- handleDvl() - RDI_Pathfinder msg: 1633880681.89 epoch sec; seqNo:431 2021-10-10T15:44:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.14 , 0.26 , 0.24 2021-10-10T15:44:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880681.92 epoch sec; seqNo:932; 4061573.15 north; 594804.11 east 2021-10-10T15:44:42Z- AHRS_M2 msg: 1633880682.28 epoch sec; seqNo:912 2021-10-10T15:44:42Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 1.12 psi 2021-10-10T15:44:42Z- handleDepth()-Depth_Keller msg: 1633880682292 epoch sec; seqNo:932; depth 0.07 2021-10-10T15:44:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880682.33 epoch sec; seqNo:933; 4061573.15 north; 594804.11 east 2021-10-10T15:44:42Z- AHRS_M2 msg: 1633880682.74 epoch sec; seqNo:913 2021-10-10T15:44:42Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 1.12 psi 2021-10-10T15:44:42Z- handleDepth()-Depth_Keller msg: 1633880682752 epoch sec; seqNo:933; depth 0.06 2021-10-10T15:44:42Z- handleDvl() - RDI_Pathfinder msg: 1633880682.86 epoch sec; seqNo:432 2021-10-10T15:44:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.90 , 105.12 , 99.01 , 83.12 2021-10-10T15:44:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.27 , -0.22 2021-10-10T15:44:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880682.89 epoch sec; seqNo:934; 4061573.15 north; 594804.11 east 2021-10-10T15:44:43Z- AHRS_M2 msg: 1633880683.09 epoch sec; seqNo:914 2021-10-10T15:44:43Z- AHRS_M2 msg: -0.12 phi; -0.08 theta; 1.10 psi 2021-10-10T15:44:43Z- handleDepth()-Depth_Keller msg: 1633880683097 epoch sec; seqNo:934; depth 0.09 2021-10-10T15:44:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:43Z- handleDvl() - RDI_Pathfinder msg: 1633880683.10 epoch sec; seqNo:433 2021-10-10T15:44:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.27 , -0.22 2021-10-10T15:44:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880683.16 epoch sec; seqNo:935; 4061573.14 north; 594802.89 east 2021-10-10T15:44:43Z- AHRS_M2 msg: 1633880683.50 epoch sec; seqNo:915 2021-10-10T15:44:43Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.07 psi 2021-10-10T15:44:43Z- handleDepth()-Depth_Keller msg: 1633880683506 epoch sec; seqNo:935; depth 0.05 2021-10-10T15:44:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880683.58 epoch sec; seqNo:936; 4061573.51 north; 594802.89 east 2021-10-10T15:44:43Z- AHRS_M2 msg: 1633880683.90 epoch sec; seqNo:916 2021-10-10T15:44:43Z- AHRS_M2 msg: 0.12 phi; -0.02 theta; 1.07 psi 2021-10-10T15:44:43Z- LcmTrn::handleMessages() - handling 43 messages took 0.91 ms and 124 calls... 2021-10-10T15:44:43Z- waiting for 1633880681.73, time is 1633880683.90 2021-10-10T15:44:43Z- LcmTrn::updateTrn() >>>> pose time 1633880683.90, meas time 1633880683.10 <<<< 2021-10-10T15:44:43Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880683.10, ping # 0. 2021-10-10T15:44:43Z- TerrainNav::Measurement type 1 from time = 1633880683.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:44:43Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594802.89, 0.05) 2021-10-10T15:44:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:43Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:43Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:43Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:43Z- handleDepth()-Depth_Keller msg: 1633880683916 epoch sec; seqNo:936; depth 0.06 2021-10-10T15:44:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880683.93 epoch sec; seqNo:937; 4061573.51 north; 594802.89 east 2021-10-10T15:44:44Z- AHRS_M2 msg: 1633880684.31 epoch sec; seqNo:917 2021-10-10T15:44:44Z- AHRS_M2 msg: 0.19 phi; -0.04 theta; 1.10 psi 2021-10-10T15:44:44Z- handleDepth()-Depth_Keller msg: 1633880684312 epoch sec; seqNo:937; depth 0.07 2021-10-10T15:44:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:44Z- handleDvl() - RDI_Pathfinder msg: 1633880684.31 epoch sec; seqNo:434 2021-10-10T15:44:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.27 , -0.22 2021-10-10T15:44:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880684.35 epoch sec; seqNo:938; 4061573.51 north; 594802.89 east 2021-10-10T15:44:44Z- AHRS_M2 msg: 1633880684.74 epoch sec; seqNo:918 2021-10-10T15:44:44Z- AHRS_M2 msg: 0.20 phi; -0.03 theta; 1.10 psi 2021-10-10T15:44:44Z- handleDepth()-Depth_Keller msg: 1633880684756 epoch sec; seqNo:938; depth 0.06 2021-10-10T15:44:44Z- handleDvl() - RDI_Pathfinder msg: 1633880684.82 epoch sec; seqNo:435 2021-10-10T15:44:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.79 , 82.85 , 95.08 , 0.00 2021-10-10T15:44:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , 0.11 , 0.11 2021-10-10T15:44:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880684.86 epoch sec; seqNo:939; 4061573.51 north; 594802.89 east 2021-10-10T15:44:45Z- AHRS_M2 msg: 1633880685.11 epoch sec; seqNo:919 2021-10-10T15:44:45Z- AHRS_M2 msg: 0.12 phi; -0.04 theta; 1.09 psi 2021-10-10T15:44:45Z- handleDepth()-Depth_Keller msg: 1633880685120 epoch sec; seqNo:939; depth 0.05 2021-10-10T15:44:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880685.14 epoch sec; seqNo:940; 4061573.14 north; 594802.89 east 2021-10-10T15:44:45Z- AHRS_M2 msg: 1633880685.52 epoch sec; seqNo:920 2021-10-10T15:44:45Z- AHRS_M2 msg: 0.01 phi; -0.06 theta; 1.10 psi 2021-10-10T15:44:45Z- handleDepth()-Depth_Keller msg: 1633880685537 epoch sec; seqNo:940; depth 0.06 2021-10-10T15:44:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:45Z- handleDvl() - RDI_Pathfinder msg: 1633880685.54 epoch sec; seqNo:436 2021-10-10T15:44:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , 0.11 , 0.11 2021-10-10T15:44:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880685.60 epoch sec; seqNo:941; 4061573.14 north; 594802.89 east 2021-10-10T15:44:45Z- AHRS_M2 msg: 1633880685.92 epoch sec; seqNo:921 2021-10-10T15:44:45Z- AHRS_M2 msg: -0.12 phi; -0.04 theta; 1.08 psi 2021-10-10T15:44:45Z- handleDepth()-Depth_Keller msg: 1633880685928 epoch sec; seqNo:941; depth 0.07 2021-10-10T15:44:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880685.96 epoch sec; seqNo:942; 4061573.14 north; 594802.89 east 2021-10-10T15:44:46Z- AHRS_M2 msg: 1633880686.33 epoch sec; seqNo:922 2021-10-10T15:44:46Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 1.05 psi 2021-10-10T15:44:46Z- handleDepth()-Depth_Keller msg: 1633880686359 epoch sec; seqNo:942; depth 0.05 2021-10-10T15:44:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880686.41 epoch sec; seqNo:943; 4061573.14 north; 594802.89 east 2021-10-10T15:44:46Z- AHRS_M2 msg: 1633880686.75 epoch sec; seqNo:923 2021-10-10T15:44:46Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 1.09 psi 2021-10-10T15:44:46Z- handleDepth()-Depth_Keller msg: 1633880686756 epoch sec; seqNo:943; depth 0.04 2021-10-10T15:44:46Z- handleDvl() - RDI_Pathfinder msg: 1633880686.81 epoch sec; seqNo:437 2021-10-10T15:44:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.25 , 107.50 , 96.50 , 0.00 2021-10-10T15:44:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.13 , 0.19 2021-10-10T15:44:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880686.89 epoch sec; seqNo:944; 4061573.14 north; 594802.89 east 2021-10-10T15:44:47Z- AHRS_M2 msg: 1633880687.14 epoch sec; seqNo:924 2021-10-10T15:44:47Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 1.11 psi 2021-10-10T15:44:47Z- handleDepth()-Depth_Keller msg: 1633880687152 epoch sec; seqNo:944; depth 0.05 2021-10-10T15:44:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880687.18 epoch sec; seqNo:945; 4061573.14 north; 594802.89 east 2021-10-10T15:44:47Z- AHRS_M2 msg: 1633880687.54 epoch sec; seqNo:925 2021-10-10T15:44:47Z- AHRS_M2 msg: 0.13 phi; -0.05 theta; 1.10 psi 2021-10-10T15:44:47Z- handleDepth()-Depth_Keller msg: 1633880687548 epoch sec; seqNo:945; depth 0.06 2021-10-10T15:44:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880687.57 epoch sec; seqNo:946; 4061573.14 north; 594802.89 east 2021-10-10T15:44:47Z- AHRS_M2 msg: 1633880687.94 epoch sec; seqNo:926 2021-10-10T15:44:47Z- AHRS_M2 msg: 0.18 phi; -0.01 theta; 1.11 psi 2021-10-10T15:44:47Z- handleDepth()-Depth_Keller msg: 1633880687952 epoch sec; seqNo:946; depth 0.07 2021-10-10T15:44:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:47Z- handleDvl() - RDI_Pathfinder msg: 1633880687.95 epoch sec; seqNo:438 2021-10-10T15:44:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , 0.13 , 0.19 2021-10-10T15:44:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880687.99 epoch sec; seqNo:947; 4061573.14 north; 594802.89 east 2021-10-10T15:44:48Z- AHRS_M2 msg: 1633880688.35 epoch sec; seqNo:927 2021-10-10T15:44:48Z- AHRS_M2 msg: 0.12 phi; 0.06 theta; 1.12 psi 2021-10-10T15:44:48Z- handleDepth()-Depth_Keller msg: 1633880688352 epoch sec; seqNo:947; depth 0.08 2021-10-10T15:44:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880688.38 epoch sec; seqNo:948; 4061573.14 north; 594802.89 east 2021-10-10T15:44:48Z- AHRS_M2 msg: 1633880688.75 epoch sec; seqNo:928 2021-10-10T15:44:48Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.11 psi 2021-10-10T15:44:48Z- handleDepth()-Depth_Keller msg: 1633880688780 epoch sec; seqNo:948; depth 0.08 2021-10-10T15:44:48Z- handleDvl() - RDI_Pathfinder msg: 1633880688.84 epoch sec; seqNo:439 2021-10-10T15:44:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.72 , 77.89 , 97.72 , 82.78 2021-10-10T15:44:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.17 , -0.15 2021-10-10T15:44:48Z- LcmTrn::handleMessages() - handling 43 messages took 0.96 ms and 123 calls... 2021-10-10T15:44:48Z- waiting for 1633880686.90, time is 1633880688.84 2021-10-10T15:44:48Z- LcmTrn::updateTrn() equating pose 1633880688.84 and meas times 1633880688.84 2021-10-10T15:44:48Z- LcmTrn::updateTrn() >>>> pose time 1633880688.84, meas time 1633880688.84 <<<< 2021-10-10T15:44:48Z- TerrainNav::Measurement type 1 from time = 1633880688.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:44:48Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594802.89, 0.08) 2021-10-10T15:44:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:48Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:48Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:48Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880688.94 epoch sec; seqNo:949; 4061573.14 north; 594802.89 east 2021-10-10T15:44:49Z- AHRS_M2 msg: 1633880689.15 epoch sec; seqNo:929 2021-10-10T15:44:49Z- AHRS_M2 msg: -0.11 phi; -0.07 theta; 1.11 psi 2021-10-10T15:44:49Z- handleDepth()-Depth_Keller msg: 1633880689160 epoch sec; seqNo:949; depth 0.06 2021-10-10T15:44:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:49Z- handleDvl() - RDI_Pathfinder msg: 1633880689.16 epoch sec; seqNo:440 2021-10-10T15:44:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.17 , -0.15 2021-10-10T15:44:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880689.20 epoch sec; seqNo:950; 4061573.14 north; 594802.89 east 2021-10-10T15:44:49Z- AHRS_M2 msg: 1633880689.56 epoch sec; seqNo:930 2021-10-10T15:44:49Z- AHRS_M2 msg: -0.13 phi; -0.07 theta; 1.15 psi 2021-10-10T15:44:49Z- handleDepth()-Depth_Keller msg: 1633880689568 epoch sec; seqNo:950; depth 0.10 2021-10-10T15:44:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880689.61 epoch sec; seqNo:951; 4061573.14 north; 594802.89 east 2021-10-10T15:44:49Z- AHRS_M2 msg: 1633880689.96 epoch sec; seqNo:931 2021-10-10T15:44:49Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 1.15 psi 2021-10-10T15:44:49Z- handleDepth()-Depth_Keller msg: 1633880689968 epoch sec; seqNo:951; depth 0.08 2021-10-10T15:44:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880689.99 epoch sec; seqNo:952; 4061573.14 north; 594802.89 east 2021-10-10T15:44:50Z- AHRS_M2 msg: 1633880690.37 epoch sec; seqNo:932 2021-10-10T15:44:50Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 1.12 psi 2021-10-10T15:44:50Z- handleDepth()-Depth_Keller msg: 1633880690372 epoch sec; seqNo:952; depth 0.07 2021-10-10T15:44:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:50Z- handleDvl() - RDI_Pathfinder msg: 1633880690.37 epoch sec; seqNo:441 2021-10-10T15:44:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.17 , -0.15 2021-10-10T15:44:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880690.41 epoch sec; seqNo:953; 4061573.14 north; 594802.89 east 2021-10-10T15:44:50Z- AHRS_M2 msg: 1633880690.77 epoch sec; seqNo:933 2021-10-10T15:44:50Z- AHRS_M2 msg: 0.06 phi; -0.02 theta; 1.13 psi 2021-10-10T15:44:50Z- handleDepth()-Depth_Keller msg: 1633880690776 epoch sec; seqNo:953; depth 0.05 2021-10-10T15:44:50Z- handleDvl() - RDI_Pathfinder msg: 1633880690.83 epoch sec; seqNo:442 2021-10-10T15:44:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.30 , 96.71 , 95.48 , 84.48 2021-10-10T15:44:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.04 , 0.35 , 0.27 2021-10-10T15:44:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880690.92 epoch sec; seqNo:954; 4061573.14 north; 594802.89 east 2021-10-10T15:44:51Z- AHRS_M2 msg: 1633880691.17 epoch sec; seqNo:934 2021-10-10T15:44:51Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 1.16 psi 2021-10-10T15:44:51Z- handleDepth()-Depth_Keller msg: 1633880691180 epoch sec; seqNo:954; depth 0.04 2021-10-10T15:44:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880691.21 epoch sec; seqNo:955; 4061573.14 north; 594802.89 east 2021-10-10T15:44:51Z- AHRS_M2 msg: 1633880691.58 epoch sec; seqNo:935 2021-10-10T15:44:51Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.18 psi 2021-10-10T15:44:51Z- handleDepth()-Depth_Keller msg: 1633880691592 epoch sec; seqNo:955; depth 0.05 2021-10-10T15:44:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:51Z- handleDvl() - RDI_Pathfinder msg: 1633880691.59 epoch sec; seqNo:443 2021-10-10T15:44:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.04 , 0.35 , 0.27 2021-10-10T15:44:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880691.66 epoch sec; seqNo:956; 4061572.76 north; 594802.90 east 2021-10-10T15:44:51Z- AHRS_M2 msg: 1633880691.98 epoch sec; seqNo:936 2021-10-10T15:44:51Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 1.18 psi 2021-10-10T15:44:51Z- handleDepth()-Depth_Keller msg: 1633880691988 epoch sec; seqNo:956; depth 0.06 2021-10-10T15:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880692.02 epoch sec; seqNo:957; 4061572.76 north; 594802.90 east 2021-10-10T15:44:52Z- AHRS_M2 msg: 1633880692.38 epoch sec; seqNo:937 2021-10-10T15:44:52Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.16 psi 2021-10-10T15:44:52Z- handleDepth()-Depth_Keller msg: 1633880692392 epoch sec; seqNo:957; depth 0.07 2021-10-10T15:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880692.41 epoch sec; seqNo:958; 4061572.76 north; 594802.90 east 2021-10-10T15:44:52Z- AHRS_M2 msg: 1633880692.79 epoch sec; seqNo:938 2021-10-10T15:44:52Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.14 psi 2021-10-10T15:44:52Z- handleDepth()-Depth_Keller msg: 1633880692800 epoch sec; seqNo:958; depth 0.07 2021-10-10T15:44:52Z- handleDvl() - RDI_Pathfinder msg: 1633880692.86 epoch sec; seqNo:444 2021-10-10T15:44:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.99 , 90.66 , 95.55 , 79.52 2021-10-10T15:44:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.18 , 0.38 2021-10-10T15:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880692.91 epoch sec; seqNo:959; 4061572.76 north; 594802.90 east 2021-10-10T15:44:53Z- AHRS_M2 msg: 1633880693.19 epoch sec; seqNo:939 2021-10-10T15:44:53Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 1.16 psi 2021-10-10T15:44:53Z- handleDepth()-Depth_Keller msg: 1633880693200 epoch sec; seqNo:959; depth 0.07 2021-10-10T15:44:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880693.24 epoch sec; seqNo:960; 4061572.76 north; 594802.90 east 2021-10-10T15:44:53Z- AHRS_M2 msg: 1633880693.60 epoch sec; seqNo:940 2021-10-10T15:44:53Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.18 psi 2021-10-10T15:44:53Z- handleDepth()-Depth_Keller msg: 1633880693612 epoch sec; seqNo:960; depth 0.05 2021-10-10T15:44:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880693.65 epoch sec; seqNo:961; 4061572.76 north; 594802.90 east 2021-10-10T15:44:53Z- LcmTrn::handleMessages() - handling 42 messages took 0.96 ms and 122 calls... 2021-10-10T15:44:53Z- waiting for 1633880691.84, time is 1633880693.65 2021-10-10T15:44:53Z- LcmTrn::updateTrn() >>>> pose time 1633880693.65, meas time 1633880692.86 <<<< 2021-10-10T15:44:53Z- TerrainNav::Measurement type 1 from time = 1633880692.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:44:53Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594802.90, 0.05) 2021-10-10T15:44:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:53Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:53Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:53Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:53Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:54Z- AHRS_M2 msg: 1633880694.00 epoch sec; seqNo:941 2021-10-10T15:44:54Z- AHRS_M2 msg: -0.04 phi; -0.00 theta; 1.19 psi 2021-10-10T15:44:54Z- handleDepth()-Depth_Keller msg: 1633880694008 epoch sec; seqNo:961; depth 0.03 2021-10-10T15:44:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:54Z- handleDvl() - RDI_Pathfinder msg: 1633880694.01 epoch sec; seqNo:445 2021-10-10T15:44:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.18 , 0.38 2021-10-10T15:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880694.04 epoch sec; seqNo:962; 4061572.76 north; 594802.90 east 2021-10-10T15:44:54Z- AHRS_M2 msg: 1633880694.40 epoch sec; seqNo:942 2021-10-10T15:44:54Z- AHRS_M2 msg: -0.04 phi; 0.00 theta; 1.21 psi 2021-10-10T15:44:54Z- handleDepth()-Depth_Keller msg: 1633880694412 epoch sec; seqNo:962; depth 0.03 2021-10-10T15:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880694.44 epoch sec; seqNo:963; 4061572.76 north; 594802.90 east 2021-10-10T15:44:54Z- AHRS_M2 msg: 1633880694.81 epoch sec; seqNo:943 2021-10-10T15:44:54Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.23 psi 2021-10-10T15:44:54Z- handleDepth()-Depth_Keller msg: 1633880694816 epoch sec; seqNo:963; depth 0.04 2021-10-10T15:44:54Z- handleDvl() - RDI_Pathfinder msg: 1633880694.87 epoch sec; seqNo:446 2021-10-10T15:44:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 98.06 , 98.06 , 85.84 2021-10-10T15:44:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.27 , 0.24 2021-10-10T15:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880694.92 epoch sec; seqNo:964; 4061572.76 north; 594802.90 east 2021-10-10T15:44:55Z- AHRS_M2 msg: 1633880695.21 epoch sec; seqNo:944 2021-10-10T15:44:55Z- AHRS_M2 msg: 0.03 phi; 0.04 theta; 1.23 psi 2021-10-10T15:44:55Z- handleDepth()-Depth_Keller msg: 1633880695220 epoch sec; seqNo:964; depth 0.04 2021-10-10T15:44:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:55Z- handleDvl() - RDI_Pathfinder msg: 1633880695.22 epoch sec; seqNo:447 2021-10-10T15:44:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.27 , 0.24 2021-10-10T15:44:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880695.24 epoch sec; seqNo:965; 4061572.76 north; 594802.90 east 2021-10-10T15:44:55Z- AHRS_M2 msg: 1633880695.62 epoch sec; seqNo:945 2021-10-10T15:44:55Z- AHRS_M2 msg: 0.04 phi; 0.04 theta; 1.23 psi 2021-10-10T15:44:55Z- handleDepth()-Depth_Keller msg: 1633880695628 epoch sec; seqNo:965; depth 0.05 2021-10-10T15:44:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880695.66 epoch sec; seqNo:966; 4061572.76 north; 594802.90 east 2021-10-10T15:44:56Z- AHRS_M2 msg: 1633880696.02 epoch sec; seqNo:946 2021-10-10T15:44:56Z- AHRS_M2 msg: 0.00 phi; 0.05 theta; 1.26 psi 2021-10-10T15:44:56Z- handleDepth()-Depth_Keller msg: 1633880696025 epoch sec; seqNo:966; depth 0.06 2021-10-10T15:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880696.05 epoch sec; seqNo:967; 4061572.38 north; 594802.90 east 2021-10-10T15:44:56Z- AHRS_M2 msg: 1633880696.42 epoch sec; seqNo:947 2021-10-10T15:44:56Z- AHRS_M2 msg: -0.07 phi; 0.07 theta; 1.29 psi 2021-10-10T15:44:56Z- handleDepth()-Depth_Keller msg: 1633880696432 epoch sec; seqNo:967; depth 0.07 2021-10-10T15:44:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:56Z- handleDvl() - RDI_Pathfinder msg: 1633880696.43 epoch sec; seqNo:448 2021-10-10T15:44:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.27 , 0.24 2021-10-10T15:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880696.47 epoch sec; seqNo:968; 4061572.39 north; 594804.12 east 2021-10-10T15:44:56Z- AHRS_M2 msg: 1633880696.83 epoch sec; seqNo:948 2021-10-10T15:44:56Z- AHRS_M2 msg: -0.13 phi; 0.03 theta; 1.34 psi 2021-10-10T15:44:56Z- handleDepth()-Depth_Keller msg: 1633880696840 epoch sec; seqNo:968; depth 0.04 2021-10-10T15:44:56Z- handleDvl() - RDI_Pathfinder msg: 1633880696.89 epoch sec; seqNo:449 2021-10-10T15:44:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.15 , 89.51 , 99.01 , 82.72 2021-10-10T15:44:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.26 , -0.74 2021-10-10T15:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880696.91 epoch sec; seqNo:969; 4061572.38 north; 594802.90 east 2021-10-10T15:44:57Z- AHRS_M2 msg: 1633880697.24 epoch sec; seqNo:949 2021-10-10T15:44:57Z- AHRS_M2 msg: -0.12 phi; -0.06 theta; 1.37 psi 2021-10-10T15:44:57Z- handleDepth()-Depth_Keller msg: 1633880697244 epoch sec; seqNo:969; depth 0.06 2021-10-10T15:44:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880697.27 epoch sec; seqNo:970; 4061572.38 north; 594802.90 east 2021-10-10T15:44:57Z- AHRS_M2 msg: 1633880697.64 epoch sec; seqNo:950 2021-10-10T15:44:57Z- AHRS_M2 msg: -0.09 phi; -0.08 theta; 1.38 psi 2021-10-10T15:44:57Z- handleDepth()-Depth_Keller msg: 1633880697644 epoch sec; seqNo:970; depth 0.08 2021-10-10T15:44:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:44:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:44:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:44:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:44:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:44:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:44:57Z- handleDvl() - RDI_Pathfinder msg: 1633880697.65 epoch sec; seqNo:450 2021-10-10T15:44:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:44:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.26 , -0.74 2021-10-10T15:44:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880697.71 epoch sec; seqNo:971; 4061572.38 north; 594802.90 east 2021-10-10T15:44:58Z- AHRS_M2 msg: 1633880698.04 epoch sec; seqNo:951 2021-10-10T15:44:58Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.35 psi 2021-10-10T15:44:58Z- handleDepth()-Depth_Keller msg: 1633880698048 epoch sec; seqNo:971; depth 0.09 2021-10-10T15:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880698.08 epoch sec; seqNo:972; 4061572.00 north; 594802.90 east 2021-10-10T15:44:58Z- AHRS_M2 msg: 1633880698.45 epoch sec; seqNo:952 2021-10-10T15:44:58Z- AHRS_M2 msg: 0.02 phi; -0.06 theta; 1.34 psi 2021-10-10T15:44:58Z- handleDepth()-Depth_Keller msg: 1633880698456 epoch sec; seqNo:972; depth 0.09 2021-10-10T15:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880698.50 epoch sec; seqNo:973; 4061572.00 north; 594802.90 east 2021-10-10T15:44:58Z- AHRS_M2 msg: 1633880698.85 epoch sec; seqNo:953 2021-10-10T15:44:58Z- AHRS_M2 msg: 0.05 phi; -0.07 theta; 1.39 psi 2021-10-10T15:44:58Z- handleDepth()-Depth_Keller msg: 1633880698853 epoch sec; seqNo:973; depth 0.08 2021-10-10T15:44:58Z- handleDvl() - RDI_Pathfinder msg: 1633880698.89 epoch sec; seqNo:451 2021-10-10T15:44:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.19 , 90.53 , 92.97 , 0.00 2021-10-10T15:44:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , -0.17 , 0.74 2021-10-10T15:44:58Z- LcmTrn::handleMessages() - handling 45 messages took 0.86 ms and 127 calls... 2021-10-10T15:44:58Z- waiting for 1633880696.65, time is 1633880698.89 2021-10-10T15:44:58Z- LcmTrn::updateTrn() equating pose 1633880698.89 and meas times 1633880698.89 2021-10-10T15:44:58Z- LcmTrn::updateTrn() >>>> pose time 1633880698.89, meas time 1633880698.89 <<<< 2021-10-10T15:44:58Z- TerrainNav::Measurement type 1 from time = 1633880698.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:44:58Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594802.90, 0.08) 2021-10-10T15:44:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:44:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:44:58Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:44:58Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:44:58Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:44:58Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880698.94 epoch sec; seqNo:974; 4061572.00 north; 594802.90 east 2021-10-10T15:44:59Z- AHRS_M2 msg: 1633880699.26 epoch sec; seqNo:954 2021-10-10T15:44:59Z- AHRS_M2 msg: 0.02 phi; -0.08 theta; 1.41 psi 2021-10-10T15:44:59Z- handleDepth()-Depth_Keller msg: 1633880699264 epoch sec; seqNo:974; depth 0.06 2021-10-10T15:44:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880699.35 epoch sec; seqNo:975; 4061572.00 north; 594802.90 east 2021-10-10T15:44:59Z- AHRS_M2 msg: 1633880699.72 epoch sec; seqNo:955 2021-10-10T15:44:59Z- AHRS_M2 msg: -0.05 phi; -0.04 theta; 1.37 psi 2021-10-10T15:44:59Z- handleDepth()-Depth_Keller msg: 1633880699728 epoch sec; seqNo:975; depth 0.05 2021-10-10T15:44:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880699.78 epoch sec; seqNo:976; 4061572.00 north; 594802.90 east 2021-10-10T15:45:00Z- AHRS_M2 msg: 1633880700.07 epoch sec; seqNo:956 2021-10-10T15:45:00Z- AHRS_M2 msg: -0.10 phi; 0.05 theta; 1.36 psi 2021-10-10T15:45:00Z- handleDepth()-Depth_Keller msg: 1633880700084 epoch sec; seqNo:976; depth 0.03 2021-10-10T15:45:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:00Z- handleDvl() - RDI_Pathfinder msg: 1633880700.09 epoch sec; seqNo:452 2021-10-10T15:45:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , -0.17 , 0.74 2021-10-10T15:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880700.14 epoch sec; seqNo:977; 4061572.00 north; 594802.90 east 2021-10-10T15:45:00Z- AHRS_M2 msg: 1633880700.46 epoch sec; seqNo:957 2021-10-10T15:45:00Z- AHRS_M2 msg: -0.04 phi; 0.08 theta; 1.43 psi 2021-10-10T15:45:00Z- handleDepth()-Depth_Keller msg: 1633880700476 epoch sec; seqNo:977; depth 0.00 2021-10-10T15:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880700.59 epoch sec; seqNo:978; 4061572.38 north; 594802.90 east 2021-10-10T15:45:01Z- AHRS_M2 msg: 1633880700.99 epoch sec; seqNo:958 2021-10-10T15:45:01Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 1.43 psi 2021-10-10T15:45:01Z- handleDepth()-Depth_Keller msg: 1633880701024 epoch sec; seqNo:978; depth 0.06 2021-10-10T15:45:01Z- handleDvl() - RDI_Pathfinder msg: 1633880701.12 epoch sec; seqNo:453 2021-10-10T15:45:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.10 , 96.77 , 96.77 , 83.32 2021-10-10T15:45:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.14 , 0.25 2021-10-10T15:45:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880701.19 epoch sec; seqNo:979; 4061572.00 north; 594802.90 east 2021-10-10T15:45:01Z- AHRS_M2 msg: 1633880701.44 epoch sec; seqNo:959 2021-10-10T15:45:01Z- AHRS_M2 msg: 0.10 phi; -0.01 theta; 1.44 psi 2021-10-10T15:45:01Z- handleDepth()-Depth_Keller msg: 1633880701471 epoch sec; seqNo:979; depth 0.08 2021-10-10T15:45:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880701.54 epoch sec; seqNo:980; 4061572.00 north; 594802.90 east 2021-10-10T15:45:01Z- AHRS_M2 msg: 1633880701.75 epoch sec; seqNo:960 2021-10-10T15:45:01Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.46 psi 2021-10-10T15:45:01Z- handleDepth()-Depth_Keller msg: 1633880701756 epoch sec; seqNo:980; depth 0.06 2021-10-10T15:45:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880701.80 epoch sec; seqNo:981; 4061572.00 north; 594802.90 east 2021-10-10T15:45:02Z- AHRS_M2 msg: 1633880702.15 epoch sec; seqNo:961 2021-10-10T15:45:02Z- AHRS_M2 msg: -0.12 phi; -0.05 theta; 1.49 psi 2021-10-10T15:45:02Z- handleDepth()-Depth_Keller msg: 1633880702160 epoch sec; seqNo:981; depth 0.06 2021-10-10T15:45:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:02Z- handleDvl() - RDI_Pathfinder msg: 1633880702.16 epoch sec; seqNo:454 2021-10-10T15:45:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , 0.14 , 0.25 2021-10-10T15:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880702.26 epoch sec; seqNo:982; 4061572.00 north; 594802.90 east 2021-10-10T15:45:02Z- AHRS_M2 msg: 1633880702.55 epoch sec; seqNo:962 2021-10-10T15:45:02Z- AHRS_M2 msg: -0.09 phi; -0.04 theta; 1.50 psi 2021-10-10T15:45:02Z- handleDepth()-Depth_Keller msg: 1633880702559 epoch sec; seqNo:982; depth 0.06 2021-10-10T15:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880702.63 epoch sec; seqNo:983; 4061572.00 north; 594802.90 east 2021-10-10T15:45:02Z- AHRS_M2 msg: 1633880702.96 epoch sec; seqNo:963 2021-10-10T15:45:02Z- AHRS_M2 msg: -0.05 phi; -0.05 theta; 1.49 psi 2021-10-10T15:45:02Z- handleDepth()-Depth_Keller msg: 1633880702964 epoch sec; seqNo:983; depth 0.07 2021-10-10T15:45:03Z- handleDvl() - RDI_Pathfinder msg: 1633880703.01 epoch sec; seqNo:455 2021-10-10T15:45:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.48 , 90.59 , 97.93 , 83.26 2021-10-10T15:45:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.07 , -0.08 2021-10-10T15:45:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880703.04 epoch sec; seqNo:984; 4061572.00 north; 594802.90 east 2021-10-10T15:45:03Z- AHRS_M2 msg: 1633880703.36 epoch sec; seqNo:964 2021-10-10T15:45:03Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 1.51 psi 2021-10-10T15:45:03Z- handleDepth()-Depth_Keller msg: 1633880703372 epoch sec; seqNo:984; depth 0.07 2021-10-10T15:45:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:03Z- handleDvl() - RDI_Pathfinder msg: 1633880703.37 epoch sec; seqNo:456 2021-10-10T15:45:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.07 , -0.08 2021-10-10T15:45:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880703.44 epoch sec; seqNo:985; 4061572.00 north; 594802.90 east 2021-10-10T15:45:03Z- AHRS_M2 msg: 1633880703.77 epoch sec; seqNo:965 2021-10-10T15:45:03Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.53 psi 2021-10-10T15:45:03Z- handleDepth()-Depth_Keller msg: 1633880703785 epoch sec; seqNo:985; depth 0.09 2021-10-10T15:45:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880703.81 epoch sec; seqNo:986; 4061572.00 north; 594802.90 east 2021-10-10T15:45:03Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls... 2021-10-10T15:45:03Z- waiting for 1633880701.89, time is 1633880703.81 2021-10-10T15:45:03Z- LcmTrn::updateTrn() >>>> pose time 1633880703.81, meas time 1633880703.37 <<<< 2021-10-10T15:45:03Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880703.37, ping # 0. 2021-10-10T15:45:03Z- TerrainNav::Measurement type 1 from time = 1633880703.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:45:03Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594802.90, 0.09) 2021-10-10T15:45:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:03Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:03Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:03Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:03Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:04Z- AHRS_M2 msg: 1633880704.17 epoch sec; seqNo:966 2021-10-10T15:45:04Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 1.54 psi 2021-10-10T15:45:04Z- handleDepth()-Depth_Keller msg: 1633880704222 epoch sec; seqNo:986; depth 0.06 2021-10-10T15:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880704.24 epoch sec; seqNo:987; 4061572.00 north; 594802.90 east 2021-10-10T15:45:04Z- AHRS_M2 msg: 1633880704.57 epoch sec; seqNo:967 2021-10-10T15:45:04Z- AHRS_M2 msg: 0.02 phi; -0.07 theta; 1.56 psi 2021-10-10T15:45:04Z- handleDepth()-Depth_Keller msg: 1633880704584 epoch sec; seqNo:987; depth 0.04 2021-10-10T15:45:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:04Z- handleDvl() - RDI_Pathfinder msg: 1633880704.59 epoch sec; seqNo:457 2021-10-10T15:45:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.07 , -0.08 2021-10-10T15:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880704.61 epoch sec; seqNo:988; 4061572.00 north; 594802.90 east 2021-10-10T15:45:04Z- AHRS_M2 msg: 1633880704.98 epoch sec; seqNo:968 2021-10-10T15:45:04Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 1.54 psi 2021-10-10T15:45:04Z- handleDepth()-Depth_Keller msg: 1633880704983 epoch sec; seqNo:988; depth 0.05 2021-10-10T15:45:05Z- handleDvl() - RDI_Pathfinder msg: 1633880705.06 epoch sec; seqNo:458 2021-10-10T15:45:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:45:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880705.17 epoch sec; seqNo:989; 4061571.62 north; 594802.91 east 2021-10-10T15:45:05Z- AHRS_M2 msg: 1633880705.38 epoch sec; seqNo:969 2021-10-10T15:45:05Z- AHRS_M2 msg: 0.09 phi; -0.02 theta; 1.50 psi 2021-10-10T15:45:05Z- handleDepth()-Depth_Keller msg: 1633880705396 epoch sec; seqNo:989; depth 0.06 2021-10-10T15:45:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880705.46 epoch sec; seqNo:990; 4061571.62 north; 594802.91 east 2021-10-10T15:45:05Z- AHRS_M2 msg: 1633880705.79 epoch sec; seqNo:970 2021-10-10T15:45:05Z- AHRS_M2 msg: 0.03 phi; 0.01 theta; 1.53 psi 2021-10-10T15:45:05Z- handleDepth()-Depth_Keller msg: 1633880705792 epoch sec; seqNo:990; depth 0.04 2021-10-10T15:45:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:05Z- handleDvl() - RDI_Pathfinder msg: 1633880705.79 epoch sec; seqNo:459 2021-10-10T15:45:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:45:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880705.84 epoch sec; seqNo:991; 4061571.62 north; 594802.91 east 2021-10-10T15:45:06Z- AHRS_M2 msg: 1633880706.20 epoch sec; seqNo:971 2021-10-10T15:45:06Z- AHRS_M2 msg: -0.04 phi; 0.03 theta; 1.58 psi 2021-10-10T15:45:06Z- handleDepth()-Depth_Keller msg: 1633880706201 epoch sec; seqNo:991; depth 0.06 2021-10-10T15:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880706.24 epoch sec; seqNo:992; 4061571.62 north; 594802.91 east 2021-10-10T15:45:06Z- AHRS_M2 msg: 1633880706.59 epoch sec; seqNo:972 2021-10-10T15:45:06Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 1.59 psi 2021-10-10T15:45:06Z- handleDepth()-Depth_Keller msg: 1633880706600 epoch sec; seqNo:992; depth 0.03 2021-10-10T15:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880706.63 epoch sec; seqNo:993; 4061571.62 north; 594802.91 east 2021-10-10T15:45:07Z- AHRS_M2 msg: 1633880707.00 epoch sec; seqNo:973 2021-10-10T15:45:07Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 1.54 psi 2021-10-10T15:45:07Z- handleDepth()-Depth_Keller msg: 1633880707008 epoch sec; seqNo:993; depth 0.03 2021-10-10T15:45:07Z- handleDvl() - RDI_Pathfinder msg: 1633880707.08 epoch sec; seqNo:460 2021-10-10T15:45:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.00 , 86.04 , 98.00 , 83.06 2021-10-10T15:45:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.43 , 0.24 2021-10-10T15:45:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880707.13 epoch sec; seqNo:994; 4061571.62 north; 594802.91 east 2021-10-10T15:45:07Z- AHRS_M2 msg: 1633880707.40 epoch sec; seqNo:974 2021-10-10T15:45:07Z- AHRS_M2 msg: -0.08 phi; 0.04 theta; 1.55 psi 2021-10-10T15:45:07Z- handleDepth()-Depth_Keller msg: 1633880707408 epoch sec; seqNo:994; depth 0.08 2021-10-10T15:45:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880707.43 epoch sec; seqNo:995; 4061571.24 north; 594802.91 east 2021-10-10T15:45:07Z- AHRS_M2 msg: 1633880707.80 epoch sec; seqNo:975 2021-10-10T15:45:07Z- AHRS_M2 msg: -0.04 phi; 0.05 theta; 1.61 psi 2021-10-10T15:45:07Z- handleDepth()-Depth_Keller msg: 1633880707812 epoch sec; seqNo:995; depth 0.07 2021-10-10T15:45:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880707.85 epoch sec; seqNo:996; 4061571.24 north; 594802.91 east 2021-10-10T15:45:08Z- AHRS_M2 msg: 1633880708.21 epoch sec; seqNo:976 2021-10-10T15:45:08Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.65 psi 2021-10-10T15:45:08Z- handleDepth()-Depth_Keller msg: 1633880708216 epoch sec; seqNo:996; depth 0.07 2021-10-10T15:45:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:08Z- handleDvl() - RDI_Pathfinder msg: 1633880708.22 epoch sec; seqNo:461 2021-10-10T15:45:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.31 , 0.43 , 0.24 2021-10-10T15:45:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880708.26 epoch sec; seqNo:997; 4061570.86 north; 594802.92 east 2021-10-10T15:45:08Z- AHRS_M2 msg: 1633880708.61 epoch sec; seqNo:977 2021-10-10T15:45:08Z- AHRS_M2 msg: 0.10 phi; -0.02 theta; 1.63 psi 2021-10-10T15:45:08Z- handleDepth()-Depth_Keller msg: 1633880708620 epoch sec; seqNo:997; depth 0.07 2021-10-10T15:45:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880708.64 epoch sec; seqNo:998; 4061570.86 north; 594802.92 east 2021-10-10T15:45:09Z- LcmTrn::handleMessages() - handling 41 messages took 0.82 ms and 124 calls... 2021-10-10T15:45:09Z- waiting for 1633880706.81, time is 1633880708.64 2021-10-10T15:45:09Z- LcmTrn::updateTrn() >>>> pose time 1633880708.64, meas time 1633880708.22 <<<< 2021-10-10T15:45:09Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880708.22, ping # 0. 2021-10-10T15:45:09Z- TerrainNav::Measurement type 1 from time = 1633880708.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:45:09Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594802.92, 0.07) 2021-10-10T15:45:09Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:09Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:09Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:09Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:09Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:09Z- AHRS_M2 msg: 1633880709.02 epoch sec; seqNo:978 2021-10-10T15:45:09Z- AHRS_M2 msg: 0.10 phi; 0.05 theta; 1.63 psi 2021-10-10T15:45:09Z- handleDepth()-Depth_Keller msg: 1633880709024 epoch sec; seqNo:998; depth 0.07 2021-10-10T15:45:09Z- handleDvl() - RDI_Pathfinder msg: 1633880709.07 epoch sec; seqNo:462 2021-10-10T15:45:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.68 , 86.79 , 100.24 , 83.12 2021-10-10T15:45:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , 0.29 , -0.64 2021-10-10T15:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880709.12 epoch sec; seqNo:999; 4061570.48 north; 594802.92 east 2021-10-10T15:45:09Z- AHRS_M2 msg: 1633880709.42 epoch sec; seqNo:979 2021-10-10T15:45:09Z- AHRS_M2 msg: 0.05 phi; 0.04 theta; 1.63 psi 2021-10-10T15:45:09Z- handleDepth()-Depth_Keller msg: 1633880709428 epoch sec; seqNo:999; depth 0.04 2021-10-10T15:45:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:09Z- handleDvl() - RDI_Pathfinder msg: 1633880709.43 epoch sec; seqNo:463 2021-10-10T15:45:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , 0.29 , -0.64 2021-10-10T15:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880709.48 epoch sec; seqNo:1000; 4061570.48 north; 594802.92 east 2021-10-10T15:45:09Z- AHRS_M2 msg: 1633880709.83 epoch sec; seqNo:980 2021-10-10T15:45:09Z- AHRS_M2 msg: -0.00 phi; -0.04 theta; 1.65 psi 2021-10-10T15:45:09Z- handleDepth()-Depth_Keller msg: 1633880709832 epoch sec; seqNo:1000; depth 0.05 2021-10-10T15:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880709.87 epoch sec; seqNo:1001; 4061570.48 north; 594802.92 east 2021-10-10T15:45:10Z- AHRS_M2 msg: 1633880710.23 epoch sec; seqNo:981 2021-10-10T15:45:10Z- AHRS_M2 msg: -0.05 phi; -0.10 theta; 1.65 psi 2021-10-10T15:45:10Z- handleDepth()-Depth_Keller msg: 1633880710236 epoch sec; seqNo:1001; depth 0.08 2021-10-10T15:45:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880710.27 epoch sec; seqNo:1002; 4061570.48 north; 594802.92 east 2021-10-10T15:45:10Z- AHRS_M2 msg: 1633880710.63 epoch sec; seqNo:982 2021-10-10T15:45:10Z- AHRS_M2 msg: -0.10 phi; -0.08 theta; 1.62 psi 2021-10-10T15:45:10Z- handleDepth()-Depth_Keller msg: 1633880710648 epoch sec; seqNo:1002; depth 0.09 2021-10-10T15:45:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:10Z- handleDvl() - RDI_Pathfinder msg: 1633880710.65 epoch sec; seqNo:464 2021-10-10T15:45:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , 0.29 , -0.64 2021-10-10T15:45:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880710.74 epoch sec; seqNo:1003; 4061570.10 north; 594802.92 east 2021-10-10T15:45:11Z- AHRS_M2 msg: 1633880711.04 epoch sec; seqNo:983 2021-10-10T15:45:11Z- AHRS_M2 msg: -0.12 phi; -0.06 theta; 1.61 psi 2021-10-10T15:45:11Z- handleDepth()-Depth_Keller msg: 1633880711043 epoch sec; seqNo:1003; depth 0.06 2021-10-10T15:45:11Z- handleDvl() - RDI_Pathfinder msg: 1633880711.10 epoch sec; seqNo:465 2021-10-10T15:45:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.30 , 86.86 , 97.86 , 83.19 2021-10-10T15:45:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.79 , -0.17 , -0.09 2021-10-10T15:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880711.16 epoch sec; seqNo:1004; 4061570.48 north; 594802.92 east 2021-10-10T15:45:11Z- AHRS_M2 msg: 1633880711.44 epoch sec; seqNo:984 2021-10-10T15:45:11Z- AHRS_M2 msg: -0.07 phi; -0.12 theta; 1.63 psi 2021-10-10T15:45:11Z- handleDepth()-Depth_Keller msg: 1633880711458 epoch sec; seqNo:1004; depth 0.06 2021-10-10T15:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880711.51 epoch sec; seqNo:1005; 4061570.47 north; 594801.70 east 2021-10-10T15:45:11Z- AHRS_M2 msg: 1633880711.85 epoch sec; seqNo:985 2021-10-10T15:45:11Z- AHRS_M2 msg: 0.06 phi; -0.16 theta; 1.62 psi 2021-10-10T15:45:11Z- handleDepth()-Depth_Keller msg: 1633880711852 epoch sec; seqNo:1005; depth 0.08 2021-10-10T15:45:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:11Z- handleDvl() - RDI_Pathfinder msg: 1633880711.85 epoch sec; seqNo:466 2021-10-10T15:45:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.79 , -0.17 , -0.09 2021-10-10T15:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880711.91 epoch sec; seqNo:1006; 4061570.47 north; 594801.70 east 2021-10-10T15:45:12Z- AHRS_M2 msg: 1633880712.25 epoch sec; seqNo:986 2021-10-10T15:45:12Z- AHRS_M2 msg: 0.16 phi; -0.08 theta; 1.57 psi 2021-10-10T15:45:12Z- handleDepth()-Depth_Keller msg: 1633880712256 epoch sec; seqNo:1006; depth 0.08 2021-10-10T15:45:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880712.31 epoch sec; seqNo:1007; 4061570.47 north; 594801.70 east 2021-10-10T15:45:12Z- AHRS_M2 msg: 1633880712.66 epoch sec; seqNo:987 2021-10-10T15:45:12Z- AHRS_M2 msg: 0.21 phi; -0.04 theta; 1.58 psi 2021-10-10T15:45:12Z- handleDepth()-Depth_Keller msg: 1633880712669 epoch sec; seqNo:1007; depth 0.05 2021-10-10T15:45:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880712.75 epoch sec; seqNo:1008; 4061570.47 north; 594801.70 east 2021-10-10T15:45:13Z- AHRS_M2 msg: 1633880713.06 epoch sec; seqNo:988 2021-10-10T15:45:13Z- AHRS_M2 msg: 0.21 phi; -0.05 theta; 1.61 psi 2021-10-10T15:45:13Z- handleDepth()-Depth_Keller msg: 1633880713064 epoch sec; seqNo:1008; depth 0.05 2021-10-10T15:45:13Z- handleDvl() - RDI_Pathfinder msg: 1633880713.12 epoch sec; seqNo:467 2021-10-10T15:45:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.93 , 82.04 , 0.00 , 86.93 2021-10-10T15:45:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.08 , 0.93 2021-10-10T15:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880713.18 epoch sec; seqNo:1009; 4061570.85 north; 594801.70 east 2021-10-10T15:45:13Z- AHRS_M2 msg: 1633880713.46 epoch sec; seqNo:989 2021-10-10T15:45:13Z- AHRS_M2 msg: 0.18 phi; 0.00 theta; 1.62 psi 2021-10-10T15:45:13Z- handleDepth()-Depth_Keller msg: 1633880713473 epoch sec; seqNo:1009; depth 0.06 2021-10-10T15:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880713.51 epoch sec; seqNo:1010; 4061570.85 north; 594801.70 east 2021-10-10T15:45:13Z- AHRS_M2 msg: 1633880713.87 epoch sec; seqNo:990 2021-10-10T15:45:13Z- AHRS_M2 msg: 0.10 phi; 0.09 theta; 1.61 psi 2021-10-10T15:45:13Z- handleDepth()-Depth_Keller msg: 1633880713872 epoch sec; seqNo:1010; depth 0.06 2021-10-10T15:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880713.91 epoch sec; seqNo:1011; 4061570.85 north; 594801.70 east 2021-10-10T15:45:14Z- LcmTrn::handleMessages() - handling 45 messages took 0.94 ms and 126 calls... 2021-10-10T15:45:14Z- waiting for 1633880711.64, time is 1633880713.91 2021-10-10T15:45:14Z- LcmTrn::updateTrn() >>>> pose time 1633880713.91, meas time 1633880713.12 <<<< 2021-10-10T15:45:14Z- TerrainNav::Measurement type 1 from time = 1633880713.12 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:45:14Z- TerrainNav::motionUpdate() - currEstimate = (4061571, 594801.70, 0.06) 2021-10-10T15:45:14Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:14Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:14Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:14Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:14Z- AHRS_M2 msg: 1633880714.27 epoch sec; seqNo:991 2021-10-10T15:45:14Z- AHRS_M2 msg: 0.01 phi; 0.10 theta; 1.62 psi 2021-10-10T15:45:14Z- handleDepth()-Depth_Keller msg: 1633880714320 epoch sec; seqNo:1011; depth 0.05 2021-10-10T15:45:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:14Z- handleDvl() - RDI_Pathfinder msg: 1633880714.32 epoch sec; seqNo:468 2021-10-10T15:45:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , -0.08 , 0.93 2021-10-10T15:45:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880714.38 epoch sec; seqNo:1012; 4061570.85 north; 594801.70 east 2021-10-10T15:45:14Z- AHRS_M2 msg: 1633880714.78 epoch sec; seqNo:992 2021-10-10T15:45:14Z- AHRS_M2 msg: -0.12 phi; 0.04 theta; 1.62 psi 2021-10-10T15:45:14Z- handleDepth()-Depth_Keller msg: 1633880714788 epoch sec; seqNo:1012; depth 0.08 2021-10-10T15:45:14Z- handleDvl() - RDI_Pathfinder msg: 1633880714.89 epoch sec; seqNo:469 2021-10-10T15:45:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 95.55 , 84.55 , 106.55 , 0.00 2021-10-10T15:45:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , 0.25 , -0.74 2021-10-10T15:45:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880714.98 epoch sec; seqNo:1013; 4061570.85 north; 594801.70 east 2021-10-10T15:45:15Z- handleDepth()-Depth_Keller msg: 1633880715175 epoch sec; seqNo:1013; depth 0.08 2021-10-10T15:45:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880715.21 epoch sec; seqNo:1014; 4061570.85 north; 594801.70 east 2021-10-10T15:45:15Z- AHRS_M2 msg: 1633880715.52 epoch sec; seqNo:993 2021-10-10T15:45:15Z- AHRS_M2 msg: -0.17 phi; 0.00 theta; 1.64 psi 2021-10-10T15:45:15Z- handleDepth()-Depth_Keller msg: 1633880715564 epoch sec; seqNo:1014; depth 0.08 2021-10-10T15:45:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:15Z- handleDvl() - RDI_Pathfinder msg: 1633880715.57 epoch sec; seqNo:470 2021-10-10T15:45:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , 0.25 , -0.74 2021-10-10T15:45:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880715.60 epoch sec; seqNo:1015; 4061570.85 north; 594801.70 east 2021-10-10T15:45:15Z- AHRS_M2 msg: 1633880715.92 epoch sec; seqNo:994 2021-10-10T15:45:15Z- AHRS_M2 msg: -0.13 phi; -0.07 theta; 1.66 psi 2021-10-10T15:45:15Z- handleDepth()-Depth_Keller msg: 1633880715940 epoch sec; seqNo:1015; depth 0.09 2021-10-10T15:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880715.97 epoch sec; seqNo:1016; 4061570.47 north; 594801.70 east 2021-10-10T15:45:16Z- AHRS_M2 msg: 1633880716.32 epoch sec; seqNo:995 2021-10-10T15:45:16Z- AHRS_M2 msg: -0.02 phi; -0.10 theta; 1.67 psi 2021-10-10T15:45:16Z- handleDepth()-Depth_Keller msg: 1633880716396 epoch sec; seqNo:1016; depth 0.10 2021-10-10T15:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880716.44 epoch sec; seqNo:1017; 4061570.47 north; 594801.70 east 2021-10-10T15:45:16Z- AHRS_M2 msg: 1633880716.78 epoch sec; seqNo:996 2021-10-10T15:45:16Z- AHRS_M2 msg: 0.09 phi; -0.17 theta; 1.60 psi 2021-10-10T15:45:16Z- handleDepth()-Depth_Keller msg: 1633880716794 epoch sec; seqNo:1017; depth 0.06 2021-10-10T15:45:16Z- handleDvl() - RDI_Pathfinder msg: 1633880716.90 epoch sec; seqNo:471 2021-10-10T15:45:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880716.98 epoch sec; seqNo:1018; 4061570.48 north; 594802.92 east 2021-10-10T15:45:17Z- AHRS_M2 msg: 1633880717.17 epoch sec; seqNo:997 2021-10-10T15:45:17Z- AHRS_M2 msg: 0.07 phi; -0.14 theta; 1.57 psi 2021-10-10T15:45:17Z- handleDepth()-Depth_Keller msg: 1633880717183 epoch sec; seqNo:1018; depth 0.06 2021-10-10T15:45:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880717.25 epoch sec; seqNo:1019; 4061570.10 north; 594802.92 east 2021-10-10T15:45:17Z- AHRS_M2 msg: 1633880717.55 epoch sec; seqNo:998 2021-10-10T15:45:17Z- AHRS_M2 msg: 0.06 phi; -0.07 theta; 1.58 psi 2021-10-10T15:45:17Z- handleDepth()-Depth_Keller msg: 1633880717569 epoch sec; seqNo:1019; depth 0.06 2021-10-10T15:45:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880717.60 epoch sec; seqNo:1020; 4061570.10 north; 594802.92 east 2021-10-10T15:45:17Z- AHRS_M2 msg: 1633880717.94 epoch sec; seqNo:999 2021-10-10T15:45:17Z- AHRS_M2 msg: 0.10 phi; -0.06 theta; 1.58 psi 2021-10-10T15:45:17Z- handleDepth()-Depth_Keller msg: 1633880717968 epoch sec; seqNo:1020; depth 0.02 2021-10-10T15:45:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:18Z- handleDvl() - RDI_Pathfinder msg: 1633880717.97 epoch sec; seqNo:472 2021-10-10T15:45:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880718.03 epoch sec; seqNo:1021; 4061570.10 north; 594802.92 east 2021-10-10T15:45:18Z- AHRS_M2 msg: 1633880718.35 epoch sec; seqNo:1000 2021-10-10T15:45:18Z- AHRS_M2 msg: 0.13 phi; -0.07 theta; 1.55 psi 2021-10-10T15:45:18Z- handleDepth()-Depth_Keller msg: 1633880718374 epoch sec; seqNo:1021; depth 0.04 2021-10-10T15:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880718.43 epoch sec; seqNo:1022; 4061569.73 north; 594802.93 east 2021-10-10T15:45:18Z- AHRS_M2 msg: 1633880718.75 epoch sec; seqNo:1001 2021-10-10T15:45:18Z- AHRS_M2 msg: 0.06 phi; 0.00 theta; 1.54 psi 2021-10-10T15:45:18Z- handleDepth()-Depth_Keller msg: 1633880718764 epoch sec; seqNo:1022; depth 0.07 2021-10-10T15:45:18Z- handleDvl() - RDI_Pathfinder msg: 1633880718.83 epoch sec; seqNo:473 2021-10-10T15:45:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.80 , 78.70 , 97.52 , 86.65 2021-10-10T15:45:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , 0.34 , 0.62 2021-10-10T15:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880718.93 epoch sec; seqNo:1023; 4061569.73 north; 594802.93 east 2021-10-10T15:45:19Z- LcmTrn::handleMessages() - handling 41 messages took 1.07 ms and 119 calls... 2021-10-10T15:45:19Z- waiting for 1633880716.91, time is 1633880718.93 2021-10-10T15:45:19Z- LcmTrn::updateTrn() equating pose 1633880718.93 and meas times 1633880718.93 2021-10-10T15:45:19Z- LcmTrn::updateTrn() >>>> pose time 1633880718.93, meas time 1633880718.93 <<<< 2021-10-10T15:45:19Z- TerrainNav::Measurement type 1 from time = 1633880718.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:45:19Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594802.93, 0.07) 2021-10-10T15:45:19Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:19Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:19Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:19Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:19Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:19Z- handleDepth()-Depth_Keller msg: 1633880719184 epoch sec; seqNo:1023; depth 0.06 2021-10-10T15:45:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:19Z- handleDvl() - RDI_Pathfinder msg: 1633880719.19 epoch sec; seqNo:474 2021-10-10T15:45:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , 0.34 , 0.62 2021-10-10T15:45:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880719.25 epoch sec; seqNo:1024; 4061569.73 north; 594802.93 east 2021-10-10T15:45:19Z- AHRS_M2 msg: 1633880719.56 epoch sec; seqNo:1002 2021-10-10T15:45:19Z- AHRS_M2 msg: -0.09 phi; 0.06 theta; 1.61 psi 2021-10-10T15:45:19Z- handleDepth()-Depth_Keller msg: 1633880719623 epoch sec; seqNo:1024; depth 0.03 2021-10-10T15:45:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880719.65 epoch sec; seqNo:1025; 4061569.35 north; 594802.93 east 2021-10-10T15:45:19Z- AHRS_M2 msg: 1633880719.96 epoch sec; seqNo:1003 2021-10-10T15:45:19Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 1.61 psi 2021-10-10T15:45:20Z- handleDepth()-Depth_Keller msg: 1633880720000 epoch sec; seqNo:1025; depth 0.06 2021-10-10T15:45:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880720.04 epoch sec; seqNo:1026; 4061569.35 north; 594802.93 east 2021-10-10T15:45:20Z- AHRS_M2 msg: 1633880720.36 epoch sec; seqNo:1004 2021-10-10T15:45:20Z- AHRS_M2 msg: -0.11 phi; -0.01 theta; 1.57 psi 2021-10-10T15:45:20Z- handleDepth()-Depth_Keller msg: 1633880720396 epoch sec; seqNo:1026; depth 0.11 2021-10-10T15:45:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:20Z- handleDvl() - RDI_Pathfinder msg: 1633880720.40 epoch sec; seqNo:475 2021-10-10T15:45:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , 0.34 , 0.62 2021-10-10T15:45:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880720.45 epoch sec; seqNo:1027; 4061568.98 north; 594804.16 east 2021-10-10T15:45:20Z- AHRS_M2 msg: 1633880720.77 epoch sec; seqNo:1005 2021-10-10T15:45:20Z- AHRS_M2 msg: -0.09 phi; 0.03 theta; 1.55 psi 2021-10-10T15:45:20Z- handleDepth()-Depth_Keller msg: 1633880720794 epoch sec; seqNo:1027; depth 0.10 2021-10-10T15:45:20Z- handleDvl() - RDI_Pathfinder msg: 1633880720.89 epoch sec; seqNo:476 2021-10-10T15:45:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.15 , 91.81 , 97.92 , 76.24 2021-10-10T15:45:20Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , 0.17 , -0.77 2021-10-10T15:45:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880720.96 epoch sec; seqNo:1028; 4061568.97 north; 594802.94 east 2021-10-10T15:45:21Z- AHRS_M2 msg: 1633880721.17 epoch sec; seqNo:1006 2021-10-10T15:45:21Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.57 psi 2021-10-10T15:45:21Z- handleDepth()-Depth_Keller msg: 1633880721209 epoch sec; seqNo:1028; depth 0.06 2021-10-10T15:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880721.29 epoch sec; seqNo:1029; 4061568.97 north; 594802.94 east 2021-10-10T15:45:21Z- AHRS_M2 msg: 1633880721.58 epoch sec; seqNo:1007 2021-10-10T15:45:21Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 1.56 psi 2021-10-10T15:45:21Z- handleDepth()-Depth_Keller msg: 1633880721605 epoch sec; seqNo:1029; depth 0.06 2021-10-10T15:45:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:21Z- handleDvl() - RDI_Pathfinder msg: 1633880721.63 epoch sec; seqNo:477 2021-10-10T15:45:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , 0.17 , -0.77 2021-10-10T15:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880721.66 epoch sec; seqNo:1030; 4061568.98 north; 594804.16 east 2021-10-10T15:45:22Z- AHRS_M2 msg: 1633880722.00 epoch sec; seqNo:1008 2021-10-10T15:45:22Z- AHRS_M2 msg: 0.10 phi; -0.07 theta; 1.53 psi 2021-10-10T15:45:22Z- handleDepth()-Depth_Keller msg: 1633880722008 epoch sec; seqNo:1030; depth 0.08 2021-10-10T15:45:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880722.04 epoch sec; seqNo:1031; 4061568.98 north; 594804.16 east 2021-10-10T15:45:22Z- AHRS_M2 msg: 1633880722.38 epoch sec; seqNo:1009 2021-10-10T15:45:22Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 1.51 psi 2021-10-10T15:45:22Z- handleDepth()-Depth_Keller msg: 1633880722404 epoch sec; seqNo:1031; depth 0.07 2021-10-10T15:45:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880722.45 epoch sec; seqNo:1032; 4061568.98 north; 594804.16 east 2021-10-10T15:45:22Z- AHRS_M2 msg: 1633880722.79 epoch sec; seqNo:1010 2021-10-10T15:45:22Z- AHRS_M2 msg: -0.04 phi; -0.00 theta; 1.52 psi 2021-10-10T15:45:22Z- handleDepth()-Depth_Keller msg: 1633880722820 epoch sec; seqNo:1032; depth 0.02 2021-10-10T15:45:22Z- handleDvl() - RDI_Pathfinder msg: 1633880722.91 epoch sec; seqNo:478 2021-10-10T15:45:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.11 , 83.33 , 98.00 , 79.94 2021-10-10T15:45:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.07 , -0.19 2021-10-10T15:45:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880722.97 epoch sec; seqNo:1033; 4061568.97 north; 594802.94 east 2021-10-10T15:45:23Z- AHRS_M2 msg: 1633880723.19 epoch sec; seqNo:1011 2021-10-10T15:45:23Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.51 psi 2021-10-10T15:45:23Z- handleDepth()-Depth_Keller msg: 1633880723235 epoch sec; seqNo:1033; depth 0.05 2021-10-10T15:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880723.31 epoch sec; seqNo:1034; 4061568.97 north; 594802.94 east 2021-10-10T15:45:23Z- AHRS_M2 msg: 1633880723.60 epoch sec; seqNo:1012 2021-10-10T15:45:23Z- AHRS_M2 msg: -0.06 phi; -0.01 theta; 1.49 psi 2021-10-10T15:45:23Z- handleDepth()-Depth_Keller msg: 1633880723612 epoch sec; seqNo:1034; depth 0.03 2021-10-10T15:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880723.64 epoch sec; seqNo:1035; 4061568.97 north; 594802.94 east 2021-10-10T15:45:24Z- AHRS_M2 msg: 1633880724.01 epoch sec; seqNo:1013 2021-10-10T15:45:24Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 1.45 psi 2021-10-10T15:45:24Z- handleDepth()-Depth_Keller msg: 1633880724044 epoch sec; seqNo:1035; depth 0.05 2021-10-10T15:45:24Z- LcmTrn::handleMessages() - handling 42 messages took 1.06 ms and 120 calls... 2021-10-10T15:45:24Z- waiting for 1633880721.93, time is 1633880724.01 2021-10-10T15:45:24Z- LcmTrn::updateTrn() >>>> pose time 1633880724.01, meas time 1633880722.91 <<<< 2021-10-10T15:45:24Z- TerrainNav::Measurement type 1 from time = 1633880722.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:45:24Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594802.94, 0.05) 2021-10-10T15:45:24Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:24Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:24Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:24Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:24Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:24Z- handleDvl() - RDI_Pathfinder msg: 1633880724.05 epoch sec; seqNo:479 2021-10-10T15:45:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.07 , -0.19 2021-10-10T15:45:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880724.10 epoch sec; seqNo:1036; 4061568.97 north; 594802.94 east 2021-10-10T15:45:24Z- AHRS_M2 msg: 1633880724.40 epoch sec; seqNo:1014 2021-10-10T15:45:24Z- AHRS_M2 msg: -0.08 phi; 0.00 theta; 1.45 psi 2021-10-10T15:45:24Z- handleDepth()-Depth_Keller msg: 1633880724416 epoch sec; seqNo:1036; depth 0.04 2021-10-10T15:45:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880724.46 epoch sec; seqNo:1037; 4061568.97 north; 594802.94 east 2021-10-10T15:45:24Z- AHRS_M2 msg: 1633880724.81 epoch sec; seqNo:1015 2021-10-10T15:45:24Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 1.48 psi 2021-10-10T15:45:24Z- handleDepth()-Depth_Keller msg: 1633880724820 epoch sec; seqNo:1037; depth 0.04 2021-10-10T15:45:24Z- handleDvl() - RDI_Pathfinder msg: 1633880724.87 epoch sec; seqNo:480 2021-10-10T15:45:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.33 , 91.88 , 98.00 , 0.00 2021-10-10T15:45:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.37 , -0.08 2021-10-10T15:45:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880724.92 epoch sec; seqNo:1038; 4061568.97 north; 594802.94 east 2021-10-10T15:45:25Z- AHRS_M2 msg: 1633880725.21 epoch sec; seqNo:1016 2021-10-10T15:45:25Z- AHRS_M2 msg: 0.07 phi; -0.06 theta; 1.44 psi 2021-10-10T15:45:25Z- handleDepth()-Depth_Keller msg: 1633880725224 epoch sec; seqNo:1038; depth 0.05 2021-10-10T15:45:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:25Z- handleDvl() - RDI_Pathfinder msg: 1633880725.23 epoch sec; seqNo:481 2021-10-10T15:45:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.37 , -0.08 2021-10-10T15:45:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880725.28 epoch sec; seqNo:1039; 4061569.35 north; 594802.93 east 2021-10-10T15:45:25Z- AHRS_M2 msg: 1633880725.62 epoch sec; seqNo:1017 2021-10-10T15:45:25Z- AHRS_M2 msg: 0.11 phi; -0.04 theta; 1.37 psi 2021-10-10T15:45:25Z- handleDepth()-Depth_Keller msg: 1633880725624 epoch sec; seqNo:1039; depth 0.08 2021-10-10T15:45:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880725.66 epoch sec; seqNo:1040; 4061569.35 north; 594802.93 east 2021-10-10T15:45:26Z- AHRS_M2 msg: 1633880726.02 epoch sec; seqNo:1018 2021-10-10T15:45:26Z- AHRS_M2 msg: 0.08 phi; 0.03 theta; 1.40 psi 2021-10-10T15:45:26Z- handleDepth()-Depth_Keller msg: 1633880726028 epoch sec; seqNo:1040; depth 0.06 2021-10-10T15:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880726.08 epoch sec; seqNo:1041; 4061569.35 north; 594802.93 east 2021-10-10T15:45:26Z- AHRS_M2 msg: 1633880726.43 epoch sec; seqNo:1019 2021-10-10T15:45:26Z- AHRS_M2 msg: 0.09 phi; -0.02 theta; 1.42 psi 2021-10-10T15:45:26Z- handleDepth()-Depth_Keller msg: 1633880726440 epoch sec; seqNo:1041; depth 0.05 2021-10-10T15:45:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:26Z- handleDvl() - RDI_Pathfinder msg: 1633880726.44 epoch sec; seqNo:482 2021-10-10T15:45:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.37 , -0.08 2021-10-10T15:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880726.48 epoch sec; seqNo:1042; 4061569.73 north; 594802.93 east 2021-10-10T15:45:26Z- AHRS_M2 msg: 1633880726.84 epoch sec; seqNo:1020 2021-10-10T15:45:26Z- AHRS_M2 msg: 0.13 phi; -0.11 theta; 1.36 psi 2021-10-10T15:45:26Z- handleDepth()-Depth_Keller msg: 1633880726848 epoch sec; seqNo:1042; depth 0.08 2021-10-10T15:45:26Z- handleDvl() - RDI_Pathfinder msg: 1633880726.89 epoch sec; seqNo:483 2021-10-10T15:45:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.68 , 84.34 , 96.57 , 81.90 2021-10-10T15:45:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.08 , 0.67 2021-10-10T15:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880726.92 epoch sec; seqNo:1043; 4061569.73 north; 594802.93 east 2021-10-10T15:45:27Z- AHRS_M2 msg: 1633880727.24 epoch sec; seqNo:1021 2021-10-10T15:45:27Z- AHRS_M2 msg: 0.05 phi; -0.10 theta; 1.31 psi 2021-10-10T15:45:27Z- handleDepth()-Depth_Keller msg: 1633880727253 epoch sec; seqNo:1043; depth 0.08 2021-10-10T15:45:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880727.29 epoch sec; seqNo:1044; 4061569.73 north; 594802.93 east 2021-10-10T15:45:27Z- AHRS_M2 msg: 1633880727.66 epoch sec; seqNo:1022 2021-10-10T15:45:27Z- AHRS_M2 msg: -0.09 phi; -0.05 theta; 1.27 psi 2021-10-10T15:45:27Z- handleDepth()-Depth_Keller msg: 1633880727672 epoch sec; seqNo:1044; depth 0.04 2021-10-10T15:45:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:27Z- handleDvl() - RDI_Pathfinder msg: 1633880727.67 epoch sec; seqNo:484 2021-10-10T15:45:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.08 , 0.67 2021-10-10T15:45:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880727.68 epoch sec; seqNo:1045; 4061569.73 north; 594802.93 east 2021-10-10T15:45:28Z- AHRS_M2 msg: 1633880728.05 epoch sec; seqNo:1023 2021-10-10T15:45:28Z- AHRS_M2 msg: -0.16 phi; -0.00 theta; 1.24 psi 2021-10-10T15:45:28Z- handleDepth()-Depth_Keller msg: 1633880728060 epoch sec; seqNo:1045; depth 0.02 2021-10-10T15:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880728.07 epoch sec; seqNo:1046; 4061569.73 north; 594802.93 east 2021-10-10T15:45:28Z- AHRS_M2 msg: 1633880728.45 epoch sec; seqNo:1024 2021-10-10T15:45:28Z- AHRS_M2 msg: -0.08 phi; 0.05 theta; 1.25 psi 2021-10-10T15:45:28Z- handleDepth()-Depth_Keller msg: 1633880728472 epoch sec; seqNo:1046; depth 0.03 2021-10-10T15:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880728.49 epoch sec; seqNo:1047; 4061569.73 north; 594802.93 east 2021-10-10T15:45:28Z- AHRS_M2 msg: 1633880728.86 epoch sec; seqNo:1025 2021-10-10T15:45:28Z- AHRS_M2 msg: -0.02 phi; 0.05 theta; 1.25 psi 2021-10-10T15:45:28Z- handleDepth()-Depth_Keller msg: 1633880728868 epoch sec; seqNo:1047; depth 0.04 2021-10-10T15:45:28Z- handleDvl() - RDI_Pathfinder msg: 1633880728.91 epoch sec; seqNo:485 2021-10-10T15:45:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.66 , 104.11 , 96.77 , 84.55 2021-10-10T15:45:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.33 , 0.22 , 0.05 2021-10-10T15:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880728.93 epoch sec; seqNo:1048; 4061569.73 north; 594802.93 east 2021-10-10T15:45:29Z- LcmTrn::handleMessages() - handling 44 messages took 0.87 ms and 126 calls... 2021-10-10T15:45:29Z- waiting for 1633880727.01, time is 1633880728.93 2021-10-10T15:45:29Z- LcmTrn::updateTrn() equating pose 1633880728.93 and meas times 1633880728.93 2021-10-10T15:45:29Z- LcmTrn::updateTrn() >>>> pose time 1633880728.93, meas time 1633880728.93 <<<< 2021-10-10T15:45:29Z- TerrainNav::Measurement type 1 from time = 1633880728.93 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:45:29Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594802.93, 0.04) 2021-10-10T15:45:29Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:29Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:29Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:29Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:29Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:29Z- AHRS_M2 msg: 1633880729.26 epoch sec; seqNo:1026 2021-10-10T15:45:29Z- AHRS_M2 msg: -0.02 phi; -0.00 theta; 1.25 psi 2021-10-10T15:45:29Z- handleDepth()-Depth_Keller msg: 1633880729268 epoch sec; seqNo:1048; depth 0.04 2021-10-10T15:45:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880729.30 epoch sec; seqNo:1049; 4061569.35 north; 594802.93 east 2021-10-10T15:45:29Z- AHRS_M2 msg: 1633880729.66 epoch sec; seqNo:1027 2021-10-10T15:45:29Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 1.24 psi 2021-10-10T15:45:29Z- handleDepth()-Depth_Keller msg: 1633880729676 epoch sec; seqNo:1049; depth 0.06 2021-10-10T15:45:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880729.73 epoch sec; seqNo:1050; 4061569.35 north; 594802.93 east 2021-10-10T15:45:30Z- AHRS_M2 msg: 1633880730.08 epoch sec; seqNo:1028 2021-10-10T15:45:30Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 1.25 psi 2021-10-10T15:45:30Z- handleDepth()-Depth_Keller msg: 1633880730089 epoch sec; seqNo:1050; depth 0.09 2021-10-10T15:45:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:30Z- handleDvl() - RDI_Pathfinder msg: 1633880730.09 epoch sec; seqNo:486 2021-10-10T15:45:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.33 , 0.22 , 0.05 2021-10-10T15:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880730.11 epoch sec; seqNo:1051; 4061569.35 north; 594802.93 east 2021-10-10T15:45:30Z- AHRS_M2 msg: 1633880730.48 epoch sec; seqNo:1029 2021-10-10T15:45:30Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.26 psi 2021-10-10T15:45:30Z- handleDepth()-Depth_Keller msg: 1633880730492 epoch sec; seqNo:1051; depth 0.10 2021-10-10T15:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880730.52 epoch sec; seqNo:1052; 4061569.35 north; 594802.93 east 2021-10-10T15:45:30Z- AHRS_M2 msg: 1633880730.88 epoch sec; seqNo:1030 2021-10-10T15:45:30Z- AHRS_M2 msg: 0.03 phi; -0.18 theta; 1.23 psi 2021-10-10T15:45:30Z- handleDepth()-Depth_Keller msg: 1633880730896 epoch sec; seqNo:1052; depth 0.14 2021-10-10T15:45:30Z- handleDvl() - RDI_Pathfinder msg: 1633880730.96 epoch sec; seqNo:487 2021-10-10T15:45:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.12 , 92.90 , 96.57 , 83.12 2021-10-10T15:45:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.71 , -0.13 2021-10-10T15:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880730.99 epoch sec; seqNo:1053; 4061569.73 north; 594802.93 east 2021-10-10T15:45:31Z- AHRS_M2 msg: 1633880731.29 epoch sec; seqNo:1031 2021-10-10T15:45:31Z- AHRS_M2 msg: 0.08 phi; -0.20 theta; 1.20 psi 2021-10-10T15:45:31Z- handleDepth()-Depth_Keller msg: 1633880731296 epoch sec; seqNo:1053; depth 0.18 2021-10-10T15:45:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:31Z- handleDvl() - RDI_Pathfinder msg: 1633880731.30 epoch sec; seqNo:488 2021-10-10T15:45:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.71 , -0.13 2021-10-10T15:45:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880731.33 epoch sec; seqNo:1054; 4061569.73 north; 594802.93 east 2021-10-10T15:45:31Z- AHRS_M2 msg: 1633880731.69 epoch sec; seqNo:1032 2021-10-10T15:45:31Z- AHRS_M2 msg: 0.08 phi; -0.14 theta; 1.19 psi 2021-10-10T15:45:31Z- handleDepth()-Depth_Keller msg: 1633880731713 epoch sec; seqNo:1054; depth 0.19 2021-10-10T15:45:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880731.75 epoch sec; seqNo:1055; 4061570.10 north; 594802.92 east 2021-10-10T15:45:32Z- AHRS_M2 msg: 1633880732.10 epoch sec; seqNo:1033 2021-10-10T15:45:32Z- AHRS_M2 msg: 0.05 phi; -0.10 theta; 1.16 psi 2021-10-10T15:45:32Z- handleDepth()-Depth_Keller msg: 1633880732133 epoch sec; seqNo:1055; depth 0.16 2021-10-10T15:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880732.17 epoch sec; seqNo:1056; 4061570.09 north; 594801.70 east 2021-10-10T15:45:32Z- AHRS_M2 msg: 1633880732.49 epoch sec; seqNo:1034 2021-10-10T15:45:32Z- AHRS_M2 msg: 0.03 phi; -0.13 theta; 1.14 psi 2021-10-10T15:45:32Z- handleDepth()-Depth_Keller msg: 1633880732505 epoch sec; seqNo:1056; depth 0.17 2021-10-10T15:45:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:32Z- handleDvl() - RDI_Pathfinder msg: 1633880732.51 epoch sec; seqNo:489 2021-10-10T15:45:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.71 , -0.13 2021-10-10T15:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880732.54 epoch sec; seqNo:1057; 4061570.47 north; 594801.70 east 2021-10-10T15:45:32Z- AHRS_M2 msg: 1633880732.89 epoch sec; seqNo:1035 2021-10-10T15:45:32Z- AHRS_M2 msg: -0.01 phi; -0.18 theta; 1.14 psi 2021-10-10T15:45:32Z- handleDepth()-Depth_Keller msg: 1633880732899 epoch sec; seqNo:1057; depth 0.17 2021-10-10T15:45:32Z- handleDvl() - RDI_Pathfinder msg: 1633880732.95 epoch sec; seqNo:490 2021-10-10T15:45:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.66 , 85.77 , 89.44 , 87.00 2021-10-10T15:45:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.03 , 0.61 2021-10-10T15:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880732.98 epoch sec; seqNo:1058; 4061570.47 north; 594801.70 east 2021-10-10T15:45:33Z- AHRS_M2 msg: 1633880733.31 epoch sec; seqNo:1036 2021-10-10T15:45:33Z- AHRS_M2 msg: -0.03 phi; -0.21 theta; 1.14 psi 2021-10-10T15:45:33Z- handleDepth()-Depth_Keller msg: 1633880733322 epoch sec; seqNo:1058; depth 0.17 2021-10-10T15:45:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880733.36 epoch sec; seqNo:1059; 4061570.47 north; 594801.70 east 2021-10-10T15:45:33Z- AHRS_M2 msg: 1633880733.70 epoch sec; seqNo:1037 2021-10-10T15:45:33Z- AHRS_M2 msg: -0.02 phi; -0.24 theta; 1.12 psi 2021-10-10T15:45:33Z- handleDepth()-Depth_Keller msg: 1633880733720 epoch sec; seqNo:1059; depth 0.16 2021-10-10T15:45:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:33Z- handleDvl() - RDI_Pathfinder msg: 1633880733.72 epoch sec; seqNo:491 2021-10-10T15:45:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , 0.03 , 0.61 2021-10-10T15:45:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880733.74 epoch sec; seqNo:1060; 4061570.47 north; 594801.70 east 2021-10-10T15:45:34Z- LcmTrn::handleMessages() - handling 42 messages took 0.79 ms and 126 calls... 2021-10-10T15:45:34Z- waiting for 1633880731.93, time is 1633880733.74 2021-10-10T15:45:34Z- LcmTrn::updateTrn() equating pose 1633880733.74 and meas times 1633880733.74 2021-10-10T15:45:34Z- LcmTrn::updateTrn() >>>> pose time 1633880733.74, meas time 1633880733.74 <<<< 2021-10-10T15:45:34Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880733.74, ping # 0. 2021-10-10T15:45:34Z- TerrainNav::Measurement type 1 from time = 1633880733.74 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:45:34Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594801.70, 0.16) 2021-10-10T15:45:34Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:34Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:34Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:34Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:34Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:34Z- AHRS_M2 msg: 1633880734.13 epoch sec; seqNo:1038 2021-10-10T15:45:34Z- AHRS_M2 msg: 0.02 phi; -0.22 theta; 1.05 psi 2021-10-10T15:45:34Z- handleDepth()-Depth_Keller msg: 1633880734136 epoch sec; seqNo:1060; depth 0.15 2021-10-10T15:45:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880734.15 epoch sec; seqNo:1061; 4061570.09 north; 594801.70 east 2021-10-10T15:45:34Z- AHRS_M2 msg: 1633880734.52 epoch sec; seqNo:1039 2021-10-10T15:45:34Z- AHRS_M2 msg: -0.01 phi; -0.21 theta; 1.06 psi 2021-10-10T15:45:34Z- handleDepth()-Depth_Keller msg: 1633880734528 epoch sec; seqNo:1061; depth 0.15 2021-10-10T15:45:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880734.54 epoch sec; seqNo:1062; 4061570.09 north; 594801.70 east 2021-10-10T15:45:34Z- AHRS_M2 msg: 1633880734.94 epoch sec; seqNo:1040 2021-10-10T15:45:34Z- AHRS_M2 msg: -0.02 phi; -0.20 theta; 1.07 psi 2021-10-10T15:45:34Z- handleDepth()-Depth_Keller msg: 1633880734944 epoch sec; seqNo:1062; depth 0.13 2021-10-10T15:45:35Z- handleDvl() - RDI_Pathfinder msg: 1633880734.99 epoch sec; seqNo:492 2021-10-10T15:45:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.73 , 90.73 , 82.17 , 100.51 2021-10-10T15:45:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.31 , 0.27 2021-10-10T15:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880735.01 epoch sec; seqNo:1063; 4061570.09 north; 594801.70 east 2021-10-10T15:45:35Z- AHRS_M2 msg: 1633880735.33 epoch sec; seqNo:1041 2021-10-10T15:45:35Z- AHRS_M2 msg: -0.04 phi; -0.14 theta; 1.06 psi 2021-10-10T15:45:35Z- handleDepth()-Depth_Keller msg: 1633880735332 epoch sec; seqNo:1063; depth 0.15 2021-10-10T15:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880735.38 epoch sec; seqNo:1064; 4061570.09 north; 594801.70 east 2021-10-10T15:45:35Z- AHRS_M2 msg: 1633880735.74 epoch sec; seqNo:1042 2021-10-10T15:45:35Z- AHRS_M2 msg: -0.09 phi; -0.03 theta; 1.04 psi 2021-10-10T15:45:35Z- handleDepth()-Depth_Keller msg: 1633880735752 epoch sec; seqNo:1064; depth 0.17 2021-10-10T15:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880735.78 epoch sec; seqNo:1065; 4061570.09 north; 594801.70 east 2021-10-10T15:45:36Z- AHRS_M2 msg: 1633880736.14 epoch sec; seqNo:1043 2021-10-10T15:45:36Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 1.03 psi 2021-10-10T15:45:36Z- handleDepth()-Depth_Keller msg: 1633880736144 epoch sec; seqNo:1065; depth 0.12 2021-10-10T15:45:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:36Z- handleDvl() - RDI_Pathfinder msg: 1633880736.15 epoch sec; seqNo:493 2021-10-10T15:45:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.31 , 0.27 2021-10-10T15:45:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880736.16 epoch sec; seqNo:1066; 4061570.10 north; 594802.92 east 2021-10-10T15:45:36Z- AHRS_M2 msg: 1633880736.55 epoch sec; seqNo:1044 2021-10-10T15:45:36Z- AHRS_M2 msg: -0.13 phi; -0.09 theta; 1.05 psi 2021-10-10T15:45:36Z- handleDepth()-Depth_Keller msg: 1633880736560 epoch sec; seqNo:1066; depth 0.10 2021-10-10T15:45:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880736.58 epoch sec; seqNo:1067; 4061569.73 north; 594802.93 east 2021-10-10T15:45:36Z- AHRS_M2 msg: 1633880736.94 epoch sec; seqNo:1045 2021-10-10T15:45:36Z- AHRS_M2 msg: -0.04 phi; -0.14 theta; 1.06 psi 2021-10-10T15:45:36Z- handleDepth()-Depth_Keller msg: 1633880736952 epoch sec; seqNo:1067; depth 0.09 2021-10-10T15:45:37Z- handleDvl() - RDI_Pathfinder msg: 1633880737.02 epoch sec; seqNo:494 2021-10-10T15:45:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.90 , 99.01 , 97.79 , 0.00 2021-10-10T15:45:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.25 , -0.43 2021-10-10T15:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880737.08 epoch sec; seqNo:1068; 4061570.10 north; 594802.92 east 2021-10-10T15:45:37Z- AHRS_M2 msg: 1633880737.36 epoch sec; seqNo:1046 2021-10-10T15:45:37Z- AHRS_M2 msg: 0.03 phi; -0.09 theta; 1.05 psi 2021-10-10T15:45:37Z- handleDepth()-Depth_Keller msg: 1633880737364 epoch sec; seqNo:1068; depth 0.09 2021-10-10T15:45:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:37Z- handleDvl() - RDI_Pathfinder msg: 1633880737.37 epoch sec; seqNo:495 2021-10-10T15:45:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.25 , -0.43 2021-10-10T15:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880737.43 epoch sec; seqNo:1069; 4061570.10 north; 594802.92 east 2021-10-10T15:45:37Z- AHRS_M2 msg: 1633880737.76 epoch sec; seqNo:1047 2021-10-10T15:45:37Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.02 psi 2021-10-10T15:45:37Z- handleDepth()-Depth_Keller msg: 1633880737773 epoch sec; seqNo:1069; depth 0.06 2021-10-10T15:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880737.80 epoch sec; seqNo:1070; 4061570.10 north; 594802.92 east 2021-10-10T15:45:38Z- AHRS_M2 msg: 1633880738.16 epoch sec; seqNo:1048 2021-10-10T15:45:38Z- AHRS_M2 msg: 0.07 phi; -0.00 theta; 1.01 psi 2021-10-10T15:45:38Z- handleDepth()-Depth_Keller msg: 1633880738164 epoch sec; seqNo:1070; depth 0.03 2021-10-10T15:45:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880738.18 epoch sec; seqNo:1071; 4061570.10 north; 594802.92 east 2021-10-10T15:45:38Z- AHRS_M2 msg: 1633880738.56 epoch sec; seqNo:1049 2021-10-10T15:45:38Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 1.01 psi 2021-10-10T15:45:38Z- handleDepth()-Depth_Keller msg: 1633880738568 epoch sec; seqNo:1071; depth 0.02 2021-10-10T15:45:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:38Z- handleDvl() - RDI_Pathfinder msg: 1633880738.57 epoch sec; seqNo:496 2021-10-10T15:45:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.25 , -0.43 2021-10-10T15:45:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880738.59 epoch sec; seqNo:1072; 4061570.48 north; 594802.92 east 2021-10-10T15:45:38Z- AHRS_M2 msg: 1633880738.96 epoch sec; seqNo:1050 2021-10-10T15:45:38Z- AHRS_M2 msg: 0.06 phi; -0.02 theta; 1.00 psi 2021-10-10T15:45:38Z- handleDepth()-Depth_Keller msg: 1633880738971 epoch sec; seqNo:1072; depth 0.05 2021-10-10T15:45:39Z- handleDvl() - RDI_Pathfinder msg: 1633880739.02 epoch sec; seqNo:497 2021-10-10T15:45:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.29 , 84.21 , 93.72 , 84.21 2021-10-10T15:45:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.16 , 0.49 2021-10-10T15:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880739.06 epoch sec; seqNo:1073; 4061570.47 north; 594801.70 east 2021-10-10T15:45:39Z- LcmTrn::handleMessages() - handling 45 messages took 0.73 ms and 130 calls... 2021-10-10T15:45:39Z- waiting for 1633880736.74, time is 1633880739.06 2021-10-10T15:45:39Z- LcmTrn::updateTrn() equating pose 1633880739.06 and meas times 1633880739.06 2021-10-10T15:45:39Z- LcmTrn::updateTrn() >>>> pose time 1633880739.06, meas time 1633880739.06 <<<< 2021-10-10T15:45:39Z- TerrainNav::Measurement type 1 from time = 1633880739.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:45:39Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594801.70, 0.05) 2021-10-10T15:45:39Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:39Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:39Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:39Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:39Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:39Z- AHRS_M2 msg: 1633880739.37 epoch sec; seqNo:1051 2021-10-10T15:45:39Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 1.03 psi 2021-10-10T15:45:39Z- handleDepth()-Depth_Keller msg: 1633880739376 epoch sec; seqNo:1073; depth 0.07 2021-10-10T15:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880739.41 epoch sec; seqNo:1074; 4061570.47 north; 594801.70 east 2021-10-10T15:45:39Z- AHRS_M2 msg: 1633880739.77 epoch sec; seqNo:1052 2021-10-10T15:45:39Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.02 psi 2021-10-10T15:45:39Z- handleDepth()-Depth_Keller msg: 1633880739776 epoch sec; seqNo:1074; depth 0.08 2021-10-10T15:45:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:39Z- handleDvl() - RDI_Pathfinder msg: 1633880739.78 epoch sec; seqNo:498 2021-10-10T15:45:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.16 , 0.49 2021-10-10T15:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880739.80 epoch sec; seqNo:1075; 4061570.47 north; 594801.70 east 2021-10-10T15:45:40Z- AHRS_M2 msg: 1633880740.18 epoch sec; seqNo:1053 2021-10-10T15:45:40Z- AHRS_M2 msg: -0.11 phi; -0.04 theta; 1.00 psi 2021-10-10T15:45:40Z- handleDepth()-Depth_Keller msg: 1633880740184 epoch sec; seqNo:1075; depth 0.09 2021-10-10T15:45:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880740.20 epoch sec; seqNo:1076; 4061570.47 north; 594801.70 east 2021-10-10T15:45:40Z- AHRS_M2 msg: 1633880740.58 epoch sec; seqNo:1054 2021-10-10T15:45:40Z- AHRS_M2 msg: -0.14 phi; -0.07 theta; 1.00 psi 2021-10-10T15:45:40Z- handleDepth()-Depth_Keller msg: 1633880740584 epoch sec; seqNo:1076; depth 0.08 2021-10-10T15:45:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880740.61 epoch sec; seqNo:1077; 4061570.47 north; 594801.70 east 2021-10-10T15:45:40Z- AHRS_M2 msg: 1633880740.99 epoch sec; seqNo:1055 2021-10-10T15:45:40Z- AHRS_M2 msg: -0.13 phi; -0.04 theta; 1.01 psi 2021-10-10T15:45:41Z- handleDepth()-Depth_Keller msg: 1633880741000 epoch sec; seqNo:1077; depth 0.09 2021-10-10T15:45:41Z- handleDvl() - RDI_Pathfinder msg: 1633880741.05 epoch sec; seqNo:499 2021-10-10T15:45:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.17 , 95.62 , 94.40 , 84.62 2021-10-10T15:45:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , -0.13 , 0.04 2021-10-10T15:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880741.14 epoch sec; seqNo:1078; 4061570.47 north; 594801.70 east 2021-10-10T15:45:41Z- AHRS_M2 msg: 1633880741.39 epoch sec; seqNo:1056 2021-10-10T15:45:41Z- AHRS_M2 msg: -0.12 phi; -0.05 theta; 1.01 psi 2021-10-10T15:45:41Z- handleDepth()-Depth_Keller msg: 1633880741392 epoch sec; seqNo:1078; depth 0.08 2021-10-10T15:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880741.42 epoch sec; seqNo:1079; 4061570.47 north; 594801.70 east 2021-10-10T15:45:41Z- AHRS_M2 msg: 1633880741.79 epoch sec; seqNo:1057 2021-10-10T15:45:41Z- AHRS_M2 msg: -0.09 phi; -0.10 theta; 1.05 psi 2021-10-10T15:45:41Z- handleDepth()-Depth_Keller msg: 1633880741796 epoch sec; seqNo:1079; depth 0.06 2021-10-10T15:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880741.81 epoch sec; seqNo:1080; 4061570.47 north; 594801.70 east 2021-10-10T15:45:42Z- AHRS_M2 msg: 1633880742.19 epoch sec; seqNo:1058 2021-10-10T15:45:42Z- AHRS_M2 msg: 0.03 phi; -0.13 theta; 1.06 psi 2021-10-10T15:45:42Z- handleDepth()-Depth_Keller msg: 1633880742205 epoch sec; seqNo:1080; depth 0.07 2021-10-10T15:45:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:42Z- handleDvl() - RDI_Pathfinder msg: 1633880742.21 epoch sec; seqNo:500 2021-10-10T15:45:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , -0.13 , 0.04 2021-10-10T15:45:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880742.23 epoch sec; seqNo:1081; 4061570.47 north; 594801.70 east 2021-10-10T15:45:42Z- AHRS_M2 msg: 1633880742.60 epoch sec; seqNo:1059 2021-10-10T15:45:42Z- AHRS_M2 msg: 0.16 phi; -0.10 theta; 1.04 psi 2021-10-10T15:45:42Z- handleDepth()-Depth_Keller msg: 1633880742604 epoch sec; seqNo:1081; depth 0.08 2021-10-10T15:45:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880742.63 epoch sec; seqNo:1082; 4061570.47 north; 594801.70 east 2021-10-10T15:45:43Z- AHRS_M2 msg: 1633880743.01 epoch sec; seqNo:1060 2021-10-10T15:45:43Z- AHRS_M2 msg: 0.17 phi; -0.07 theta; 1.02 psi 2021-10-10T15:45:43Z- handleDepth()-Depth_Keller msg: 1633880743013 epoch sec; seqNo:1082; depth 0.10 2021-10-10T15:45:43Z- handleDvl() - RDI_Pathfinder msg: 1633880743.05 epoch sec; seqNo:501 2021-10-10T15:45:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.70 , 91.82 , 88.15 , 0.00 2021-10-10T15:45:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.22 , 0.22 2021-10-10T15:45:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880743.09 epoch sec; seqNo:1083; 4061570.47 north; 594801.70 east 2021-10-10T15:45:43Z- AHRS_M2 msg: 1633880743.43 epoch sec; seqNo:1061 2021-10-10T15:45:43Z- AHRS_M2 msg: 0.02 phi; -0.07 theta; 0.98 psi 2021-10-10T15:45:43Z- handleDepth()-Depth_Keller msg: 1633880743435 epoch sec; seqNo:1083; depth 0.06 2021-10-10T15:45:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:43Z- handleDvl() - RDI_Pathfinder msg: 1633880743.44 epoch sec; seqNo:502 2021-10-10T15:45:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.22 , 0.22 2021-10-10T15:45:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880743.51 epoch sec; seqNo:1084; 4061570.47 north; 594801.70 east 2021-10-10T15:45:43Z- AHRS_M2 msg: 1633880743.81 epoch sec; seqNo:1062 2021-10-10T15:45:43Z- AHRS_M2 msg: -0.16 phi; -0.10 theta; 0.98 psi 2021-10-10T15:45:43Z- handleDepth()-Depth_Keller msg: 1633880743819 epoch sec; seqNo:1084; depth 0.04 2021-10-10T15:45:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880743.90 epoch sec; seqNo:1085; 4061570.47 north; 594801.70 east 2021-10-10T15:45:44Z- LcmTrn::handleMessages() - handling 41 messages took 0.87 ms and 123 calls... 2021-10-10T15:45:44Z- waiting for 1633880742.06, time is 1633880743.90 2021-10-10T15:45:44Z- LcmTrn::updateTrn() >>>> pose time 1633880743.90, meas time 1633880743.44 <<<< 2021-10-10T15:45:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880743.44, ping # 0. 2021-10-10T15:45:44Z- TerrainNav::Measurement type 1 from time = 1633880743.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:45:44Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594801.70, 0.04) 2021-10-10T15:45:44Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:44Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:44Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:44Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:44Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:44Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:44Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:44Z- AHRS_M2 msg: 1633880744.22 epoch sec; seqNo:1063 2021-10-10T15:45:44Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 0.99 psi 2021-10-10T15:45:44Z- handleDepth()-Depth_Keller msg: 1633880744224 epoch sec; seqNo:1085; depth 0.01 2021-10-10T15:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880744.24 epoch sec; seqNo:1086; 4061570.47 north; 594801.70 east 2021-10-10T15:45:44Z- AHRS_M2 msg: 1633880744.63 epoch sec; seqNo:1064 2021-10-10T15:45:44Z- AHRS_M2 msg: -0.13 phi; -0.00 theta; 0.95 psi 2021-10-10T15:45:44Z- handleDepth()-Depth_Keller msg: 1633880744637 epoch sec; seqNo:1086; depth 0.03 2021-10-10T15:45:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:44Z- handleDvl() - RDI_Pathfinder msg: 1633880744.64 epoch sec; seqNo:503 2021-10-10T15:45:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.22 , 0.22 2021-10-10T15:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880744.66 epoch sec; seqNo:1087; 4061570.46 north; 594800.48 east 2021-10-10T15:45:45Z- AHRS_M2 msg: 1633880745.02 epoch sec; seqNo:1065 2021-10-10T15:45:45Z- AHRS_M2 msg: -0.06 phi; 0.11 theta; 0.95 psi 2021-10-10T15:45:45Z- handleDepth()-Depth_Keller msg: 1633880745032 epoch sec; seqNo:1087; depth 0.06 2021-10-10T15:45:45Z- handleDvl() - RDI_Pathfinder msg: 1633880745.07 epoch sec; seqNo:504 2021-10-10T15:45:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.47 , 107.77 , 93.10 , 90.66 2021-10-10T15:45:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , 0.25 , 0.16 2021-10-10T15:45:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880745.13 epoch sec; seqNo:1088; 4061570.47 north; 594801.70 east 2021-10-10T15:45:45Z- AHRS_M2 msg: 1633880745.43 epoch sec; seqNo:1066 2021-10-10T15:45:45Z- AHRS_M2 msg: -0.05 phi; 0.16 theta; 0.99 psi 2021-10-10T15:45:45Z- handleDepth()-Depth_Keller msg: 1633880745436 epoch sec; seqNo:1088; depth 0.06 2021-10-10T15:45:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880745.48 epoch sec; seqNo:1089; 4061570.47 north; 594801.70 east 2021-10-10T15:45:45Z- AHRS_M2 msg: 1633880745.84 epoch sec; seqNo:1067 2021-10-10T15:45:45Z- AHRS_M2 msg: -0.06 phi; 0.08 theta; 1.03 psi 2021-10-10T15:45:45Z- handleDepth()-Depth_Keller msg: 1633880745848 epoch sec; seqNo:1089; depth 0.07 2021-10-10T15:45:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:45Z- handleDvl() - RDI_Pathfinder msg: 1633880745.85 epoch sec; seqNo:505 2021-10-10T15:45:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , 0.25 , 0.16 2021-10-10T15:45:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880745.87 epoch sec; seqNo:1090; 4061570.47 north; 594801.70 east 2021-10-10T15:45:46Z- AHRS_M2 msg: 1633880746.24 epoch sec; seqNo:1068 2021-10-10T15:45:46Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.06 psi 2021-10-10T15:45:46Z- handleDepth()-Depth_Keller msg: 1633880746248 epoch sec; seqNo:1090; depth 0.09 2021-10-10T15:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880746.27 epoch sec; seqNo:1091; 4061570.47 north; 594801.70 east 2021-10-10T15:45:46Z- AHRS_M2 msg: 1633880746.65 epoch sec; seqNo:1069 2021-10-10T15:45:46Z- AHRS_M2 msg: -0.07 phi; -0.08 theta; 1.06 psi 2021-10-10T15:45:46Z- handleDepth()-Depth_Keller msg: 1633880746660 epoch sec; seqNo:1091; depth 0.10 2021-10-10T15:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880746.74 epoch sec; seqNo:1092; 4061570.47 north; 594801.70 east 2021-10-10T15:45:47Z- AHRS_M2 msg: 1633880747.05 epoch sec; seqNo:1070 2021-10-10T15:45:47Z- AHRS_M2 msg: -0.00 phi; -0.15 theta; 1.04 psi 2021-10-10T15:45:47Z- handleDepth()-Depth_Keller msg: 1633880747060 epoch sec; seqNo:1092; depth 0.09 2021-10-10T15:45:47Z- handleDvl() - RDI_Pathfinder msg: 1633880747.14 epoch sec; seqNo:506 2021-10-10T15:45:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.49 , 97.79 , 97.79 , 81.49 2021-10-10T15:45:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.73 , -0.57 , -0.83 2021-10-10T15:45:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880747.19 epoch sec; seqNo:1093; 4061570.47 north; 594801.70 east 2021-10-10T15:45:47Z- AHRS_M2 msg: 1633880747.46 epoch sec; seqNo:1071 2021-10-10T15:45:47Z- AHRS_M2 msg: 0.06 phi; -0.22 theta; 1.00 psi 2021-10-10T15:45:47Z- handleDepth()-Depth_Keller msg: 1633880747469 epoch sec; seqNo:1093; depth 0.09 2021-10-10T15:45:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880747.49 epoch sec; seqNo:1094; 4061570.46 north; 594800.48 east 2021-10-10T15:45:47Z- AHRS_M2 msg: 1633880747.88 epoch sec; seqNo:1072 2021-10-10T15:45:47Z- AHRS_M2 msg: 0.12 phi; -0.19 theta; 0.98 psi 2021-10-10T15:45:47Z- handleDepth()-Depth_Keller msg: 1633880747898 epoch sec; seqNo:1094; depth 0.11 2021-10-10T15:45:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880747.94 epoch sec; seqNo:1095; 4061570.46 north; 594800.48 east 2021-10-10T15:45:48Z- AHRS_M2 msg: 1633880748.26 epoch sec; seqNo:1073 2021-10-10T15:45:48Z- AHRS_M2 msg: 0.13 phi; -0.10 theta; 0.97 psi 2021-10-10T15:45:48Z- handleDepth()-Depth_Keller msg: 1633880748268 epoch sec; seqNo:1095; depth 0.12 2021-10-10T15:45:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:48Z- handleDvl() - RDI_Pathfinder msg: 1633880748.27 epoch sec; seqNo:507 2021-10-10T15:45:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.73 , -0.57 , -0.83 2021-10-10T15:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880748.29 epoch sec; seqNo:1096; 4061570.46 north; 594800.48 east 2021-10-10T15:45:48Z- AHRS_M2 msg: 1633880748.67 epoch sec; seqNo:1074 2021-10-10T15:45:48Z- AHRS_M2 msg: 0.04 phi; -0.10 theta; 0.99 psi 2021-10-10T15:45:48Z- handleDepth()-Depth_Keller msg: 1633880748732 epoch sec; seqNo:1096; depth 0.10 2021-10-10T15:45:48Z- handleDvl() - RDI_Pathfinder msg: 1633880748.79 epoch sec; seqNo:508 2021-10-10T15:45:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.70 , 0.00 , 88.15 , 88.15 2021-10-10T15:45:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.01 , 0.46 2021-10-10T15:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880748.85 epoch sec; seqNo:1097; 4061570.46 north; 594800.48 east 2021-10-10T15:45:49Z- AHRS_M2 msg: 1633880749.07 epoch sec; seqNo:1075 2021-10-10T15:45:49Z- AHRS_M2 msg: -0.09 phi; -0.16 theta; 1.00 psi 2021-10-10T15:45:49Z- handleDepth()-Depth_Keller msg: 1633880749078 epoch sec; seqNo:1097; depth 0.09 2021-10-10T15:45:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880749.13 epoch sec; seqNo:1098; 4061570.46 north; 594800.48 east 2021-10-10T15:45:49Z- LcmTrn::handleMessages() - handling 45 messages took 0.88 ms and 127 calls... 2021-10-10T15:45:49Z- waiting for 1633880746.90, time is 1633880749.13 2021-10-10T15:45:49Z- LcmTrn::updateTrn() >>>> pose time 1633880749.13, meas time 1633880748.79 <<<< 2021-10-10T15:45:49Z- TerrainNav::Measurement type 1 from time = 1633880748.79 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:45:49Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594800.48, 0.09) 2021-10-10T15:45:49Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:49Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:49Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:49Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:49Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:49Z- AHRS_M2 msg: 1633880749.47 epoch sec; seqNo:1076 2021-10-10T15:45:49Z- AHRS_M2 msg: -0.15 phi; -0.19 theta; 0.98 psi 2021-10-10T15:45:49Z- handleDepth()-Depth_Keller msg: 1633880749476 epoch sec; seqNo:1098; depth 0.10 2021-10-10T15:45:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:49Z- handleDvl() - RDI_Pathfinder msg: 1633880749.48 epoch sec; seqNo:509 2021-10-10T15:45:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.01 , 0.46 2021-10-10T15:45:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880749.51 epoch sec; seqNo:1099; 4061570.46 north; 594800.48 east 2021-10-10T15:45:49Z- AHRS_M2 msg: 1633880749.88 epoch sec; seqNo:1077 2021-10-10T15:45:49Z- AHRS_M2 msg: -0.12 phi; -0.12 theta; 0.98 psi 2021-10-10T15:45:49Z- handleDepth()-Depth_Keller msg: 1633880749894 epoch sec; seqNo:1099; depth 0.12 2021-10-10T15:45:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880749.91 epoch sec; seqNo:1100; 4061570.46 north; 594800.48 east 2021-10-10T15:45:50Z- AHRS_M2 msg: 1633880750.28 epoch sec; seqNo:1078 2021-10-10T15:45:50Z- AHRS_M2 msg: -0.07 phi; -0.05 theta; 1.00 psi 2021-10-10T15:45:50Z- handleDepth()-Depth_Keller msg: 1633880750284 epoch sec; seqNo:1100; depth 0.10 2021-10-10T15:45:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880750.31 epoch sec; seqNo:1101; 4061570.46 north; 594800.48 east 2021-10-10T15:45:50Z- AHRS_M2 msg: 1633880750.76 epoch sec; seqNo:1079 2021-10-10T15:45:50Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 1.01 psi 2021-10-10T15:45:50Z- handleDepth()-Depth_Keller msg: 1633880750777 epoch sec; seqNo:1101; depth 0.11 2021-10-10T15:45:50Z- handleDvl() - RDI_Pathfinder msg: 1633880750.86 epoch sec; seqNo:510 2021-10-10T15:45:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.12 , 99.01 , 91.68 , 0.00 2021-10-10T15:45:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , 0.36 , 0.03 2021-10-10T15:45:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880750.97 epoch sec; seqNo:1102; 4061570.46 north; 594800.48 east 2021-10-10T15:45:51Z- AHRS_M2 msg: 1633880751.15 epoch sec; seqNo:1080 2021-10-10T15:45:51Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.00 psi 2021-10-10T15:45:51Z- handleDepth()-Depth_Keller msg: 1633880751184 epoch sec; seqNo:1102; depth 0.10 2021-10-10T15:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880751.28 epoch sec; seqNo:1103; 4061570.08 north; 594800.48 east 2021-10-10T15:45:51Z- AHRS_M2 msg: 1633880751.49 epoch sec; seqNo:1081 2021-10-10T15:45:51Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 1.02 psi 2021-10-10T15:45:51Z- handleDepth()-Depth_Keller msg: 1633880751496 epoch sec; seqNo:1103; depth 0.07 2021-10-10T15:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880751.54 epoch sec; seqNo:1104; 4061570.08 north; 594800.48 east 2021-10-10T15:45:51Z- AHRS_M2 msg: 1633880751.90 epoch sec; seqNo:1082 2021-10-10T15:45:51Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 1.05 psi 2021-10-10T15:45:51Z- handleDepth()-Depth_Keller msg: 1633880751912 epoch sec; seqNo:1104; depth 0.05 2021-10-10T15:45:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:51Z- handleDvl() - RDI_Pathfinder msg: 1633880751.91 epoch sec; seqNo:511 2021-10-10T15:45:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , 0.36 , 0.03 2021-10-10T15:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880751.94 epoch sec; seqNo:1105; 4061570.09 north; 594801.70 east 2021-10-10T15:45:52Z- AHRS_M2 msg: 1633880752.30 epoch sec; seqNo:1083 2021-10-10T15:45:52Z- AHRS_M2 msg: 0.06 phi; 0.00 theta; 1.05 psi 2021-10-10T15:45:52Z- handleDepth()-Depth_Keller msg: 1633880752304 epoch sec; seqNo:1105; depth 0.06 2021-10-10T15:45:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880752.35 epoch sec; seqNo:1106; 4061570.09 north; 594801.70 east 2021-10-10T15:45:52Z- AHRS_M2 msg: 1633880752.74 epoch sec; seqNo:1084 2021-10-10T15:45:52Z- AHRS_M2 msg: 0.05 phi; 0.10 theta; 1.00 psi 2021-10-10T15:45:52Z- handleDepth()-Depth_Keller msg: 1633880752748 epoch sec; seqNo:1106; depth 0.06 2021-10-10T15:45:52Z- handleDvl() - RDI_Pathfinder msg: 1633880752.82 epoch sec; seqNo:512 2021-10-10T15:45:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.34 , 92.90 , 89.23 , 0.00 2021-10-10T15:45:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.22 , -0.06 2021-10-10T15:45:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880752.86 epoch sec; seqNo:1107; 4061570.09 north; 594801.70 east 2021-10-10T15:45:53Z- AHRS_M2 msg: 1633880753.10 epoch sec; seqNo:1085 2021-10-10T15:45:53Z- AHRS_M2 msg: 0.02 phi; 0.06 theta; 1.00 psi 2021-10-10T15:45:53Z- handleDepth()-Depth_Keller msg: 1633880753108 epoch sec; seqNo:1107; depth 0.05 2021-10-10T15:45:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:53Z- handleDvl() - RDI_Pathfinder msg: 1633880753.11 epoch sec; seqNo:513 2021-10-10T15:45:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.22 , -0.06 2021-10-10T15:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880753.17 epoch sec; seqNo:1108; 4061570.09 north; 594801.70 east 2021-10-10T15:45:53Z- AHRS_M2 msg: 1633880753.52 epoch sec; seqNo:1086 2021-10-10T15:45:53Z- AHRS_M2 msg: -0.00 phi; -0.04 theta; 1.04 psi 2021-10-10T15:45:53Z- handleDepth()-Depth_Keller msg: 1633880753521 epoch sec; seqNo:1108; depth 0.06 2021-10-10T15:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880753.53 epoch sec; seqNo:1109; 4061570.08 north; 594800.48 east 2021-10-10T15:45:53Z- AHRS_M2 msg: 1633880753.92 epoch sec; seqNo:1087 2021-10-10T15:45:53Z- AHRS_M2 msg: -0.00 phi; -0.05 theta; 1.06 psi 2021-10-10T15:45:53Z- handleDepth()-Depth_Keller msg: 1633880753924 epoch sec; seqNo:1109; depth 0.07 2021-10-10T15:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880753.95 epoch sec; seqNo:1110; 4061570.46 north; 594800.48 east 2021-10-10T15:45:54Z- LcmTrn::handleMessages() - handling 41 messages took 0.93 ms and 122 calls... 2021-10-10T15:45:54Z- waiting for 1633880752.13, time is 1633880753.95 2021-10-10T15:45:54Z- LcmTrn::updateTrn() >>>> pose time 1633880753.95, meas time 1633880753.11 <<<< 2021-10-10T15:45:54Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880753.11, ping # 0. 2021-10-10T15:45:54Z- TerrainNav::Measurement type 1 from time = 1633880753.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:45:54Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594800.48, 0.07) 2021-10-10T15:45:54Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:54Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:54Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:54Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:54Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:54Z- AHRS_M2 msg: 1633880754.32 epoch sec; seqNo:1088 2021-10-10T15:45:54Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 1.08 psi 2021-10-10T15:45:54Z- handleDepth()-Depth_Keller msg: 1633880754324 epoch sec; seqNo:1110; depth 0.07 2021-10-10T15:45:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:54Z- handleDvl() - RDI_Pathfinder msg: 1633880754.33 epoch sec; seqNo:514 2021-10-10T15:45:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.22 , -0.06 2021-10-10T15:45:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880754.37 epoch sec; seqNo:1111; 4061570.46 north; 594800.48 east 2021-10-10T15:45:54Z- AHRS_M2 msg: 1633880754.76 epoch sec; seqNo:1089 2021-10-10T15:45:54Z- AHRS_M2 msg: 0.04 phi; -0.09 theta; 1.06 psi 2021-10-10T15:45:54Z- handleDepth()-Depth_Keller msg: 1633880754776 epoch sec; seqNo:1111; depth 0.08 2021-10-10T15:45:54Z- handleDvl() - RDI_Pathfinder msg: 1633880754.84 epoch sec; seqNo:515 2021-10-10T15:45:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.77 , 90.66 , 98.00 , 87.00 2021-10-10T15:45:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.06 , -0.44 2021-10-10T15:45:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880754.88 epoch sec; seqNo:1112; 4061570.46 north; 594800.48 east 2021-10-10T15:45:55Z- AHRS_M2 msg: 1633880755.12 epoch sec; seqNo:1090 2021-10-10T15:45:55Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 1.06 psi 2021-10-10T15:45:55Z- handleDepth()-Depth_Keller msg: 1633880755144 epoch sec; seqNo:1112; depth 0.10 2021-10-10T15:45:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880755.20 epoch sec; seqNo:1113; 4061570.46 north; 594800.48 east 2021-10-10T15:45:55Z- AHRS_M2 msg: 1633880755.53 epoch sec; seqNo:1091 2021-10-10T15:45:55Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 1.08 psi 2021-10-10T15:45:55Z- handleDepth()-Depth_Keller msg: 1633880755536 epoch sec; seqNo:1113; depth 0.11 2021-10-10T15:45:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:55Z- handleDvl() - RDI_Pathfinder msg: 1633880755.54 epoch sec; seqNo:516 2021-10-10T15:45:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.06 , -0.44 2021-10-10T15:45:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880755.57 epoch sec; seqNo:1114; 4061570.46 north; 594800.48 east 2021-10-10T15:45:55Z- AHRS_M2 msg: 1633880755.93 epoch sec; seqNo:1092 2021-10-10T15:45:55Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 1.09 psi 2021-10-10T15:45:55Z- handleDepth()-Depth_Keller msg: 1633880755936 epoch sec; seqNo:1114; depth 0.11 2021-10-10T15:45:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880755.96 epoch sec; seqNo:1115; 4061570.46 north; 594800.48 east 2021-10-10T15:45:56Z- AHRS_M2 msg: 1633880756.34 epoch sec; seqNo:1093 2021-10-10T15:45:56Z- AHRS_M2 msg: -0.06 phi; -0.15 theta; 1.07 psi 2021-10-10T15:45:56Z- handleDepth()-Depth_Keller msg: 1633880756340 epoch sec; seqNo:1115; depth 0.13 2021-10-10T15:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880756.37 epoch sec; seqNo:1116; 4061570.46 north; 594800.48 east 2021-10-10T15:45:56Z- AHRS_M2 msg: 1633880756.74 epoch sec; seqNo:1094 2021-10-10T15:45:56Z- AHRS_M2 msg: -0.07 phi; -0.17 theta; 1.06 psi 2021-10-10T15:45:56Z- handleDepth()-Depth_Keller msg: 1633880756752 epoch sec; seqNo:1116; depth 0.14 2021-10-10T15:45:56Z- handleDvl() - RDI_Pathfinder msg: 1633880756.82 epoch sec; seqNo:517 2021-10-10T15:45:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.41 , 90.53 , 97.86 , 86.86 2021-10-10T15:45:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.28 , -0.10 2021-10-10T15:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880756.85 epoch sec; seqNo:1117; 4061570.46 north; 594800.48 east 2021-10-10T15:45:57Z- AHRS_M2 msg: 1633880757.15 epoch sec; seqNo:1095 2021-10-10T15:45:57Z- AHRS_M2 msg: -0.06 phi; -0.15 theta; 1.05 psi 2021-10-10T15:45:57Z- handleDepth()-Depth_Keller msg: 1633880757163 epoch sec; seqNo:1117; depth 0.12 2021-10-10T15:45:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880757.19 epoch sec; seqNo:1118; 4061570.46 north; 594800.48 east 2021-10-10T15:45:57Z- AHRS_M2 msg: 1633880757.55 epoch sec; seqNo:1096 2021-10-10T15:45:57Z- AHRS_M2 msg: -0.03 phi; -0.14 theta; 1.03 psi 2021-10-10T15:45:57Z- handleDepth()-Depth_Keller msg: 1633880757552 epoch sec; seqNo:1118; depth 0.13 2021-10-10T15:45:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880757.57 epoch sec; seqNo:1119; 4061570.46 north; 594800.48 east 2021-10-10T15:45:57Z- AHRS_M2 msg: 1633880757.95 epoch sec; seqNo:1097 2021-10-10T15:45:57Z- AHRS_M2 msg: 0.01 phi; -0.11 theta; 1.05 psi 2021-10-10T15:45:57Z- handleDepth()-Depth_Keller msg: 1633880757960 epoch sec; seqNo:1119; depth 0.13 2021-10-10T15:45:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:57Z- handleDvl() - RDI_Pathfinder msg: 1633880757.96 epoch sec; seqNo:518 2021-10-10T15:45:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.28 , -0.10 2021-10-10T15:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880758.00 epoch sec; seqNo:1120; 4061570.46 north; 594800.48 east 2021-10-10T15:45:58Z- AHRS_M2 msg: 1633880758.36 epoch sec; seqNo:1098 2021-10-10T15:45:58Z- AHRS_M2 msg: 0.02 phi; -0.08 theta; 1.07 psi 2021-10-10T15:45:58Z- handleDepth()-Depth_Keller msg: 1633880758364 epoch sec; seqNo:1120; depth 0.15 2021-10-10T15:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880758.38 epoch sec; seqNo:1121; 4061570.44 north; 594799.26 east 2021-10-10T15:45:58Z- AHRS_M2 msg: 1633880758.76 epoch sec; seqNo:1099 2021-10-10T15:45:58Z- AHRS_M2 msg: -0.04 phi; -0.08 theta; 1.08 psi 2021-10-10T15:45:58Z- handleDepth()-Depth_Keller msg: 1633880758764 epoch sec; seqNo:1121; depth 0.14 2021-10-10T15:45:58Z- handleDvl() - RDI_Pathfinder msg: 1633880758.80 epoch sec; seqNo:519 2021-10-10T15:45:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.86 , 88.08 , 88.08 , 89.30 2021-10-10T15:45:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.17 , 0.16 2021-10-10T15:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880758.84 epoch sec; seqNo:1122; 4061570.46 north; 594800.48 east 2021-10-10T15:45:59Z- AHRS_M2 msg: 1633880759.17 epoch sec; seqNo:1100 2021-10-10T15:45:59Z- AHRS_M2 msg: -0.10 phi; -0.12 theta; 1.09 psi 2021-10-10T15:45:59Z- handleDepth()-Depth_Keller msg: 1633880759176 epoch sec; seqNo:1122; depth 0.12 2021-10-10T15:45:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:45:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:45:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:45:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:45:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:45:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:45:59Z- handleDvl() - RDI_Pathfinder msg: 1633880759.18 epoch sec; seqNo:520 2021-10-10T15:45:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:45:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.17 , 0.16 2021-10-10T15:45:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880759.23 epoch sec; seqNo:1123; 4061570.46 north; 594800.48 east 2021-10-10T15:45:59Z- LcmTrn::handleMessages() - handling 46 messages took 0.97 ms and 126 calls... 2021-10-10T15:45:59Z- waiting for 1633880756.95, time is 1633880759.23 2021-10-10T15:45:59Z- LcmTrn::updateTrn() equating pose 1633880759.23 and meas times 1633880759.23 2021-10-10T15:45:59Z- LcmTrn::updateTrn() >>>> pose time 1633880759.23, meas time 1633880759.23 <<<< 2021-10-10T15:45:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880759.23, ping # 0. 2021-10-10T15:45:59Z- TerrainNav::Measurement type 1 from time = 1633880759.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:45:59Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594800.48, 0.12) 2021-10-10T15:45:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:45:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:45:59Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:45:59Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:45:59Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:45:59Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:45:59Z- AHRS_M2 msg: 1633880759.58 epoch sec; seqNo:1101 2021-10-10T15:45:59Z- AHRS_M2 msg: -0.10 phi; -0.14 theta; 1.10 psi 2021-10-10T15:45:59Z- handleDepth()-Depth_Keller msg: 1633880759588 epoch sec; seqNo:1123; depth 0.11 2021-10-10T15:45:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880759.62 epoch sec; seqNo:1124; 4061570.46 north; 594800.48 east 2021-10-10T15:45:59Z- AHRS_M2 msg: 1633880759.97 epoch sec; seqNo:1102 2021-10-10T15:45:59Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 1.09 psi 2021-10-10T15:45:59Z- handleDepth()-Depth_Keller msg: 1633880759980 epoch sec; seqNo:1124; depth 0.12 2021-10-10T15:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880760.00 epoch sec; seqNo:1125; 4061570.46 north; 594800.48 east 2021-10-10T15:46:00Z- AHRS_M2 msg: 1633880760.38 epoch sec; seqNo:1103 2021-10-10T15:46:00Z- AHRS_M2 msg: -0.04 phi; -0.13 theta; 1.08 psi 2021-10-10T15:46:00Z- handleDepth()-Depth_Keller msg: 1633880760380 epoch sec; seqNo:1125; depth 0.10 2021-10-10T15:46:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:00Z- handleDvl() - RDI_Pathfinder msg: 1633880760.38 epoch sec; seqNo:521 2021-10-10T15:46:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.17 , 0.16 2021-10-10T15:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880760.40 epoch sec; seqNo:1126; 4061570.46 north; 594800.48 east 2021-10-10T15:46:00Z- AHRS_M2 msg: 1633880760.79 epoch sec; seqNo:1104 2021-10-10T15:46:00Z- AHRS_M2 msg: -0.05 phi; -0.16 theta; 1.06 psi 2021-10-10T15:46:00Z- handleDepth()-Depth_Keller msg: 1633880760792 epoch sec; seqNo:1126; depth 0.10 2021-10-10T15:46:00Z- handleDvl() - RDI_Pathfinder msg: 1633880760.83 epoch sec; seqNo:522 2021-10-10T15:46:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.84 , 98.06 , 89.51 , 89.51 2021-10-10T15:46:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.27 , 0.10 2021-10-10T15:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880760.87 epoch sec; seqNo:1127; 4061570.08 north; 594800.48 east 2021-10-10T15:46:01Z- AHRS_M2 msg: 1633880761.19 epoch sec; seqNo:1105 2021-10-10T15:46:01Z- AHRS_M2 msg: -0.08 phi; -0.10 theta; 1.04 psi 2021-10-10T15:46:01Z- handleDepth()-Depth_Keller msg: 1633880761192 epoch sec; seqNo:1127; depth 0.09 2021-10-10T15:46:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880761.23 epoch sec; seqNo:1128; 4061570.08 north; 594800.48 east 2021-10-10T15:46:01Z- AHRS_M2 msg: 1633880761.59 epoch sec; seqNo:1106 2021-10-10T15:46:01Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.05 psi 2021-10-10T15:46:01Z- handleDepth()-Depth_Keller msg: 1633880761596 epoch sec; seqNo:1128; depth 0.06 2021-10-10T15:46:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:01Z- handleDvl() - RDI_Pathfinder msg: 1633880761.60 epoch sec; seqNo:523 2021-10-10T15:46:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.27 , 0.10 2021-10-10T15:46:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880761.61 epoch sec; seqNo:1129; 4061570.08 north; 594800.48 east 2021-10-10T15:46:02Z- AHRS_M2 msg: 1633880762.00 epoch sec; seqNo:1107 2021-10-10T15:46:02Z- AHRS_M2 msg: -0.02 phi; 0.06 theta; 1.08 psi 2021-10-10T15:46:02Z- handleDepth()-Depth_Keller msg: 1633880762007 epoch sec; seqNo:1129; depth 0.04 2021-10-10T15:46:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880762.02 epoch sec; seqNo:1130; 4061569.70 north; 594800.49 east 2021-10-10T15:46:02Z- AHRS_M2 msg: 1633880762.40 epoch sec; seqNo:1108 2021-10-10T15:46:02Z- AHRS_M2 msg: 0.07 phi; 0.06 theta; 1.09 psi 2021-10-10T15:46:02Z- handleDepth()-Depth_Keller msg: 1633880762408 epoch sec; seqNo:1130; depth 0.04 2021-10-10T15:46:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880762.45 epoch sec; seqNo:1131; 4061569.70 north; 594800.49 east 2021-10-10T15:46:02Z- AHRS_M2 msg: 1633880762.81 epoch sec; seqNo:1109 2021-10-10T15:46:02Z- AHRS_M2 msg: 0.12 phi; 0.02 theta; 1.07 psi 2021-10-10T15:46:02Z- handleDepth()-Depth_Keller msg: 1633880762812 epoch sec; seqNo:1131; depth 0.06 2021-10-10T15:46:02Z- handleDvl() - RDI_Pathfinder msg: 1633880762.85 epoch sec; seqNo:524 2021-10-10T15:46:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.79 , 92.90 , 100.24 , 77.07 2021-10-10T15:46:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.01 , -0.16 2021-10-10T15:46:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880762.87 epoch sec; seqNo:1132; 4061569.70 north; 594800.49 east 2021-10-10T15:46:03Z- AHRS_M2 msg: 1633880763.22 epoch sec; seqNo:1110 2021-10-10T15:46:03Z- AHRS_M2 msg: 0.08 phi; -0.04 theta; 1.07 psi 2021-10-10T15:46:03Z- handleDepth()-Depth_Keller msg: 1633880763224 epoch sec; seqNo:1132; depth 0.08 2021-10-10T15:46:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880763.26 epoch sec; seqNo:1133; 4061569.70 north; 594800.49 east 2021-10-10T15:46:03Z- AHRS_M2 msg: 1633880763.61 epoch sec; seqNo:1111 2021-10-10T15:46:03Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 1.11 psi 2021-10-10T15:46:03Z- handleDepth()-Depth_Keller msg: 1633880763629 epoch sec; seqNo:1133; depth 0.07 2021-10-10T15:46:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880763.64 epoch sec; seqNo:1134; 4061569.70 north; 594800.49 east 2021-10-10T15:46:04Z- AHRS_M2 msg: 1633880764.04 epoch sec; seqNo:1112 2021-10-10T15:46:04Z- AHRS_M2 msg: -0.06 phi; -0.09 theta; 1.11 psi 2021-10-10T15:46:04Z- handleDepth()-Depth_Keller msg: 1633880764056 epoch sec; seqNo:1134; depth 0.06 2021-10-10T15:46:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:04Z- handleDvl() - RDI_Pathfinder msg: 1633880764.06 epoch sec; seqNo:525 2021-10-10T15:46:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.01 , -0.16 2021-10-10T15:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880764.11 epoch sec; seqNo:1135; 4061569.70 north; 594800.49 east 2021-10-10T15:46:04Z- LcmTrn::handleMessages() - handling 41 messages took 0.79 ms and 125 calls... 2021-10-10T15:46:04Z- waiting for 1633880762.23, time is 1633880764.11 2021-10-10T15:46:04Z- LcmTrn::updateTrn() equating pose 1633880764.11 and meas times 1633880764.11 2021-10-10T15:46:04Z- LcmTrn::updateTrn() >>>> pose time 1633880764.11, meas time 1633880764.11 <<<< 2021-10-10T15:46:04Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880764.11, ping # 0. 2021-10-10T15:46:04Z- TerrainNav::Measurement type 1 from time = 1633880764.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:46:04Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594800.49, 0.06) 2021-10-10T15:46:04Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:04Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:04Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:04Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:04Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:04Z- AHRS_M2 msg: 1633880764.42 epoch sec; seqNo:1113 2021-10-10T15:46:04Z- AHRS_M2 msg: -0.10 phi; -0.16 theta; 1.08 psi 2021-10-10T15:46:04Z- handleDepth()-Depth_Keller msg: 1633880764424 epoch sec; seqNo:1135; depth 0.08 2021-10-10T15:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880764.44 epoch sec; seqNo:1136; 4061569.70 north; 594800.49 east 2021-10-10T15:46:04Z- AHRS_M2 msg: 1633880764.82 epoch sec; seqNo:1114 2021-10-10T15:46:04Z- AHRS_M2 msg: -0.12 phi; -0.20 theta; 1.08 psi 2021-10-10T15:46:04Z- handleDepth()-Depth_Keller msg: 1633880764832 epoch sec; seqNo:1136; depth 0.09 2021-10-10T15:46:04Z- handleDvl() - RDI_Pathfinder msg: 1633880764.88 epoch sec; seqNo:526 2021-10-10T15:46:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.48 , 93.04 , 90.59 , 89.37 2021-10-10T15:46:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.42 , -0.13 , 0.32 2021-10-10T15:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880764.92 epoch sec; seqNo:1137; 4061569.70 north; 594800.49 east 2021-10-10T15:46:05Z- AHRS_M2 msg: 1633880765.23 epoch sec; seqNo:1115 2021-10-10T15:46:05Z- AHRS_M2 msg: -0.10 phi; -0.17 theta; 1.08 psi 2021-10-10T15:46:05Z- handleDepth()-Depth_Keller msg: 1633880765246 epoch sec; seqNo:1137; depth 0.10 2021-10-10T15:46:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:05Z- handleDvl() - RDI_Pathfinder msg: 1633880765.25 epoch sec; seqNo:527 2021-10-10T15:46:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.42 , -0.13 , 0.32 2021-10-10T15:46:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880765.27 epoch sec; seqNo:1138; 4061569.70 north; 594800.49 east 2021-10-10T15:46:05Z- AHRS_M2 msg: 1633880765.63 epoch sec; seqNo:1116 2021-10-10T15:46:05Z- AHRS_M2 msg: -0.06 phi; -0.12 theta; 1.07 psi 2021-10-10T15:46:05Z- handleDepth()-Depth_Keller msg: 1633880765631 epoch sec; seqNo:1138; depth 0.11 2021-10-10T15:46:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880765.65 epoch sec; seqNo:1139; 4061569.68 north; 594799.27 east 2021-10-10T15:46:06Z- AHRS_M2 msg: 1633880766.05 epoch sec; seqNo:1117 2021-10-10T15:46:06Z- AHRS_M2 msg: -0.03 phi; -0.06 theta; 1.09 psi 2021-10-10T15:46:06Z- handleDepth()-Depth_Keller msg: 1633880766060 epoch sec; seqNo:1139; depth 0.10 2021-10-10T15:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880766.08 epoch sec; seqNo:1140; 4061569.68 north; 594799.27 east 2021-10-10T15:46:06Z- AHRS_M2 msg: 1633880766.44 epoch sec; seqNo:1118 2021-10-10T15:46:06Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 1.14 psi 2021-10-10T15:46:06Z- handleDepth()-Depth_Keller msg: 1633880766444 epoch sec; seqNo:1140; depth 0.12 2021-10-10T15:46:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:06Z- handleDvl() - RDI_Pathfinder msg: 1633880766.45 epoch sec; seqNo:528 2021-10-10T15:46:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.42 , -0.13 , 0.32 2021-10-10T15:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880766.48 epoch sec; seqNo:1141; 4061569.68 north; 594799.27 east 2021-10-10T15:46:06Z- AHRS_M2 msg: 1633880766.85 epoch sec; seqNo:1119 2021-10-10T15:46:06Z- AHRS_M2 msg: 0.04 phi; -0.06 theta; 1.21 psi 2021-10-10T15:46:06Z- handleDepth()-Depth_Keller msg: 1633880766860 epoch sec; seqNo:1141; depth 0.11 2021-10-10T15:46:06Z- handleDvl() - RDI_Pathfinder msg: 1633880766.90 epoch sec; seqNo:529 2021-10-10T15:46:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.70 , 89.37 , 97.93 , 85.70 2021-10-10T15:46:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , 0.09 , -0.51 2021-10-10T15:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880766.94 epoch sec; seqNo:1142; 4061569.68 north; 594799.27 east 2021-10-10T15:46:07Z- AHRS_M2 msg: 1633880767.26 epoch sec; seqNo:1120 2021-10-10T15:46:07Z- AHRS_M2 msg: 0.02 phi; -0.14 theta; 1.23 psi 2021-10-10T15:46:07Z- handleDepth()-Depth_Keller msg: 1633880767270 epoch sec; seqNo:1142; depth 0.11 2021-10-10T15:46:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880767.31 epoch sec; seqNo:1143; 4061569.68 north; 594799.27 east 2021-10-10T15:46:07Z- AHRS_M2 msg: 1633880767.67 epoch sec; seqNo:1121 2021-10-10T15:46:07Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 1.22 psi 2021-10-10T15:46:07Z- handleDepth()-Depth_Keller msg: 1633880767672 epoch sec; seqNo:1143; depth 0.09 2021-10-10T15:46:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:07Z- handleDvl() - RDI_Pathfinder msg: 1633880767.67 epoch sec; seqNo:530 2021-10-10T15:46:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , 0.09 , -0.51 2021-10-10T15:46:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880767.70 epoch sec; seqNo:1144; 4061569.31 north; 594799.27 east 2021-10-10T15:46:08Z- AHRS_M2 msg: 1633880768.06 epoch sec; seqNo:1122 2021-10-10T15:46:08Z- AHRS_M2 msg: -0.00 phi; -0.07 theta; 1.23 psi 2021-10-10T15:46:08Z- handleDepth()-Depth_Keller msg: 1633880768068 epoch sec; seqNo:1144; depth 0.08 2021-10-10T15:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880768.08 epoch sec; seqNo:1145; 4061569.31 north; 594799.27 east 2021-10-10T15:46:08Z- AHRS_M2 msg: 1633880768.48 epoch sec; seqNo:1123 2021-10-10T15:46:08Z- AHRS_M2 msg: 0.04 phi; -0.09 theta; 1.22 psi 2021-10-10T15:46:08Z- handleDepth()-Depth_Keller msg: 1633880768488 epoch sec; seqNo:1145; depth 0.06 2021-10-10T15:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880768.50 epoch sec; seqNo:1146; 4061569.31 north; 594799.27 east 2021-10-10T15:46:08Z- AHRS_M2 msg: 1633880768.86 epoch sec; seqNo:1124 2021-10-10T15:46:08Z- AHRS_M2 msg: 0.05 phi; -0.08 theta; 1.20 psi 2021-10-10T15:46:08Z- handleDepth()-Depth_Keller msg: 1633880768868 epoch sec; seqNo:1146; depth 0.05 2021-10-10T15:46:08Z- handleDvl() - RDI_Pathfinder msg: 1633880768.92 epoch sec; seqNo:531 2021-10-10T15:46:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.92 , 88.15 , 97.92 , 84.48 2021-10-10T15:46:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.29 , -0.09 , 0.72 2021-10-10T15:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880768.98 epoch sec; seqNo:1147; 4061569.31 north; 594799.27 east 2021-10-10T15:46:09Z- AHRS_M2 msg: 1633880769.27 epoch sec; seqNo:1125 2021-10-10T15:46:09Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 1.19 psi 2021-10-10T15:46:09Z- handleDepth()-Depth_Keller msg: 1633880769282 epoch sec; seqNo:1147; depth 0.04 2021-10-10T15:46:09Z- LcmTrn::handleMessages() - handling 44 messages took 0.82 ms and 127 calls... 2021-10-10T15:46:09Z- waiting for 1633880767.11, time is 1633880769.27 2021-10-10T15:46:09Z- LcmTrn::updateTrn() >>>> pose time 1633880769.27, meas time 1633880768.92 <<<< 2021-10-10T15:46:09Z- TerrainNav::Measurement type 1 from time = 1633880768.92 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:46:09Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594799.27, 0.04) 2021-10-10T15:46:09Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:09Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:09Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:09Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:09Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880769.31 epoch sec; seqNo:1148; 4061569.31 north; 594799.27 east 2021-10-10T15:46:09Z- AHRS_M2 msg: 1633880769.67 epoch sec; seqNo:1126 2021-10-10T15:46:09Z- AHRS_M2 msg: -0.06 phi; 0.06 theta; 1.21 psi 2021-10-10T15:46:09Z- handleDepth()-Depth_Keller msg: 1633880769677 epoch sec; seqNo:1148; depth 0.05 2021-10-10T15:46:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880769.72 epoch sec; seqNo:1149; 4061569.31 north; 594799.27 east 2021-10-10T15:46:10Z- AHRS_M2 msg: 1633880770.08 epoch sec; seqNo:1127 2021-10-10T15:46:10Z- AHRS_M2 msg: -0.09 phi; 0.06 theta; 1.22 psi 2021-10-10T15:46:10Z- handleDepth()-Depth_Keller msg: 1633880770084 epoch sec; seqNo:1149; depth 0.05 2021-10-10T15:46:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:10Z- handleDvl() - RDI_Pathfinder msg: 1633880770.09 epoch sec; seqNo:532 2021-10-10T15:46:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.29 , -0.09 , 0.72 2021-10-10T15:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880770.11 epoch sec; seqNo:1150; 4061569.31 north; 594799.27 east 2021-10-10T15:46:10Z- AHRS_M2 msg: 1633880770.48 epoch sec; seqNo:1128 2021-10-10T15:46:10Z- AHRS_M2 msg: -0.13 phi; -0.01 theta; 1.23 psi 2021-10-10T15:46:10Z- handleDepth()-Depth_Keller msg: 1633880770493 epoch sec; seqNo:1150; depth 0.06 2021-10-10T15:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880770.51 epoch sec; seqNo:1151; 4061569.31 north; 594799.27 east 2021-10-10T15:46:10Z- AHRS_M2 msg: 1633880770.88 epoch sec; seqNo:1129 2021-10-10T15:46:10Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 1.26 psi 2021-10-10T15:46:10Z- handleDepth()-Depth_Keller msg: 1633880770887 epoch sec; seqNo:1151; depth 0.08 2021-10-10T15:46:10Z- handleDvl() - RDI_Pathfinder msg: 1633880770.93 epoch sec; seqNo:533 2021-10-10T15:46:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.48 , 97.92 , 101.59 , 76.24 2021-10-10T15:46:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.31 , 0.10 2021-10-10T15:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880770.97 epoch sec; seqNo:1152; 4061569.31 north; 594799.27 east 2021-10-10T15:46:11Z- AHRS_M2 msg: 1633880771.28 epoch sec; seqNo:1130 2021-10-10T15:46:11Z- AHRS_M2 msg: -0.15 phi; -0.03 theta; 1.27 psi 2021-10-10T15:46:11Z- handleDepth()-Depth_Keller msg: 1633880771296 epoch sec; seqNo:1152; depth 0.07 2021-10-10T15:46:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:11Z- handleDvl() - RDI_Pathfinder msg: 1633880771.30 epoch sec; seqNo:534 2021-10-10T15:46:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.31 , 0.10 2021-10-10T15:46:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880771.34 epoch sec; seqNo:1153; 4061568.93 north; 594799.28 east 2021-10-10T15:46:11Z- AHRS_M2 msg: 1633880771.69 epoch sec; seqNo:1131 2021-10-10T15:46:11Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.26 psi 2021-10-10T15:46:11Z- handleDepth()-Depth_Keller msg: 1633880771707 epoch sec; seqNo:1153; depth 0.07 2021-10-10T15:46:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880771.73 epoch sec; seqNo:1154; 4061568.93 north; 594799.28 east 2021-10-10T15:46:12Z- AHRS_M2 msg: 1633880772.09 epoch sec; seqNo:1132 2021-10-10T15:46:12Z- AHRS_M2 msg: 0.02 phi; -0.03 theta; 1.27 psi 2021-10-10T15:46:12Z- handleDepth()-Depth_Keller msg: 1633880772096 epoch sec; seqNo:1154; depth 0.06 2021-10-10T15:46:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880772.12 epoch sec; seqNo:1155; 4061568.93 north; 594799.28 east 2021-10-10T15:46:12Z- AHRS_M2 msg: 1633880772.49 epoch sec; seqNo:1133 2021-10-10T15:46:12Z- AHRS_M2 msg: 0.09 phi; -0.07 theta; 1.28 psi 2021-10-10T15:46:12Z- handleDepth()-Depth_Keller msg: 1633880772504 epoch sec; seqNo:1155; depth 0.06 2021-10-10T15:46:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:12Z- handleDvl() - RDI_Pathfinder msg: 1633880772.51 epoch sec; seqNo:535 2021-10-10T15:46:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.31 , 0.10 2021-10-10T15:46:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880772.54 epoch sec; seqNo:1156; 4061568.93 north; 594799.28 east 2021-10-10T15:46:12Z- AHRS_M2 msg: 1633880772.90 epoch sec; seqNo:1134 2021-10-10T15:46:12Z- AHRS_M2 msg: 0.11 phi; -0.11 theta; 1.29 psi 2021-10-10T15:46:12Z- handleDepth()-Depth_Keller msg: 1633880772912 epoch sec; seqNo:1156; depth 0.08 2021-10-10T15:46:12Z- handleDvl() - RDI_Pathfinder msg: 1633880772.96 epoch sec; seqNo:536 2021-10-10T15:46:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.41 , 91.75 , 97.86 , 84.41 2021-10-10T15:46:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.10 , 0.02 2021-10-10T15:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880773.01 epoch sec; seqNo:1157; 4061568.93 north; 594799.28 east 2021-10-10T15:46:13Z- AHRS_M2 msg: 1633880773.30 epoch sec; seqNo:1135 2021-10-10T15:46:13Z- AHRS_M2 msg: 0.01 phi; -0.11 theta; 1.29 psi 2021-10-10T15:46:13Z- handleDepth()-Depth_Keller msg: 1633880773316 epoch sec; seqNo:1157; depth 0.09 2021-10-10T15:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880773.34 epoch sec; seqNo:1158; 4061568.93 north; 594799.28 east 2021-10-10T15:46:13Z- AHRS_M2 msg: 1633880773.71 epoch sec; seqNo:1136 2021-10-10T15:46:13Z- AHRS_M2 msg: -0.13 phi; -0.08 theta; 1.28 psi 2021-10-10T15:46:13Z- handleDepth()-Depth_Keller msg: 1633880773717 epoch sec; seqNo:1158; depth 0.08 2021-10-10T15:46:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:13Z- handleDvl() - RDI_Pathfinder msg: 1633880773.73 epoch sec; seqNo:537 2021-10-10T15:46:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.10 , 0.02 2021-10-10T15:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880773.75 epoch sec; seqNo:1159; 4061568.93 north; 594799.28 east 2021-10-10T15:46:14Z- AHRS_M2 msg: 1633880774.11 epoch sec; seqNo:1137 2021-10-10T15:46:14Z- AHRS_M2 msg: -0.15 phi; -0.07 theta; 1.33 psi 2021-10-10T15:46:14Z- handleDepth()-Depth_Keller msg: 1633880774115 epoch sec; seqNo:1159; depth 0.03 2021-10-10T15:46:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880774.13 epoch sec; seqNo:1160; 4061568.93 north; 594799.28 east 2021-10-10T15:46:14Z- LcmTrn::handleMessages() - handling 43 messages took 0.89 ms and 125 calls... 2021-10-10T15:46:14Z- waiting for 1633880772.27, time is 1633880774.13 2021-10-10T15:46:14Z- LcmTrn::updateTrn() >>>> pose time 1633880774.13, meas time 1633880773.73 <<<< 2021-10-10T15:46:14Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880773.73, ping # 0. 2021-10-10T15:46:14Z- TerrainNav::Measurement type 1 from time = 1633880773.73 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:46:14Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594799.28, 0.03) 2021-10-10T15:46:14Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:14Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:14Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:14Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:14Z- AHRS_M2 msg: 1633880774.51 epoch sec; seqNo:1138 2021-10-10T15:46:14Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 1.35 psi 2021-10-10T15:46:14Z- handleDepth()-Depth_Keller msg: 1633880774528 epoch sec; seqNo:1160; depth 0.03 2021-10-10T15:46:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880774.55 epoch sec; seqNo:1161; 4061568.93 north; 594799.28 east 2021-10-10T15:46:14Z- handleDepth()-Depth_Keller msg: 1633880774941 epoch sec; seqNo:1161; depth 0.09 2021-10-10T15:46:14Z- handleDvl() - RDI_Pathfinder msg: 1633880774.97 epoch sec; seqNo:538 2021-10-10T15:46:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.30 , 96.71 , 91.82 , 0.00 2021-10-10T15:46:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.14 , 0.09 , 0.10 2021-10-10T15:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880775.05 epoch sec; seqNo:1162; 4061568.93 north; 594799.28 east 2021-10-10T15:46:15Z- AHRS_M2 msg: 1633880775.34 epoch sec; seqNo:1139 2021-10-10T15:46:15Z- AHRS_M2 msg: 0.11 phi; 0.09 theta; 1.33 psi 2021-10-10T15:46:15Z- handleDepth()-Depth_Keller msg: 1633880775348 epoch sec; seqNo:1162; depth 0.08 2021-10-10T15:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880775.38 epoch sec; seqNo:1163; 4061568.93 north; 594799.28 east 2021-10-10T15:46:15Z- AHRS_M2 msg: 1633880775.73 epoch sec; seqNo:1140 2021-10-10T15:46:15Z- AHRS_M2 msg: 0.05 phi; 0.07 theta; 1.37 psi 2021-10-10T15:46:15Z- handleDepth()-Depth_Keller msg: 1633880775733 epoch sec; seqNo:1163; depth 0.06 2021-10-10T15:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880775.75 epoch sec; seqNo:1164; 4061568.93 north; 594799.28 east 2021-10-10T15:46:16Z- AHRS_M2 msg: 1633880776.13 epoch sec; seqNo:1141 2021-10-10T15:46:16Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.40 psi 2021-10-10T15:46:16Z- handleDepth()-Depth_Keller msg: 1633880776148 epoch sec; seqNo:1164; depth 0.06 2021-10-10T15:46:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:16Z- handleDvl() - RDI_Pathfinder msg: 1633880776.15 epoch sec; seqNo:539 2021-10-10T15:46:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.14 , 0.09 , 0.10 2021-10-10T15:46:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880776.17 epoch sec; seqNo:1165; 4061568.93 north; 594799.28 east 2021-10-10T15:46:16Z- AHRS_M2 msg: 1633880776.54 epoch sec; seqNo:1142 2021-10-10T15:46:16Z- AHRS_M2 msg: -0.10 phi; -0.11 theta; 1.39 psi 2021-10-10T15:46:16Z- handleDepth()-Depth_Keller msg: 1633880776548 epoch sec; seqNo:1165; depth 0.05 2021-10-10T15:46:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880776.58 epoch sec; seqNo:1166; 4061568.93 north; 594799.28 east 2021-10-10T15:46:16Z- AHRS_M2 msg: 1633880776.94 epoch sec; seqNo:1143 2021-10-10T15:46:16Z- AHRS_M2 msg: -0.12 phi; -0.12 theta; 1.35 psi 2021-10-10T15:46:16Z- handleDepth()-Depth_Keller msg: 1633880776952 epoch sec; seqNo:1166; depth 0.07 2021-10-10T15:46:17Z- handleDvl() - RDI_Pathfinder msg: 1633880777.00 epoch sec; seqNo:540 2021-10-10T15:46:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 87.00 , 99.22 , 72.56 2021-10-10T15:46:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.60 , -0.16 , -0.35 2021-10-10T15:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880777.04 epoch sec; seqNo:1167; 4061568.93 north; 594799.28 east 2021-10-10T15:46:17Z- AHRS_M2 msg: 1633880777.35 epoch sec; seqNo:1144 2021-10-10T15:46:17Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.34 psi 2021-10-10T15:46:17Z- handleDepth()-Depth_Keller msg: 1633880777356 epoch sec; seqNo:1167; depth 0.06 2021-10-10T15:46:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:17Z- handleDvl() - RDI_Pathfinder msg: 1633880777.36 epoch sec; seqNo:541 2021-10-10T15:46:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.60 , -0.16 , -0.35 2021-10-10T15:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880777.41 epoch sec; seqNo:1168; 4061568.93 north; 594799.28 east 2021-10-10T15:46:17Z- AHRS_M2 msg: 1633880777.75 epoch sec; seqNo:1145 2021-10-10T15:46:17Z- AHRS_M2 msg: 0.10 phi; -0.07 theta; 1.36 psi 2021-10-10T15:46:17Z- handleDepth()-Depth_Keller msg: 1633880777765 epoch sec; seqNo:1168; depth 0.05 2021-10-10T15:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880777.77 epoch sec; seqNo:1169; 4061568.93 north; 594799.28 east 2021-10-10T15:46:18Z- AHRS_M2 msg: 1633880778.16 epoch sec; seqNo:1146 2021-10-10T15:46:18Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 1.37 psi 2021-10-10T15:46:18Z- handleDepth()-Depth_Keller msg: 1633880778168 epoch sec; seqNo:1169; depth 0.09 2021-10-10T15:46:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880778.20 epoch sec; seqNo:1170; 4061568.93 north; 594799.28 east 2021-10-10T15:46:18Z- AHRS_M2 msg: 1633880778.56 epoch sec; seqNo:1147 2021-10-10T15:46:18Z- AHRS_M2 msg: 0.16 phi; -0.07 theta; 1.36 psi 2021-10-10T15:46:18Z- handleDepth()-Depth_Keller msg: 1633880778568 epoch sec; seqNo:1170; depth 0.09 2021-10-10T15:46:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:18Z- handleDvl() - RDI_Pathfinder msg: 1633880778.57 epoch sec; seqNo:542 2021-10-10T15:46:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.60 , -0.16 , -0.35 2021-10-10T15:46:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880778.58 epoch sec; seqNo:1171; 4061568.91 north; 594798.06 east 2021-10-10T15:46:18Z- AHRS_M2 msg: 1633880778.97 epoch sec; seqNo:1148 2021-10-10T15:46:18Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.35 psi 2021-10-10T15:46:18Z- handleDepth()-Depth_Keller msg: 1633880778972 epoch sec; seqNo:1171; depth 0.08 2021-10-10T15:46:19Z- handleDvl() - RDI_Pathfinder msg: 1633880779.04 epoch sec; seqNo:543 2021-10-10T15:46:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.20 , 77.47 , 93.31 , 82.31 2021-10-10T15:46:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , 0.09 , 0.22 2021-10-10T15:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880779.09 epoch sec; seqNo:1172; 4061568.91 north; 594798.06 east 2021-10-10T15:46:19Z- LcmTrn::handleMessages() - handling 41 messages took 0.89 ms and 123 calls... 2021-10-10T15:46:19Z- waiting for 1633880777.13, time is 1633880779.09 2021-10-10T15:46:19Z- LcmTrn::updateTrn() equating pose 1633880779.09 and meas times 1633880779.09 2021-10-10T15:46:19Z- LcmTrn::updateTrn() >>>> pose time 1633880779.09, meas time 1633880779.09 <<<< 2021-10-10T15:46:19Z- TerrainNav::Measurement type 1 from time = 1633880779.09 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:46:19Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594798.06, 0.08) 2021-10-10T15:46:19Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:19Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:19Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:19Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:19Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:19Z- AHRS_M2 msg: 1633880779.38 epoch sec; seqNo:1149 2021-10-10T15:46:19Z- AHRS_M2 msg: -0.14 phi; -0.06 theta; 1.38 psi 2021-10-10T15:46:19Z- handleDepth()-Depth_Keller msg: 1633880779393 epoch sec; seqNo:1172; depth 0.06 2021-10-10T15:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880779.44 epoch sec; seqNo:1173; 4061568.91 north; 594798.06 east 2021-10-10T15:46:19Z- AHRS_M2 msg: 1633880779.79 epoch sec; seqNo:1150 2021-10-10T15:46:19Z- AHRS_M2 msg: -0.21 phi; -0.04 theta; 1.40 psi 2021-10-10T15:46:19Z- handleDepth()-Depth_Keller msg: 1633880779812 epoch sec; seqNo:1173; depth 0.03 2021-10-10T15:46:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:19Z- handleDvl() - RDI_Pathfinder msg: 1633880779.82 epoch sec; seqNo:544 2021-10-10T15:46:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , 0.09 , 0.22 2021-10-10T15:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880779.88 epoch sec; seqNo:1174; 4061568.53 north; 594798.06 east 2021-10-10T15:46:20Z- AHRS_M2 msg: 1633880780.17 epoch sec; seqNo:1151 2021-10-10T15:46:20Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 1.39 psi 2021-10-10T15:46:20Z- handleDepth()-Depth_Keller msg: 1633880780179 epoch sec; seqNo:1174; depth 0.03 2021-10-10T15:46:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880780.20 epoch sec; seqNo:1175; 4061568.53 north; 594798.06 east 2021-10-10T15:46:20Z- AHRS_M2 msg: 1633880780.57 epoch sec; seqNo:1152 2021-10-10T15:46:20Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 1.38 psi 2021-10-10T15:46:20Z- handleDepth()-Depth_Keller msg: 1633880780580 epoch sec; seqNo:1175; depth 0.06 2021-10-10T15:46:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880780.61 epoch sec; seqNo:1176; 4061568.53 north; 594798.06 east 2021-10-10T15:46:20Z- AHRS_M2 msg: 1633880780.99 epoch sec; seqNo:1153 2021-10-10T15:46:20Z- AHRS_M2 msg: 0.08 phi; 0.01 theta; 1.39 psi 2021-10-10T15:46:21Z- handleDepth()-Depth_Keller msg: 1633880780996 epoch sec; seqNo:1176; depth 0.06 2021-10-10T15:46:21Z- handleDvl() - RDI_Pathfinder msg: 1633880781.04 epoch sec; seqNo:545 2021-10-10T15:46:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.51 , 100.51 , 98.06 , 78.71 2021-10-10T15:46:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , 0.02 , -0.04 2021-10-10T15:46:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880781.06 epoch sec; seqNo:1177; 4061568.53 north; 594798.06 east 2021-10-10T15:46:21Z- AHRS_M2 msg: 1633880781.39 epoch sec; seqNo:1154 2021-10-10T15:46:21Z- AHRS_M2 msg: 0.11 phi; 0.08 theta; 1.41 psi 2021-10-10T15:46:21Z- handleDepth()-Depth_Keller msg: 1633880781392 epoch sec; seqNo:1177; depth 0.08 2021-10-10T15:46:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880781.41 epoch sec; seqNo:1178; 4061568.53 north; 594798.06 east 2021-10-10T15:46:21Z- AHRS_M2 msg: 1633880781.81 epoch sec; seqNo:1155 2021-10-10T15:46:21Z- AHRS_M2 msg: 0.04 phi; 0.04 theta; 1.44 psi 2021-10-10T15:46:21Z- handleDepth()-Depth_Keller msg: 1633880781832 epoch sec; seqNo:1178; depth 0.07 2021-10-10T15:46:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880781.88 epoch sec; seqNo:1179; 4061568.53 north; 594798.06 east 2021-10-10T15:46:22Z- AHRS_M2 msg: 1633880782.19 epoch sec; seqNo:1156 2021-10-10T15:46:22Z- AHRS_M2 msg: -0.08 phi; -0.07 theta; 1.44 psi 2021-10-10T15:46:22Z- handleDepth()-Depth_Keller msg: 1633880782196 epoch sec; seqNo:1179; depth 0.07 2021-10-10T15:46:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:22Z- handleDvl() - RDI_Pathfinder msg: 1633880782.20 epoch sec; seqNo:546 2021-10-10T15:46:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.02 , 0.02 , -0.04 2021-10-10T15:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880782.21 epoch sec; seqNo:1180; 4061568.53 north; 594798.06 east 2021-10-10T15:46:22Z- AHRS_M2 msg: 1633880782.61 epoch sec; seqNo:1157 2021-10-10T15:46:22Z- AHRS_M2 msg: -0.19 phi; -0.12 theta; 1.42 psi 2021-10-10T15:46:22Z- handleDepth()-Depth_Keller msg: 1633880782615 epoch sec; seqNo:1180; depth 0.07 2021-10-10T15:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880782.63 epoch sec; seqNo:1181; 4061568.53 north; 594798.06 east 2021-10-10T15:46:23Z- AHRS_M2 msg: 1633880783.00 epoch sec; seqNo:1158 2021-10-10T15:46:23Z- AHRS_M2 msg: -0.18 phi; -0.06 theta; 1.42 psi 2021-10-10T15:46:23Z- handleDepth()-Depth_Keller msg: 1633880783012 epoch sec; seqNo:1181; depth 0.04 2021-10-10T15:46:23Z- handleDvl() - RDI_Pathfinder msg: 1633880783.06 epoch sec; seqNo:547 2021-10-10T15:46:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:46:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880783.10 epoch sec; seqNo:1182; 4061568.53 north; 594798.06 east 2021-10-10T15:46:23Z- AHRS_M2 msg: 1633880783.42 epoch sec; seqNo:1159 2021-10-10T15:46:23Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 1.43 psi 2021-10-10T15:46:23Z- handleDepth()-Depth_Keller msg: 1633880783424 epoch sec; seqNo:1182; depth 0.05 2021-10-10T15:46:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:23Z- handleDvl() - RDI_Pathfinder msg: 1633880783.43 epoch sec; seqNo:548 2021-10-10T15:46:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:46:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880783.47 epoch sec; seqNo:1183; 4061568.53 north; 594798.06 east 2021-10-10T15:46:23Z- AHRS_M2 msg: 1633880783.81 epoch sec; seqNo:1160 2021-10-10T15:46:23Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 1.43 psi 2021-10-10T15:46:23Z- handleDepth()-Depth_Keller msg: 1633880783815 epoch sec; seqNo:1183; depth 0.08 2021-10-10T15:46:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880783.83 epoch sec; seqNo:1184; 4061568.53 north; 594798.06 east 2021-10-10T15:46:24Z- AHRS_M2 msg: 1633880784.23 epoch sec; seqNo:1161 2021-10-10T15:46:24Z- AHRS_M2 msg: 0.27 phi; -0.04 theta; 1.41 psi 2021-10-10T15:46:24Z- handleDepth()-Depth_Keller msg: 1633880784242 epoch sec; seqNo:1184; depth 0.07 2021-10-10T15:46:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880784.27 epoch sec; seqNo:1185; 4061568.53 north; 594798.06 east 2021-10-10T15:46:24Z- LcmTrn::handleMessages() - handling 44 messages took 0.87 ms and 126 calls... 2021-10-10T15:46:24Z- waiting for 1633880782.09, time is 1633880784.27 2021-10-10T15:46:24Z- LcmTrn::updateTrn() >>>> pose time 1633880784.27, meas time 1633880783.43 <<<< 2021-10-10T15:46:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880783.43, ping # 0. 2021-10-10T15:46:24Z- TerrainNav::Measurement type 1 from time = 1633880783.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:46:24Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594798.06, 0.07) 2021-10-10T15:46:24Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:24Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:24Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:24Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:24Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:24Z- AHRS_M2 msg: 1633880784.62 epoch sec; seqNo:1162 2021-10-10T15:46:24Z- AHRS_M2 msg: 0.18 phi; -0.01 theta; 1.38 psi 2021-10-10T15:46:24Z- handleDepth()-Depth_Keller msg: 1633880784624 epoch sec; seqNo:1185; depth 0.05 2021-10-10T15:46:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:24Z- handleDvl() - RDI_Pathfinder msg: 1633880784.63 epoch sec; seqNo:549 2021-10-10T15:46:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:24Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:46:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880784.64 epoch sec; seqNo:1186; 4061568.53 north; 594798.06 east 2021-10-10T15:46:25Z- AHRS_M2 msg: 1633880785.04 epoch sec; seqNo:1163 2021-10-10T15:46:25Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 1.40 psi 2021-10-10T15:46:25Z- handleDepth()-Depth_Keller msg: 1633880785044 epoch sec; seqNo:1186; depth 0.03 2021-10-10T15:46:25Z- handleDvl() - RDI_Pathfinder msg: 1633880785.10 epoch sec; seqNo:550 2021-10-10T15:46:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 107.78 , 75.02 , 96.77 , 85.77 2021-10-10T15:46:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.03 , 0.03 , -0.07 2021-10-10T15:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880785.15 epoch sec; seqNo:1187; 4061568.53 north; 594798.06 east 2021-10-10T15:46:25Z- AHRS_M2 msg: 1633880785.45 epoch sec; seqNo:1164 2021-10-10T15:46:25Z- AHRS_M2 msg: -0.17 phi; 0.01 theta; 1.41 psi 2021-10-10T15:46:25Z- handleDepth()-Depth_Keller msg: 1633880785460 epoch sec; seqNo:1187; depth 0.04 2021-10-10T15:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880785.51 epoch sec; seqNo:1188; 4061568.53 north; 594798.06 east 2021-10-10T15:46:25Z- AHRS_M2 msg: 1633880785.84 epoch sec; seqNo:1165 2021-10-10T15:46:25Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 1.40 psi 2021-10-10T15:46:25Z- handleDepth()-Depth_Keller msg: 1633880785844 epoch sec; seqNo:1188; depth 0.06 2021-10-10T15:46:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:25Z- handleDvl() - RDI_Pathfinder msg: 1633880785.85 epoch sec; seqNo:551 2021-10-10T15:46:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.03 , 0.03 , -0.07 2021-10-10T15:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880785.87 epoch sec; seqNo:1189; 4061568.53 north; 594798.06 east 2021-10-10T15:46:26Z- AHRS_M2 msg: 1633880786.23 epoch sec; seqNo:1166 2021-10-10T15:46:26Z- AHRS_M2 msg: -0.15 phi; -0.06 theta; 1.42 psi 2021-10-10T15:46:26Z- handleDepth()-Depth_Keller msg: 1633880786236 epoch sec; seqNo:1189; depth 0.08 2021-10-10T15:46:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880786.27 epoch sec; seqNo:1190; 4061568.53 north; 594798.06 east 2021-10-10T15:46:26Z- AHRS_M2 msg: 1633880786.63 epoch sec; seqNo:1167 2021-10-10T15:46:26Z- AHRS_M2 msg: -0.10 phi; -0.07 theta; 1.42 psi 2021-10-10T15:46:26Z- handleDepth()-Depth_Keller msg: 1633880786640 epoch sec; seqNo:1190; depth 0.08 2021-10-10T15:46:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880786.72 epoch sec; seqNo:1191; 4061568.53 north; 594798.06 east 2021-10-10T15:46:27Z- AHRS_M2 msg: 1633880787.04 epoch sec; seqNo:1168 2021-10-10T15:46:27Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.40 psi 2021-10-10T15:46:27Z- handleDepth()-Depth_Keller msg: 1633880787052 epoch sec; seqNo:1191; depth 0.09 2021-10-10T15:46:27Z- handleDvl() - RDI_Pathfinder msg: 1633880787.11 epoch sec; seqNo:552 2021-10-10T15:46:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.66 , 105.13 , 96.57 , 0.00 2021-10-10T15:46:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.11 , 0.09 2021-10-10T15:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880787.14 epoch sec; seqNo:1192; 4061568.53 north; 594798.06 east 2021-10-10T15:46:27Z- AHRS_M2 msg: 1633880787.45 epoch sec; seqNo:1169 2021-10-10T15:46:27Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 1.37 psi 2021-10-10T15:46:27Z- handleDepth()-Depth_Keller msg: 1633880787456 epoch sec; seqNo:1192; depth 0.09 2021-10-10T15:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880787.53 epoch sec; seqNo:1193; 4061568.53 north; 594798.06 east 2021-10-10T15:46:27Z- AHRS_M2 msg: 1633880787.85 epoch sec; seqNo:1170 2021-10-10T15:46:27Z- AHRS_M2 msg: 0.02 phi; -0.00 theta; 1.37 psi 2021-10-10T15:46:27Z- handleDepth()-Depth_Keller msg: 1633880787856 epoch sec; seqNo:1193; depth 0.07 2021-10-10T15:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880787.89 epoch sec; seqNo:1194; 4061568.53 north; 594798.06 east 2021-10-10T15:46:28Z- AHRS_M2 msg: 1633880788.26 epoch sec; seqNo:1171 2021-10-10T15:46:28Z- AHRS_M2 msg: 0.03 phi; -0.08 theta; 1.37 psi 2021-10-10T15:46:28Z- handleDepth()-Depth_Keller msg: 1633880788260 epoch sec; seqNo:1194; depth 0.07 2021-10-10T15:46:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:28Z- handleDvl() - RDI_Pathfinder msg: 1633880788.26 epoch sec; seqNo:553 2021-10-10T15:46:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.50 , -0.11 , 0.09 2021-10-10T15:46:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880788.29 epoch sec; seqNo:1195; 4061568.53 north; 594798.06 east 2021-10-10T15:46:28Z- AHRS_M2 msg: 1633880788.67 epoch sec; seqNo:1172 2021-10-10T15:46:28Z- AHRS_M2 msg: 0.04 phi; -0.13 theta; 1.36 psi 2021-10-10T15:46:28Z- handleDepth()-Depth_Keller msg: 1633880788686 epoch sec; seqNo:1195; depth 0.05 2021-10-10T15:46:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880788.75 epoch sec; seqNo:1196; 4061568.52 north; 594796.84 east 2021-10-10T15:46:29Z- AHRS_M2 msg: 1633880789.06 epoch sec; seqNo:1173 2021-10-10T15:46:29Z- AHRS_M2 msg: 0.02 phi; -0.09 theta; 1.34 psi 2021-10-10T15:46:29Z- handleDepth()-Depth_Keller msg: 1633880789068 epoch sec; seqNo:1196; depth 0.04 2021-10-10T15:46:29Z- handleDvl() - RDI_Pathfinder msg: 1633880789.11 epoch sec; seqNo:554 2021-10-10T15:46:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.93 , 86.93 , 97.79 , 78.78 2021-10-10T15:46:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.02 , 0.22 2021-10-10T15:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880789.14 epoch sec; seqNo:1197; 4061568.52 north; 594796.84 east 2021-10-10T15:46:29Z- LcmTrn::handleMessages() - handling 42 messages took 0.82 ms and 125 calls... 2021-10-10T15:46:29Z- waiting for 1633880787.27, time is 1633880789.14 2021-10-10T15:46:29Z- LcmTrn::updateTrn() equating pose 1633880789.14 and meas times 1633880789.14 2021-10-10T15:46:29Z- LcmTrn::updateTrn() >>>> pose time 1633880789.14, meas time 1633880789.14 <<<< 2021-10-10T15:46:29Z- TerrainNav::Measurement type 1 from time = 1633880789.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:46:29Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594796.84, 0.04) 2021-10-10T15:46:29Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:29Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:29Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:29Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:29Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:29Z- AHRS_M2 msg: 1633880789.47 epoch sec; seqNo:1174 2021-10-10T15:46:29Z- AHRS_M2 msg: 0.03 phi; -0.01 theta; 1.34 psi 2021-10-10T15:46:29Z- handleDepth()-Depth_Keller msg: 1633880789476 epoch sec; seqNo:1197; depth 0.02 2021-10-10T15:46:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:29Z- handleDvl() - RDI_Pathfinder msg: 1633880789.48 epoch sec; seqNo:555 2021-10-10T15:46:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.02 , 0.22 2021-10-10T15:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880789.54 epoch sec; seqNo:1198; 4061568.52 north; 594796.84 east 2021-10-10T15:46:29Z- AHRS_M2 msg: 1633880789.87 epoch sec; seqNo:1175 2021-10-10T15:46:29Z- AHRS_M2 msg: 0.05 phi; 0.04 theta; 1.35 psi 2021-10-10T15:46:29Z- handleDepth()-Depth_Keller msg: 1633880789876 epoch sec; seqNo:1198; depth 0.04 2021-10-10T15:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880789.90 epoch sec; seqNo:1199; 4061568.52 north; 594796.84 east 2021-10-10T15:46:30Z- AHRS_M2 msg: 1633880790.28 epoch sec; seqNo:1176 2021-10-10T15:46:30Z- AHRS_M2 msg: -0.02 phi; 0.05 theta; 1.35 psi 2021-10-10T15:46:30Z- handleDepth()-Depth_Keller msg: 1633880790294 epoch sec; seqNo:1199; depth 0.06 2021-10-10T15:46:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880790.36 epoch sec; seqNo:1200; 4061568.52 north; 594796.84 east 2021-10-10T15:46:30Z- AHRS_M2 msg: 1633880790.75 epoch sec; seqNo:1177 2021-10-10T15:46:30Z- AHRS_M2 msg: -0.11 phi; 0.03 theta; 1.38 psi 2021-10-10T15:46:30Z- handleDepth()-Depth_Keller msg: 1633880790770 epoch sec; seqNo:1200; depth 0.04 2021-10-10T15:46:30Z- handleDvl() - RDI_Pathfinder msg: 1633880790.86 epoch sec; seqNo:556 2021-10-10T15:46:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.73 , 85.84 , 96.84 , 72.96 2021-10-10T15:46:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.02 , -0.17 2021-10-10T15:46:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880790.92 epoch sec; seqNo:1201; 4061568.52 north; 594796.84 east 2021-10-10T15:46:31Z- AHRS_M2 msg: 1633880791.10 epoch sec; seqNo:1178 2021-10-10T15:46:31Z- AHRS_M2 msg: -0.16 phi; -0.02 theta; 1.37 psi 2021-10-10T15:46:31Z- handleDepth()-Depth_Keller msg: 1633880791114 epoch sec; seqNo:1201; depth 0.06 2021-10-10T15:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880791.16 epoch sec; seqNo:1202; 4061568.52 north; 594796.84 east 2021-10-10T15:46:31Z- AHRS_M2 msg: 1633880791.49 epoch sec; seqNo:1179 2021-10-10T15:46:31Z- AHRS_M2 msg: -0.12 phi; -0.03 theta; 1.36 psi 2021-10-10T15:46:31Z- handleDepth()-Depth_Keller msg: 1633880791496 epoch sec; seqNo:1202; depth 0.05 2021-10-10T15:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880791.51 epoch sec; seqNo:1203; 4061568.52 north; 594796.84 east 2021-10-10T15:46:31Z- AHRS_M2 msg: 1633880791.89 epoch sec; seqNo:1180 2021-10-10T15:46:31Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.36 psi 2021-10-10T15:46:31Z- handleDepth()-Depth_Keller msg: 1633880791905 epoch sec; seqNo:1203; depth 0.06 2021-10-10T15:46:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:31Z- handleDvl() - RDI_Pathfinder msg: 1633880791.91 epoch sec; seqNo:557 2021-10-10T15:46:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.02 , -0.17 2021-10-10T15:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880791.93 epoch sec; seqNo:1204; 4061568.52 north; 594796.84 east 2021-10-10T15:46:32Z- AHRS_M2 msg: 1633880792.31 epoch sec; seqNo:1181 2021-10-10T15:46:32Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 1.37 psi 2021-10-10T15:46:32Z- handleDepth()-Depth_Keller msg: 1633880792312 epoch sec; seqNo:1204; depth 0.07 2021-10-10T15:46:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880792.34 epoch sec; seqNo:1205; 4061568.52 north; 594796.84 east 2021-10-10T15:46:32Z- AHRS_M2 msg: 1633880792.74 epoch sec; seqNo:1182 2021-10-10T15:46:32Z- AHRS_M2 msg: 0.03 phi; -0.09 theta; 1.39 psi 2021-10-10T15:46:32Z- handleDepth()-Depth_Keller msg: 1633880792753 epoch sec; seqNo:1205; depth 0.07 2021-10-10T15:46:32Z- handleDvl() - RDI_Pathfinder msg: 1633880792.81 epoch sec; seqNo:558 2021-10-10T15:46:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.53 , 0.00 , 98.20 , 83.53 2021-10-10T15:46:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.04 , 0.21 2021-10-10T15:46:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880792.86 epoch sec; seqNo:1206; 4061568.52 north; 594796.84 east 2021-10-10T15:46:33Z- AHRS_M2 msg: 1633880793.10 epoch sec; seqNo:1183 2021-10-10T15:46:33Z- AHRS_M2 msg: 0.07 phi; -0.15 theta; 1.39 psi 2021-10-10T15:46:33Z- handleDepth()-Depth_Keller msg: 1633880793112 epoch sec; seqNo:1206; depth 0.07 2021-10-10T15:46:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:33Z- handleDvl() - RDI_Pathfinder msg: 1633880793.11 epoch sec; seqNo:559 2021-10-10T15:46:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.04 , 0.21 2021-10-10T15:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880793.15 epoch sec; seqNo:1207; 4061568.52 north; 594796.84 east 2021-10-10T15:46:33Z- AHRS_M2 msg: 1633880793.51 epoch sec; seqNo:1184 2021-10-10T15:46:33Z- AHRS_M2 msg: 0.09 phi; -0.11 theta; 1.37 psi 2021-10-10T15:46:33Z- handleDepth()-Depth_Keller msg: 1633880793526 epoch sec; seqNo:1207; depth 0.09 2021-10-10T15:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880793.56 epoch sec; seqNo:1208; 4061568.52 north; 594796.84 east 2021-10-10T15:46:33Z- AHRS_M2 msg: 1633880793.92 epoch sec; seqNo:1185 2021-10-10T15:46:33Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.35 psi 2021-10-10T15:46:33Z- handleDepth()-Depth_Keller msg: 1633880793924 epoch sec; seqNo:1208; depth 0.06 2021-10-10T15:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880793.97 epoch sec; seqNo:1209; 4061568.52 north; 594796.84 east 2021-10-10T15:46:34Z- AHRS_M2 msg: 1633880794.33 epoch sec; seqNo:1186 2021-10-10T15:46:34Z- AHRS_M2 msg: -0.06 phi; -0.06 theta; 1.35 psi 2021-10-10T15:46:34Z- handleDepth()-Depth_Keller msg: 1633880794340 epoch sec; seqNo:1209; depth 0.04 2021-10-10T15:46:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:34Z- handleDvl() - RDI_Pathfinder msg: 1633880794.34 epoch sec; seqNo:560 2021-10-10T15:46:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:34Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.04 , 0.21 2021-10-10T15:46:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880794.37 epoch sec; seqNo:1210; 4061568.52 north; 594796.84 east 2021-10-10T15:46:34Z- LcmTrn::handleMessages() - handling 45 messages took 0.97 ms and 125 calls... 2021-10-10T15:46:34Z- waiting for 1633880792.14, time is 1633880794.37 2021-10-10T15:46:34Z- LcmTrn::updateTrn() equating pose 1633880794.37 and meas times 1633880794.37 2021-10-10T15:46:34Z- LcmTrn::updateTrn() >>>> pose time 1633880794.37, meas time 1633880794.37 <<<< 2021-10-10T15:46:34Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880794.37, ping # 0. 2021-10-10T15:46:34Z- TerrainNav::Measurement type 1 from time = 1633880794.37 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:46:34Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594796.84, 0.04) 2021-10-10T15:46:34Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:34Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:34Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:34Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:34Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:34Z- AHRS_M2 msg: 1633880794.75 epoch sec; seqNo:1187 2021-10-10T15:46:34Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 1.36 psi 2021-10-10T15:46:34Z- handleDepth()-Depth_Keller msg: 1633880794757 epoch sec; seqNo:1210; depth 0.04 2021-10-10T15:46:34Z- handleDvl() - RDI_Pathfinder msg: 1633880794.84 epoch sec; seqNo:561 2021-10-10T15:46:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.77 , 87.00 , 98.00 , 84.55 2021-10-10T15:46:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.00 , 0.20 2021-10-10T15:46:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880794.87 epoch sec; seqNo:1211; 4061568.52 north; 594796.84 east 2021-10-10T15:46:35Z- AHRS_M2 msg: 1633880795.14 epoch sec; seqNo:1188 2021-10-10T15:46:35Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 1.34 psi 2021-10-10T15:46:35Z- handleDepth()-Depth_Keller msg: 1633880795145 epoch sec; seqNo:1211; depth 0.08 2021-10-10T15:46:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880795.20 epoch sec; seqNo:1212; 4061568.52 north; 594796.84 east 2021-10-10T15:46:35Z- AHRS_M2 msg: 1633880795.56 epoch sec; seqNo:1189 2021-10-10T15:46:35Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 1.33 psi 2021-10-10T15:46:35Z- handleDepth()-Depth_Keller msg: 1633880795584 epoch sec; seqNo:1212; depth 0.07 2021-10-10T15:46:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:35Z- handleDvl() - RDI_Pathfinder msg: 1633880795.59 epoch sec; seqNo:562 2021-10-10T15:46:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.00 , 0.20 2021-10-10T15:46:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880795.62 epoch sec; seqNo:1213; 4061568.52 north; 594796.84 east 2021-10-10T15:46:35Z- AHRS_M2 msg: 1633880795.94 epoch sec; seqNo:1190 2021-10-10T15:46:35Z- AHRS_M2 msg: -0.08 phi; 0.06 theta; 1.33 psi 2021-10-10T15:46:35Z- handleDepth()-Depth_Keller msg: 1633880795944 epoch sec; seqNo:1213; depth 0.05 2021-10-10T15:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880795.96 epoch sec; seqNo:1214; 4061568.52 north; 594796.84 east 2021-10-10T15:46:36Z- AHRS_M2 msg: 1633880796.34 epoch sec; seqNo:1191 2021-10-10T15:46:36Z- AHRS_M2 msg: -0.11 phi; 0.07 theta; 1.34 psi 2021-10-10T15:46:36Z- handleDepth()-Depth_Keller msg: 1633880796356 epoch sec; seqNo:1214; depth 0.03 2021-10-10T15:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880796.37 epoch sec; seqNo:1215; 4061568.52 north; 594796.84 east 2021-10-10T15:46:36Z- AHRS_M2 msg: 1633880796.76 epoch sec; seqNo:1192 2021-10-10T15:46:36Z- AHRS_M2 msg: -0.10 phi; 0.03 theta; 1.30 psi 2021-10-10T15:46:36Z- handleDepth()-Depth_Keller msg: 1633880796764 epoch sec; seqNo:1215; depth 0.03 2021-10-10T15:46:36Z- handleDvl() - RDI_Pathfinder msg: 1633880796.80 epoch sec; seqNo:563 2021-10-10T15:46:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.55 , 98.00 , 102.89 , 75.84 2021-10-10T15:46:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , -0.03 , 0.03 2021-10-10T15:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880796.83 epoch sec; seqNo:1216; 4061568.52 north; 594796.84 east 2021-10-10T15:46:37Z- AHRS_M2 msg: 1633880797.15 epoch sec; seqNo:1193 2021-10-10T15:46:37Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.32 psi 2021-10-10T15:46:37Z- handleDepth()-Depth_Keller msg: 1633880797156 epoch sec; seqNo:1216; depth 0.06 2021-10-10T15:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880797.17 epoch sec; seqNo:1217; 4061568.52 north; 594796.84 east 2021-10-10T15:46:37Z- AHRS_M2 msg: 1633880797.57 epoch sec; seqNo:1194 2021-10-10T15:46:37Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.38 psi 2021-10-10T15:46:37Z- handleDepth()-Depth_Keller msg: 1633880797579 epoch sec; seqNo:1217; depth 0.05 2021-10-10T15:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880797.60 epoch sec; seqNo:1218; 4061568.52 north; 594796.84 east 2021-10-10T15:46:37Z- AHRS_M2 msg: 1633880797.96 epoch sec; seqNo:1195 2021-10-10T15:46:37Z- AHRS_M2 msg: 0.04 phi; -0.07 theta; 1.39 psi 2021-10-10T15:46:37Z- handleDepth()-Depth_Keller msg: 1633880797961 epoch sec; seqNo:1218; depth 0.08 2021-10-10T15:46:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:37Z- handleDvl() - RDI_Pathfinder msg: 1633880797.96 epoch sec; seqNo:564 2021-10-10T15:46:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , -0.03 , 0.03 2021-10-10T15:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880797.97 epoch sec; seqNo:1219; 4061568.52 north; 594796.84 east 2021-10-10T15:46:38Z- AHRS_M2 msg: 1633880798.37 epoch sec; seqNo:1196 2021-10-10T15:46:38Z- AHRS_M2 msg: 0.03 phi; -0.10 theta; 1.37 psi 2021-10-10T15:46:38Z- handleDepth()-Depth_Keller msg: 1633880798383 epoch sec; seqNo:1219; depth 0.08 2021-10-10T15:46:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880798.40 epoch sec; seqNo:1220; 4061568.53 north; 594798.06 east 2021-10-10T15:46:38Z- AHRS_M2 msg: 1633880798.76 epoch sec; seqNo:1197 2021-10-10T15:46:38Z- AHRS_M2 msg: -0.02 phi; -0.10 theta; 1.36 psi 2021-10-10T15:46:38Z- handleDepth()-Depth_Keller msg: 1633880798772 epoch sec; seqNo:1220; depth 0.10 2021-10-10T15:46:38Z- handleDvl() - RDI_Pathfinder msg: 1633880798.80 epoch sec; seqNo:565 2021-10-10T15:46:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.30 , 79.12 , 91.75 , 84.41 2021-10-10T15:46:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.23 , 0.03 2021-10-10T15:46:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880798.81 epoch sec; seqNo:1221; 4061568.52 north; 594796.84 east 2021-10-10T15:46:39Z- AHRS_M2 msg: 1633880799.18 epoch sec; seqNo:1198 2021-10-10T15:46:39Z- AHRS_M2 msg: -0.08 phi; -0.12 theta; 1.37 psi 2021-10-10T15:46:39Z- handleDepth()-Depth_Keller msg: 1633880799191 epoch sec; seqNo:1221; depth 0.08 2021-10-10T15:46:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:39Z- handleDvl() - RDI_Pathfinder msg: 1633880799.19 epoch sec; seqNo:566 2021-10-10T15:46:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.23 , 0.03 2021-10-10T15:46:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880799.22 epoch sec; seqNo:1222; 4061568.52 north; 594796.84 east 2021-10-10T15:46:39Z- LcmTrn::handleMessages() - handling 42 messages took 0.82 ms and 125 calls... 2021-10-10T15:46:39Z- waiting for 1633880797.37, time is 1633880799.22 2021-10-10T15:46:39Z- LcmTrn::updateTrn() equating pose 1633880799.22 and meas times 1633880799.22 2021-10-10T15:46:39Z- LcmTrn::updateTrn() >>>> pose time 1633880799.22, meas time 1633880799.22 <<<< 2021-10-10T15:46:39Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880799.22, ping # 0. 2021-10-10T15:46:39Z- TerrainNav::Measurement type 1 from time = 1633880799.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:46:39Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594796.84, 0.08) 2021-10-10T15:46:39Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:39Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:39Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:39Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:39Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:39Z- AHRS_M2 msg: 1633880799.57 epoch sec; seqNo:1199 2021-10-10T15:46:39Z- AHRS_M2 msg: -0.06 phi; -0.21 theta; 1.35 psi 2021-10-10T15:46:39Z- handleDepth()-Depth_Keller msg: 1633880799577 epoch sec; seqNo:1222; depth 0.09 2021-10-10T15:46:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880799.59 epoch sec; seqNo:1223; 4061568.52 north; 594796.84 east 2021-10-10T15:46:39Z- AHRS_M2 msg: 1633880799.98 epoch sec; seqNo:1200 2021-10-10T15:46:40Z- AHRS_M2 msg: 0.00 phi; -0.21 theta; 1.31 psi 2021-10-10T15:46:40Z- handleDepth()-Depth_Keller msg: 1633880799994 epoch sec; seqNo:1223; depth 0.10 2021-10-10T15:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880800.00 epoch sec; seqNo:1224; 4061568.52 north; 594796.84 east 2021-10-10T15:46:40Z- AHRS_M2 msg: 1633880800.38 epoch sec; seqNo:1201 2021-10-10T15:46:40Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 1.29 psi 2021-10-10T15:46:40Z- handleDepth()-Depth_Keller msg: 1633880800388 epoch sec; seqNo:1224; depth 0.09 2021-10-10T15:46:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:40Z- handleDvl() - RDI_Pathfinder msg: 1633880800.39 epoch sec; seqNo:567 2021-10-10T15:46:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.23 , 0.03 2021-10-10T15:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880800.40 epoch sec; seqNo:1225; 4061568.52 north; 594796.84 east 2021-10-10T15:46:40Z- AHRS_M2 msg: 1633880800.80 epoch sec; seqNo:1202 2021-10-10T15:46:40Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.32 psi 2021-10-10T15:46:40Z- handleDepth()-Depth_Keller msg: 1633880800804 epoch sec; seqNo:1225; depth 0.07 2021-10-10T15:46:40Z- handleDvl() - RDI_Pathfinder msg: 1633880800.84 epoch sec; seqNo:568 2021-10-10T15:46:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.20 , 88.42 , 84.75 , 0.00 2021-10-10T15:46:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , 0.45 , 0.57 2021-10-10T15:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880800.85 epoch sec; seqNo:1226; 4061568.52 north; 594796.84 east 2021-10-10T15:46:41Z- AHRS_M2 msg: 1633880801.19 epoch sec; seqNo:1203 2021-10-10T15:46:41Z- AHRS_M2 msg: -0.03 phi; 0.02 theta; 1.37 psi 2021-10-10T15:46:41Z- handleDepth()-Depth_Keller msg: 1633880801203 epoch sec; seqNo:1226; depth 0.06 2021-10-10T15:46:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880801.23 epoch sec; seqNo:1227; 4061568.52 north; 594796.84 east 2021-10-10T15:46:41Z- AHRS_M2 msg: 1633880801.59 epoch sec; seqNo:1204 2021-10-10T15:46:41Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.38 psi 2021-10-10T15:46:41Z- handleDepth()-Depth_Keller msg: 1633880801598 epoch sec; seqNo:1227; depth 0.07 2021-10-10T15:46:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:41Z- handleDvl() - RDI_Pathfinder msg: 1633880801.60 epoch sec; seqNo:569 2021-10-10T15:46:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , 0.45 , 0.57 2021-10-10T15:46:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880801.62 epoch sec; seqNo:1228; 4061568.14 north; 594796.84 east 2021-10-10T15:46:42Z- AHRS_M2 msg: 1633880801.99 epoch sec; seqNo:1205 2021-10-10T15:46:42Z- AHRS_M2 msg: 0.07 phi; -0.04 theta; 1.36 psi 2021-10-10T15:46:42Z- handleDepth()-Depth_Keller msg: 1633880802004 epoch sec; seqNo:1228; depth 0.06 2021-10-10T15:46:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880802.01 epoch sec; seqNo:1229; 4061568.14 north; 594796.84 east 2021-10-10T15:46:42Z- AHRS_M2 msg: 1633880802.40 epoch sec; seqNo:1206 2021-10-10T15:46:42Z- AHRS_M2 msg: -0.03 phi; 0.02 theta; 1.40 psi 2021-10-10T15:46:42Z- handleDepth()-Depth_Keller msg: 1633880802414 epoch sec; seqNo:1229; depth 0.04 2021-10-10T15:46:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880802.42 epoch sec; seqNo:1230; 4061568.14 north; 594796.84 east 2021-10-10T15:46:42Z- AHRS_M2 msg: 1633880802.81 epoch sec; seqNo:1207 2021-10-10T15:46:42Z- AHRS_M2 msg: -0.10 phi; -0.00 theta; 1.39 psi 2021-10-10T15:46:42Z- handleDepth()-Depth_Keller msg: 1633880802813 epoch sec; seqNo:1230; depth 0.05 2021-10-10T15:46:42Z- handleDvl() - RDI_Pathfinder msg: 1633880802.83 epoch sec; seqNo:570 2021-10-10T15:46:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.57 , 78.71 , 94.46 , 81.02 2021-10-10T15:46:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , 0.13 , -0.53 2021-10-10T15:46:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880802.85 epoch sec; seqNo:1231; 4061567.76 north; 594796.85 east 2021-10-10T15:46:43Z- AHRS_M2 msg: 1633880803.21 epoch sec; seqNo:1208 2021-10-10T15:46:43Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 1.37 psi 2021-10-10T15:46:43Z- handleDepth()-Depth_Keller msg: 1633880803211 epoch sec; seqNo:1231; depth 0.05 2021-10-10T15:46:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880803.23 epoch sec; seqNo:1232; 4061567.76 north; 594796.85 east 2021-10-10T15:46:43Z- AHRS_M2 msg: 1633880803.61 epoch sec; seqNo:1209 2021-10-10T15:46:43Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 1.39 psi 2021-10-10T15:46:43Z- handleDepth()-Depth_Keller msg: 1633880803614 epoch sec; seqNo:1232; depth 0.07 2021-10-10T15:46:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880803.62 epoch sec; seqNo:1233; 4061567.76 north; 594796.85 east 2021-10-10T15:46:44Z- AHRS_M2 msg: 1633880804.01 epoch sec; seqNo:1210 2021-10-10T15:46:44Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.37 psi 2021-10-10T15:46:44Z- handleDepth()-Depth_Keller msg: 1633880804024 epoch sec; seqNo:1233; depth 0.07 2021-10-10T15:46:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:44Z- handleDvl() - RDI_Pathfinder msg: 1633880804.03 epoch sec; seqNo:571 2021-10-10T15:46:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , 0.13 , -0.53 2021-10-10T15:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880804.05 epoch sec; seqNo:1234; 4061567.76 north; 594796.85 east 2021-10-10T15:46:44Z- AHRS_M2 msg: 1633880804.42 epoch sec; seqNo:1211 2021-10-10T15:46:44Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.34 psi 2021-10-10T15:46:44Z- handleDepth()-Depth_Keller msg: 1633880804438 epoch sec; seqNo:1234; depth 0.06 2021-10-10T15:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880804.47 epoch sec; seqNo:1235; 4061567.76 north; 594796.85 east 2021-10-10T15:46:44Z- LcmTrn::handleMessages() - handling 44 messages took 0.74 ms and 129 calls... 2021-10-10T15:46:44Z- waiting for 1633880802.22, time is 1633880804.47 2021-10-10T15:46:44Z- LcmTrn::updateTrn() >>>> pose time 1633880804.47, meas time 1633880804.03 <<<< 2021-10-10T15:46:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880804.03, ping # 0. 2021-10-10T15:46:44Z- TerrainNav::Measurement type 1 from time = 1633880804.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:46:44Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594796.85, 0.06) 2021-10-10T15:46:44Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:44Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:44Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:44Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:44Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:44Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:44Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:44Z- AHRS_M2 msg: 1633880804.82 epoch sec; seqNo:1212 2021-10-10T15:46:44Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 1.33 psi 2021-10-10T15:46:44Z- handleDepth()-Depth_Keller msg: 1633880804832 epoch sec; seqNo:1235; depth 0.06 2021-10-10T15:46:44Z- handleDvl() - RDI_Pathfinder msg: 1633880804.87 epoch sec; seqNo:572 2021-10-10T15:46:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.31 , 90.86 , 98.20 , 82.31 2021-10-10T15:46:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.33 , 0.02 2021-10-10T15:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880804.88 epoch sec; seqNo:1236; 4061567.76 north; 594796.85 east 2021-10-10T15:46:45Z- AHRS_M2 msg: 1633880805.23 epoch sec; seqNo:1213 2021-10-10T15:46:45Z- AHRS_M2 msg: 0.16 phi; -0.05 theta; 1.33 psi 2021-10-10T15:46:45Z- handleDepth()-Depth_Keller msg: 1633880805236 epoch sec; seqNo:1236; depth 0.07 2021-10-10T15:46:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:45Z- handleDvl() - RDI_Pathfinder msg: 1633880805.24 epoch sec; seqNo:573 2021-10-10T15:46:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.33 , 0.02 2021-10-10T15:46:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880805.28 epoch sec; seqNo:1237; 4061568.14 north; 594796.84 east 2021-10-10T15:46:45Z- AHRS_M2 msg: 1633880805.64 epoch sec; seqNo:1214 2021-10-10T15:46:45Z- AHRS_M2 msg: 0.08 phi; -0.04 theta; 1.34 psi 2021-10-10T15:46:45Z- handleDepth()-Depth_Keller msg: 1633880805644 epoch sec; seqNo:1237; depth 0.06 2021-10-10T15:46:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880805.66 epoch sec; seqNo:1238; 4061568.14 north; 594796.84 east 2021-10-10T15:46:46Z- AHRS_M2 msg: 1633880806.03 epoch sec; seqNo:1215 2021-10-10T15:46:46Z- AHRS_M2 msg: -0.00 phi; -0.07 theta; 1.35 psi 2021-10-10T15:46:46Z- handleDepth()-Depth_Keller msg: 1633880806049 epoch sec; seqNo:1238; depth 0.04 2021-10-10T15:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880806.07 epoch sec; seqNo:1239; 4061568.14 north; 594796.84 east 2021-10-10T15:46:46Z- AHRS_M2 msg: 1633880806.45 epoch sec; seqNo:1216 2021-10-10T15:46:46Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 1.34 psi 2021-10-10T15:46:46Z- handleDepth()-Depth_Keller msg: 1633880806456 epoch sec; seqNo:1239; depth 0.03 2021-10-10T15:46:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:46Z- handleDvl() - RDI_Pathfinder msg: 1633880806.46 epoch sec; seqNo:574 2021-10-10T15:46:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.33 , 0.02 2021-10-10T15:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880806.48 epoch sec; seqNo:1240; 4061568.52 north; 594796.84 east 2021-10-10T15:46:46Z- AHRS_M2 msg: 1633880806.86 epoch sec; seqNo:1217 2021-10-10T15:46:46Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.33 psi 2021-10-10T15:46:46Z- handleDepth()-Depth_Keller msg: 1633880806864 epoch sec; seqNo:1240; depth 0.06 2021-10-10T15:46:46Z- handleDvl() - RDI_Pathfinder msg: 1633880806.90 epoch sec; seqNo:575 2021-10-10T15:46:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.00 , 85.77 , 94.33 , 83.33 2021-10-10T15:46:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , 0.21 , 0.12 2021-10-10T15:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880806.94 epoch sec; seqNo:1241; 4061568.14 north; 594796.84 east 2021-10-10T15:46:47Z- AHRS_M2 msg: 1633880807.25 epoch sec; seqNo:1218 2021-10-10T15:46:47Z- AHRS_M2 msg: -0.04 phi; 0.05 theta; 1.34 psi 2021-10-10T15:46:47Z- handleDepth()-Depth_Keller msg: 1633880807256 epoch sec; seqNo:1241; depth 0.07 2021-10-10T15:46:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880807.28 epoch sec; seqNo:1242; 4061568.14 north; 594796.84 east 2021-10-10T15:46:47Z- AHRS_M2 msg: 1633880807.65 epoch sec; seqNo:1219 2021-10-10T15:46:47Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.34 psi 2021-10-10T15:46:47Z- handleDepth()-Depth_Keller msg: 1633880807660 epoch sec; seqNo:1242; depth 0.07 2021-10-10T15:46:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:47Z- handleDvl() - RDI_Pathfinder msg: 1633880807.66 epoch sec; seqNo:576 2021-10-10T15:46:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , 0.21 , 0.12 2021-10-10T15:46:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880807.69 epoch sec; seqNo:1243; 4061567.76 north; 594796.85 east 2021-10-10T15:46:48Z- AHRS_M2 msg: 1633880808.06 epoch sec; seqNo:1220 2021-10-10T15:46:48Z- AHRS_M2 msg: -0.06 phi; -0.11 theta; 1.33 psi 2021-10-10T15:46:48Z- handleDepth()-Depth_Keller msg: 1633880808068 epoch sec; seqNo:1243; depth 0.09 2021-10-10T15:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880808.08 epoch sec; seqNo:1244; 4061567.75 north; 594795.63 east 2021-10-10T15:46:48Z- AHRS_M2 msg: 1633880808.46 epoch sec; seqNo:1221 2021-10-10T15:46:48Z- AHRS_M2 msg: -0.07 phi; -0.04 theta; 1.30 psi 2021-10-10T15:46:48Z- handleDepth()-Depth_Keller msg: 1633880808476 epoch sec; seqNo:1244; depth 0.10 2021-10-10T15:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880808.49 epoch sec; seqNo:1245; 4061567.75 north; 594795.63 east 2021-10-10T15:46:48Z- AHRS_M2 msg: 1633880808.86 epoch sec; seqNo:1222 2021-10-10T15:46:48Z- AHRS_M2 msg: -0.08 phi; 0.05 theta; 1.27 psi 2021-10-10T15:46:48Z- handleDepth()-Depth_Keller msg: 1633880808868 epoch sec; seqNo:1245; depth 0.08 2021-10-10T15:46:48Z- handleDvl() - RDI_Pathfinder msg: 1633880808.91 epoch sec; seqNo:577 2021-10-10T15:46:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.39 , 89.51 , 98.06 , 84.62 2021-10-10T15:46:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , 0.16 , 0.11 2021-10-10T15:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880808.94 epoch sec; seqNo:1246; 4061567.75 north; 594795.63 east 2021-10-10T15:46:49Z- AHRS_M2 msg: 1633880809.27 epoch sec; seqNo:1223 2021-10-10T15:46:49Z- AHRS_M2 msg: -0.07 phi; 0.07 theta; 1.28 psi 2021-10-10T15:46:49Z- handleDepth()-Depth_Keller msg: 1633880809281 epoch sec; seqNo:1246; depth 0.07 2021-10-10T15:46:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880809.30 epoch sec; seqNo:1247; 4061567.37 north; 594795.63 east 2021-10-10T15:46:49Z- LcmTrn::handleMessages() - handling 42 messages took 0.88 ms and 124 calls... 2021-10-10T15:46:49Z- waiting for 1633880807.47, time is 1633880809.30 2021-10-10T15:46:49Z- LcmTrn::updateTrn() >>>> pose time 1633880809.30, meas time 1633880808.91 <<<< 2021-10-10T15:46:49Z- TerrainNav::Measurement type 1 from time = 1633880808.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:46:49Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594795.63, 0.07) 2021-10-10T15:46:49Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:49Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:49Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:49Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:49Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:49Z- AHRS_M2 msg: 1633880809.68 epoch sec; seqNo:1224 2021-10-10T15:46:49Z- AHRS_M2 msg: -0.05 phi; 0.07 theta; 1.34 psi 2021-10-10T15:46:49Z- handleDepth()-Depth_Keller msg: 1633880809690 epoch sec; seqNo:1247; depth 0.07 2021-10-10T15:46:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880809.70 epoch sec; seqNo:1248; 4061567.37 north; 594795.63 east 2021-10-10T15:46:50Z- AHRS_M2 msg: 1633880810.09 epoch sec; seqNo:1225 2021-10-10T15:46:50Z- AHRS_M2 msg: -0.00 phi; 0.08 theta; 1.38 psi 2021-10-10T15:46:50Z- handleDepth()-Depth_Keller msg: 1633880810092 epoch sec; seqNo:1248; depth 0.08 2021-10-10T15:46:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:50Z- handleDvl() - RDI_Pathfinder msg: 1633880810.09 epoch sec; seqNo:578 2021-10-10T15:46:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , 0.16 , 0.11 2021-10-10T15:46:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880810.12 epoch sec; seqNo:1249; 4061567.37 north; 594795.63 east 2021-10-10T15:46:50Z- AHRS_M2 msg: 1633880810.49 epoch sec; seqNo:1226 2021-10-10T15:46:50Z- AHRS_M2 msg: 0.04 phi; 0.01 theta; 1.42 psi 2021-10-10T15:46:50Z- handleDepth()-Depth_Keller msg: 1633880810492 epoch sec; seqNo:1249; depth 0.07 2021-10-10T15:46:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880810.53 epoch sec; seqNo:1250; 4061567.37 north; 594795.63 east 2021-10-10T15:46:50Z- AHRS_M2 msg: 1633880810.89 epoch sec; seqNo:1227 2021-10-10T15:46:50Z- AHRS_M2 msg: 0.02 phi; -0.11 theta; 1.40 psi 2021-10-10T15:46:50Z- handleDepth()-Depth_Keller msg: 1633880810896 epoch sec; seqNo:1250; depth 0.08 2021-10-10T15:46:50Z- handleDvl() - RDI_Pathfinder msg: 1633880810.94 epoch sec; seqNo:579 2021-10-10T15:46:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.55 , 89.44 , 96.77 , 74.20 2021-10-10T15:46:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.25 , -0.42 2021-10-10T15:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880810.99 epoch sec; seqNo:1251; 4061567.37 north; 594795.63 east 2021-10-10T15:46:51Z- AHRS_M2 msg: 1633880811.31 epoch sec; seqNo:1228 2021-10-10T15:46:51Z- AHRS_M2 msg: -0.02 phi; -0.12 theta; 1.33 psi 2021-10-10T15:46:51Z- handleDepth()-Depth_Keller msg: 1633880811336 epoch sec; seqNo:1251; depth 0.11 2021-10-10T15:46:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:51Z- handleDvl() - RDI_Pathfinder msg: 1633880811.34 epoch sec; seqNo:580 2021-10-10T15:46:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.25 , -0.42 2021-10-10T15:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880811.41 epoch sec; seqNo:1252; 4061567.37 north; 594795.63 east 2021-10-10T15:46:51Z- AHRS_M2 msg: 1633880811.69 epoch sec; seqNo:1229 2021-10-10T15:46:51Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.30 psi 2021-10-10T15:46:51Z- handleDepth()-Depth_Keller msg: 1633880811709 epoch sec; seqNo:1252; depth 0.10 2021-10-10T15:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880811.78 epoch sec; seqNo:1253; 4061567.37 north; 594795.63 east 2021-10-10T15:46:52Z- AHRS_M2 msg: 1633880812.10 epoch sec; seqNo:1230 2021-10-10T15:46:52Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 1.30 psi 2021-10-10T15:46:52Z- handleDepth()-Depth_Keller msg: 1633880812102 epoch sec; seqNo:1253; depth 0.08 2021-10-10T15:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880812.14 epoch sec; seqNo:1254; 4061567.75 north; 594795.63 east 2021-10-10T15:46:52Z- AHRS_M2 msg: 1633880812.51 epoch sec; seqNo:1231 2021-10-10T15:46:52Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.32 psi 2021-10-10T15:46:52Z- handleDepth()-Depth_Keller msg: 1633880812520 epoch sec; seqNo:1254; depth 0.07 2021-10-10T15:46:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:52Z- handleDvl() - RDI_Pathfinder msg: 1633880812.52 epoch sec; seqNo:581 2021-10-10T15:46:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.25 , -0.42 2021-10-10T15:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880812.55 epoch sec; seqNo:1255; 4061567.75 north; 594795.63 east 2021-10-10T15:46:52Z- AHRS_M2 msg: 1633880812.90 epoch sec; seqNo:1232 2021-10-10T15:46:52Z- AHRS_M2 msg: -0.09 phi; 0.01 theta; 1.35 psi 2021-10-10T15:46:52Z- handleDepth()-Depth_Keller msg: 1633880812911 epoch sec; seqNo:1255; depth 0.07 2021-10-10T15:46:52Z- handleDvl() - RDI_Pathfinder msg: 1633880812.95 epoch sec; seqNo:582 2021-10-10T15:46:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.75 , 92.09 , 96.98 , 84.75 2021-10-10T15:46:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.56 , 0.56 2021-10-10T15:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880812.98 epoch sec; seqNo:1256; 4061567.37 north; 594795.63 east 2021-10-10T15:46:53Z- AHRS_M2 msg: 1633880813.32 epoch sec; seqNo:1233 2021-10-10T15:46:53Z- AHRS_M2 msg: -0.11 phi; 0.04 theta; 1.37 psi 2021-10-10T15:46:53Z- handleDepth()-Depth_Keller msg: 1633880813328 epoch sec; seqNo:1256; depth 0.04 2021-10-10T15:46:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880813.36 epoch sec; seqNo:1257; 4061567.37 north; 594795.63 east 2021-10-10T15:46:53Z- AHRS_M2 msg: 1633880813.72 epoch sec; seqNo:1234 2021-10-10T15:46:53Z- AHRS_M2 msg: -0.10 phi; 0.03 theta; 1.36 psi 2021-10-10T15:46:53Z- handleDepth()-Depth_Keller msg: 1633880813733 epoch sec; seqNo:1257; depth 0.03 2021-10-10T15:46:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:53Z- handleDvl() - RDI_Pathfinder msg: 1633880813.74 epoch sec; seqNo:583 2021-10-10T15:46:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.56 , 0.56 2021-10-10T15:46:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880813.77 epoch sec; seqNo:1258; 4061566.99 north; 594795.64 east 2021-10-10T15:46:54Z- AHRS_M2 msg: 1633880814.13 epoch sec; seqNo:1235 2021-10-10T15:46:54Z- AHRS_M2 msg: -0.04 phi; 0.02 theta; 1.37 psi 2021-10-10T15:46:54Z- handleDepth()-Depth_Keller msg: 1633880814132 epoch sec; seqNo:1258; depth 0.04 2021-10-10T15:46:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880814.15 epoch sec; seqNo:1259; 4061566.61 north; 594795.64 east 2021-10-10T15:46:54Z- AHRS_M2 msg: 1633880814.52 epoch sec; seqNo:1236 2021-10-10T15:46:54Z- AHRS_M2 msg: 0.01 phi; 0.01 theta; 1.40 psi 2021-10-10T15:46:54Z- handleDepth()-Depth_Keller msg: 1633880814532 epoch sec; seqNo:1259; depth 0.06 2021-10-10T15:46:54Z- LcmTrn::handleMessages() - handling 44 messages took 0.84 ms and 127 calls... 2021-10-10T15:46:54Z- waiting for 1633880812.30, time is 1633880814.52 2021-10-10T15:46:54Z- LcmTrn::updateTrn() >>>> pose time 1633880814.52, meas time 1633880813.74 <<<< 2021-10-10T15:46:54Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880813.74, ping # 0. 2021-10-10T15:46:54Z- TerrainNav::Measurement type 1 from time = 1633880813.74 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:46:54Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594795.64, 0.06) 2021-10-10T15:46:54Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:54Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:54Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:54Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:54Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880814.62 epoch sec; seqNo:1260; 4061566.61 north; 594795.64 east 2021-10-10T15:46:54Z- AHRS_M2 msg: 1633880814.97 epoch sec; seqNo:1237 2021-10-10T15:46:54Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.41 psi 2021-10-10T15:46:54Z- handleDepth()-Depth_Keller msg: 1633880814986 epoch sec; seqNo:1260; depth 0.07 2021-10-10T15:46:55Z- handleDvl() - RDI_Pathfinder msg: 1633880815.06 epoch sec; seqNo:584 2021-10-10T15:46:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.26 , 97.93 , 96.71 , 80.82 2021-10-10T15:46:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.40 , -0.40 2021-10-10T15:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880815.09 epoch sec; seqNo:1261; 4061566.61 north; 594795.64 east 2021-10-10T15:46:55Z- handleDepth()-Depth_Keller msg: 1633880815352 epoch sec; seqNo:1261; depth 0.09 2021-10-10T15:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880815.41 epoch sec; seqNo:1262; 4061566.99 north; 594795.64 east 2021-10-10T15:46:55Z- AHRS_M2 msg: 1633880815.74 epoch sec; seqNo:1238 2021-10-10T15:46:55Z- AHRS_M2 msg: -0.05 phi; -0.07 theta; 1.41 psi 2021-10-10T15:46:55Z- handleDepth()-Depth_Keller msg: 1633880815752 epoch sec; seqNo:1262; depth 0.09 2021-10-10T15:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880815.79 epoch sec; seqNo:1263; 4061566.99 north; 594795.64 east 2021-10-10T15:46:56Z- AHRS_M2 msg: 1633880816.13 epoch sec; seqNo:1239 2021-10-10T15:46:56Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.42 psi 2021-10-10T15:46:56Z- handleDepth()-Depth_Keller msg: 1633880816144 epoch sec; seqNo:1263; depth 0.07 2021-10-10T15:46:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:56Z- handleDvl() - RDI_Pathfinder msg: 1633880816.15 epoch sec; seqNo:585 2021-10-10T15:46:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.40 , -0.40 2021-10-10T15:46:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880816.19 epoch sec; seqNo:1264; 4061566.99 north; 594795.64 east 2021-10-10T15:46:56Z- AHRS_M2 msg: 1633880816.55 epoch sec; seqNo:1240 2021-10-10T15:46:56Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 1.39 psi 2021-10-10T15:46:56Z- handleDepth()-Depth_Keller msg: 1633880816556 epoch sec; seqNo:1264; depth 0.06 2021-10-10T15:46:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880816.57 epoch sec; seqNo:1265; 4061567.37 north; 594795.63 east 2021-10-10T15:46:56Z- AHRS_M2 msg: 1633880816.95 epoch sec; seqNo:1241 2021-10-10T15:46:56Z- AHRS_M2 msg: 0.08 phi; -0.09 theta; 1.36 psi 2021-10-10T15:46:56Z- handleDepth()-Depth_Keller msg: 1633880816961 epoch sec; seqNo:1265; depth 0.07 2021-10-10T15:46:57Z- handleDvl() - RDI_Pathfinder msg: 1633880817.01 epoch sec; seqNo:586 2021-10-10T15:46:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.48 , 89.37 , 93.04 , 0.00 2021-10-10T15:46:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.23 , 0.46 2021-10-10T15:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880817.06 epoch sec; seqNo:1266; 4061567.37 north; 594795.63 east 2021-10-10T15:46:57Z- AHRS_M2 msg: 1633880817.35 epoch sec; seqNo:1242 2021-10-10T15:46:57Z- AHRS_M2 msg: 0.08 phi; -0.08 theta; 1.37 psi 2021-10-10T15:46:57Z- handleDepth()-Depth_Keller msg: 1633880817356 epoch sec; seqNo:1266; depth 0.08 2021-10-10T15:46:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:57Z- handleDvl() - RDI_Pathfinder msg: 1633880817.36 epoch sec; seqNo:587 2021-10-10T15:46:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.23 , 0.46 2021-10-10T15:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880817.40 epoch sec; seqNo:1267; 4061567.37 north; 594795.63 east 2021-10-10T15:46:57Z- AHRS_M2 msg: 1633880817.75 epoch sec; seqNo:1243 2021-10-10T15:46:57Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 1.39 psi 2021-10-10T15:46:57Z- handleDepth()-Depth_Keller msg: 1633880817757 epoch sec; seqNo:1267; depth 0.05 2021-10-10T15:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880817.77 epoch sec; seqNo:1268; 4061567.36 north; 594794.41 east 2021-10-10T15:46:58Z- AHRS_M2 msg: 1633880818.15 epoch sec; seqNo:1244 2021-10-10T15:46:58Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 1.41 psi 2021-10-10T15:46:58Z- handleDepth()-Depth_Keller msg: 1633880818165 epoch sec; seqNo:1268; depth 0.04 2021-10-10T15:46:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880818.20 epoch sec; seqNo:1269; 4061567.74 north; 594794.41 east 2021-10-10T15:46:58Z- AHRS_M2 msg: 1633880818.56 epoch sec; seqNo:1245 2021-10-10T15:46:58Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.40 psi 2021-10-10T15:46:58Z- handleDepth()-Depth_Keller msg: 1633880818564 epoch sec; seqNo:1269; depth 0.04 2021-10-10T15:46:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:58Z- handleDvl() - RDI_Pathfinder msg: 1633880818.57 epoch sec; seqNo:588 2021-10-10T15:46:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.23 , 0.46 2021-10-10T15:46:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880818.59 epoch sec; seqNo:1270; 4061567.74 north; 594794.41 east 2021-10-10T15:46:58Z- AHRS_M2 msg: 1633880818.97 epoch sec; seqNo:1246 2021-10-10T15:46:58Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 1.36 psi 2021-10-10T15:46:58Z- handleDepth()-Depth_Keller msg: 1633880818986 epoch sec; seqNo:1270; depth 0.04 2021-10-10T15:46:59Z- handleDvl() - RDI_Pathfinder msg: 1633880819.07 epoch sec; seqNo:589 2021-10-10T15:46:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.44 , 85.77 , 94.33 , 82.11 2021-10-10T15:46:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.31 , 0.59 2021-10-10T15:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880819.15 epoch sec; seqNo:1271; 4061567.36 north; 594794.41 east 2021-10-10T15:46:59Z- AHRS_M2 msg: 1633880819.40 epoch sec; seqNo:1247 2021-10-10T15:46:59Z- AHRS_M2 msg: -0.15 phi; 0.01 theta; 1.40 psi 2021-10-10T15:46:59Z- handleDepth()-Depth_Keller msg: 1633880819453 epoch sec; seqNo:1271; depth 0.05 2021-10-10T15:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880819.53 epoch sec; seqNo:1272; 4061567.36 north; 594794.41 east 2021-10-10T15:46:59Z- LcmTrn::handleMessages() - handling 42 messages took 0.93 ms and 123 calls... 2021-10-10T15:46:59Z- waiting for 1633880817.52, time is 1633880819.53 2021-10-10T15:46:59Z- LcmTrn::updateTrn() >>>> pose time 1633880819.53, meas time 1633880819.07 <<<< 2021-10-10T15:46:59Z- TerrainNav::Measurement type 1 from time = 1633880819.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:46:59Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594794.41, 0.05) 2021-10-10T15:46:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:46:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:46:59Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:46:59Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:46:59Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:46:59Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:46:59Z- AHRS_M2 msg: 1633880819.82 epoch sec; seqNo:1248 2021-10-10T15:46:59Z- AHRS_M2 msg: -0.16 phi; -0.02 theta; 1.42 psi 2021-10-10T15:46:59Z- handleDepth()-Depth_Keller msg: 1633880819826 epoch sec; seqNo:1272; depth 0.05 2021-10-10T15:46:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:46:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:46:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:46:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:46:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:46:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:46:59Z- handleDvl() - RDI_Pathfinder msg: 1633880819.84 epoch sec; seqNo:590 2021-10-10T15:46:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:46:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.31 , 0.59 2021-10-10T15:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880819.90 epoch sec; seqNo:1273; 4061567.36 north; 594794.41 east 2021-10-10T15:47:00Z- AHRS_M2 msg: 1633880820.18 epoch sec; seqNo:1249 2021-10-10T15:47:00Z- AHRS_M2 msg: -0.14 phi; -0.03 theta; 1.40 psi 2021-10-10T15:47:00Z- handleDepth()-Depth_Keller msg: 1633880820183 epoch sec; seqNo:1273; depth 0.06 2021-10-10T15:47:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880820.20 epoch sec; seqNo:1274; 4061566.98 north; 594794.42 east 2021-10-10T15:47:00Z- AHRS_M2 msg: 1633880820.58 epoch sec; seqNo:1250 2021-10-10T15:47:00Z- AHRS_M2 msg: -0.11 phi; 0.01 theta; 1.42 psi 2021-10-10T15:47:00Z- handleDepth()-Depth_Keller msg: 1633880820588 epoch sec; seqNo:1274; depth 0.07 2021-10-10T15:47:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880820.61 epoch sec; seqNo:1275; 4061566.98 north; 594794.42 east 2021-10-10T15:47:00Z- AHRS_M2 msg: 1633880820.98 epoch sec; seqNo:1251 2021-10-10T15:47:00Z- AHRS_M2 msg: -0.07 phi; 0.06 theta; 1.45 psi 2021-10-10T15:47:01Z- handleDepth()-Depth_Keller msg: 1633880821000 epoch sec; seqNo:1275; depth 0.09 2021-10-10T15:47:01Z- handleDvl() - RDI_Pathfinder msg: 1633880821.08 epoch sec; seqNo:591 2021-10-10T15:47:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.88 , 96.84 , 95.61 , 0.00 2021-10-10T15:47:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.14 , -0.03 2021-10-10T15:47:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880821.15 epoch sec; seqNo:1276; 4061566.99 north; 594795.64 east 2021-10-10T15:47:01Z- AHRS_M2 msg: 1633880821.39 epoch sec; seqNo:1252 2021-10-10T15:47:01Z- AHRS_M2 msg: -0.02 phi; 0.05 theta; 1.47 psi 2021-10-10T15:47:01Z- handleDepth()-Depth_Keller msg: 1633880821396 epoch sec; seqNo:1276; depth 0.06 2021-10-10T15:47:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880821.47 epoch sec; seqNo:1277; 4061566.99 north; 594795.64 east 2021-10-10T15:47:01Z- AHRS_M2 msg: 1633880821.80 epoch sec; seqNo:1253 2021-10-10T15:47:01Z- AHRS_M2 msg: 0.03 phi; 0.00 theta; 1.47 psi 2021-10-10T15:47:01Z- handleDepth()-Depth_Keller msg: 1633880821805 epoch sec; seqNo:1277; depth 0.06 2021-10-10T15:47:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880821.83 epoch sec; seqNo:1278; 4061566.99 north; 594795.64 east 2021-10-10T15:47:02Z- AHRS_M2 msg: 1633880822.20 epoch sec; seqNo:1254 2021-10-10T15:47:02Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 1.46 psi 2021-10-10T15:47:02Z- handleDepth()-Depth_Keller msg: 1633880822228 epoch sec; seqNo:1278; depth 0.07 2021-10-10T15:47:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:02Z- handleDvl() - RDI_Pathfinder msg: 1633880822.23 epoch sec; seqNo:592 2021-10-10T15:47:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.14 , -0.03 2021-10-10T15:47:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880822.29 epoch sec; seqNo:1279; 4061566.61 north; 594795.64 east 2021-10-10T15:47:02Z- AHRS_M2 msg: 1633880822.62 epoch sec; seqNo:1255 2021-10-10T15:47:02Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 1.48 psi 2021-10-10T15:47:02Z- handleDepth()-Depth_Keller msg: 1633880822633 epoch sec; seqNo:1279; depth 0.06 2021-10-10T15:47:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880822.75 epoch sec; seqNo:1280; 4061566.61 north; 594795.64 east 2021-10-10T15:47:03Z- AHRS_M2 msg: 1633880823.01 epoch sec; seqNo:1256 2021-10-10T15:47:03Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.52 psi 2021-10-10T15:47:03Z- handleDepth()-Depth_Keller msg: 1633880823009 epoch sec; seqNo:1280; depth 0.05 2021-10-10T15:47:03Z- handleDvl() - RDI_Pathfinder msg: 1633880823.10 epoch sec; seqNo:593 2021-10-10T15:47:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.08 , 85.64 , 97.86 , 80.75 2021-10-10T15:47:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.02 , -0.66 2021-10-10T15:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880823.13 epoch sec; seqNo:1281; 4061566.61 north; 594795.64 east 2021-10-10T15:47:03Z- AHRS_M2 msg: 1633880823.42 epoch sec; seqNo:1257 2021-10-10T15:47:03Z- AHRS_M2 msg: -0.11 phi; -0.02 theta; 1.52 psi 2021-10-10T15:47:03Z- handleDepth()-Depth_Keller msg: 1633880823436 epoch sec; seqNo:1281; depth 0.07 2021-10-10T15:47:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:03Z- handleDvl() - RDI_Pathfinder msg: 1633880823.44 epoch sec; seqNo:594 2021-10-10T15:47:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.02 , -0.66 2021-10-10T15:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880823.48 epoch sec; seqNo:1282; 4061566.60 north; 594794.42 east 2021-10-10T15:47:03Z- AHRS_M2 msg: 1633880823.82 epoch sec; seqNo:1258 2021-10-10T15:47:03Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 1.51 psi 2021-10-10T15:47:03Z- handleDepth()-Depth_Keller msg: 1633880823823 epoch sec; seqNo:1282; depth 0.06 2021-10-10T15:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880823.85 epoch sec; seqNo:1283; 4061566.60 north; 594794.42 east 2021-10-10T15:47:04Z- AHRS_M2 msg: 1633880824.21 epoch sec; seqNo:1259 2021-10-10T15:47:04Z- AHRS_M2 msg: -0.07 phi; -0.08 theta; 1.53 psi 2021-10-10T15:47:04Z- handleDepth()-Depth_Keller msg: 1633880824220 epoch sec; seqNo:1283; depth 0.06 2021-10-10T15:47:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880824.27 epoch sec; seqNo:1284; 4061566.60 north; 594794.42 east 2021-10-10T15:47:04Z- AHRS_M2 msg: 1633880824.62 epoch sec; seqNo:1260 2021-10-10T15:47:04Z- AHRS_M2 msg: 0.02 phi; -0.10 theta; 1.53 psi 2021-10-10T15:47:04Z- LcmTrn::handleMessages() - handling 42 messages took 0.74 ms and 127 calls... 2021-10-10T15:47:04Z- waiting for 1633880822.53, time is 1633880824.62 2021-10-10T15:47:04Z- LcmTrn::updateTrn() >>>> pose time 1633880824.62, meas time 1633880823.44 <<<< 2021-10-10T15:47:04Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880823.44, ping # 0. 2021-10-10T15:47:04Z- TerrainNav::Measurement type 1 from time = 1633880823.44 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:04Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594794.42, 0.06) 2021-10-10T15:47:04Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:04Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:04Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:04Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:04Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:04Z- handleDepth()-Depth_Keller msg: 1633880824648 epoch sec; seqNo:1284; depth 0.06 2021-10-10T15:47:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:04Z- handleDvl() - RDI_Pathfinder msg: 1633880824.65 epoch sec; seqNo:595 2021-10-10T15:47:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.02 , -0.66 2021-10-10T15:47:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880824.75 epoch sec; seqNo:1285; 4061566.60 north; 594794.42 east 2021-10-10T15:47:05Z- handleDepth()-Depth_Keller msg: 1633880825049 epoch sec; seqNo:1285; depth 0.08 2021-10-10T15:47:05Z- handleDvl() - RDI_Pathfinder msg: 1633880825.16 epoch sec; seqNo:596 2021-10-10T15:47:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.95 , 91.95 , 93.17 , 82.17 2021-10-10T15:47:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.63 , -0.07 , 0.49 2021-10-10T15:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880825.26 epoch sec; seqNo:1286; 4061566.60 north; 594794.42 east 2021-10-10T15:47:05Z- handleDepth()-Depth_Keller msg: 1633880825520 epoch sec; seqNo:1286; depth 0.08 2021-10-10T15:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880825.60 epoch sec; seqNo:1287; 4061566.98 north; 594794.42 east 2021-10-10T15:47:05Z- AHRS_M2 msg: 1633880825.84 epoch sec; seqNo:1261 2021-10-10T15:47:05Z- AHRS_M2 msg: -0.00 phi; -0.06 theta; 1.50 psi 2021-10-10T15:47:05Z- handleDepth()-Depth_Keller msg: 1633880825856 epoch sec; seqNo:1287; depth 0.06 2021-10-10T15:47:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:05Z- handleDvl() - RDI_Pathfinder msg: 1633880825.86 epoch sec; seqNo:597 2021-10-10T15:47:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.63 , -0.07 , 0.49 2021-10-10T15:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880825.89 epoch sec; seqNo:1288; 4061566.97 north; 594793.20 east 2021-10-10T15:47:06Z- AHRS_M2 msg: 1633880826.24 epoch sec; seqNo:1262 2021-10-10T15:47:06Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.47 psi 2021-10-10T15:47:06Z- handleDepth()-Depth_Keller msg: 1633880826248 epoch sec; seqNo:1288; depth 0.05 2021-10-10T15:47:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880826.31 epoch sec; seqNo:1289; 4061566.97 north; 594793.20 east 2021-10-10T15:47:06Z- AHRS_M2 msg: 1633880826.65 epoch sec; seqNo:1263 2021-10-10T15:47:06Z- AHRS_M2 msg: -0.01 phi; 0.07 theta; 1.47 psi 2021-10-10T15:47:06Z- handleDepth()-Depth_Keller msg: 1633880826733 epoch sec; seqNo:1289; depth 0.03 2021-10-10T15:47:06Z- handleDvl() - RDI_Pathfinder msg: 1633880826.83 epoch sec; seqNo:598 2021-10-10T15:47:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:06Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880826.90 epoch sec; seqNo:1290; 4061566.97 north; 594793.20 east 2021-10-10T15:47:07Z- AHRS_M2 msg: 1633880827.08 epoch sec; seqNo:1264 2021-10-10T15:47:07Z- AHRS_M2 msg: 0.05 phi; 0.09 theta; 1.46 psi 2021-10-10T15:47:07Z- handleDepth()-Depth_Keller msg: 1633880827081 epoch sec; seqNo:1290; depth 0.04 2021-10-10T15:47:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:07Z- handleDvl() - RDI_Pathfinder msg: 1633880827.10 epoch sec; seqNo:599 2021-10-10T15:47:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880827.20 epoch sec; seqNo:1291; 4061566.97 north; 594793.20 east 2021-10-10T15:47:07Z- AHRS_M2 msg: 1633880827.47 epoch sec; seqNo:1265 2021-10-10T15:47:07Z- AHRS_M2 msg: 0.04 phi; 0.06 theta; 1.48 psi 2021-10-10T15:47:07Z- handleDepth()-Depth_Keller msg: 1633880827531 epoch sec; seqNo:1291; depth 0.06 2021-10-10T15:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880827.56 epoch sec; seqNo:1292; 4061566.97 north; 594793.20 east 2021-10-10T15:47:07Z- AHRS_M2 msg: 1633880827.85 epoch sec; seqNo:1266 2021-10-10T15:47:07Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 1.53 psi 2021-10-10T15:47:07Z- handleDepth()-Depth_Keller msg: 1633880827864 epoch sec; seqNo:1292; depth 0.08 2021-10-10T15:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880827.91 epoch sec; seqNo:1293; 4061566.95 north; 594791.98 east 2021-10-10T15:47:08Z- AHRS_M2 msg: 1633880828.27 epoch sec; seqNo:1267 2021-10-10T15:47:08Z- AHRS_M2 msg: -0.11 phi; -0.02 theta; 1.55 psi 2021-10-10T15:47:08Z- handleDepth()-Depth_Keller msg: 1633880828286 epoch sec; seqNo:1293; depth 0.07 2021-10-10T15:47:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:08Z- handleDvl() - RDI_Pathfinder msg: 1633880828.30 epoch sec; seqNo:600 2021-10-10T15:47:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:08Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880828.33 epoch sec; seqNo:1294; 4061566.95 north; 594791.98 east 2021-10-10T15:47:08Z- AHRS_M2 msg: 1633880828.67 epoch sec; seqNo:1268 2021-10-10T15:47:08Z- AHRS_M2 msg: -0.16 phi; -0.05 theta; 1.56 psi 2021-10-10T15:47:08Z- handleDepth()-Depth_Keller msg: 1633880828734 epoch sec; seqNo:1294; depth 0.08 2021-10-10T15:47:08Z- handleDvl() - RDI_Pathfinder msg: 1633880828.80 epoch sec; seqNo:601 2021-10-10T15:47:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.46 , 90.80 , 98.13 , 70.92 2021-10-10T15:47:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , 0.15 , -0.45 2021-10-10T15:47:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880828.88 epoch sec; seqNo:1295; 4061566.95 north; 594791.98 east 2021-10-10T15:47:09Z- AHRS_M2 msg: 1633880829.09 epoch sec; seqNo:1269 2021-10-10T15:47:09Z- AHRS_M2 msg: -0.17 phi; -0.04 theta; 1.54 psi 2021-10-10T15:47:09Z- handleDepth()-Depth_Keller msg: 1633880829093 epoch sec; seqNo:1295; depth 0.12 2021-10-10T15:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880829.14 epoch sec; seqNo:1296; 4061566.57 north; 594791.98 east 2021-10-10T15:47:09Z- AHRS_M2 msg: 1633880829.47 epoch sec; seqNo:1270 2021-10-10T15:47:09Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 1.55 psi 2021-10-10T15:47:09Z- handleDepth()-Depth_Keller msg: 1633880829478 epoch sec; seqNo:1296; depth 0.13 2021-10-10T15:47:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:09Z- handleDvl() - RDI_Pathfinder msg: 1633880829.48 epoch sec; seqNo:602 2021-10-10T15:47:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , 0.15 , -0.45 2021-10-10T15:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880829.51 epoch sec; seqNo:1297; 4061566.57 north; 594791.98 east 2021-10-10T15:47:09Z- LcmTrn::handleMessages() - handling 44 messages took 0.99 ms and 124 calls... 2021-10-10T15:47:09Z- waiting for 1633880827.62, time is 1633880829.51 2021-10-10T15:47:09Z- LcmTrn::updateTrn() equating pose 1633880829.51 and meas times 1633880829.51 2021-10-10T15:47:09Z- LcmTrn::updateTrn() >>>> pose time 1633880829.51, meas time 1633880829.51 <<<< 2021-10-10T15:47:09Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880829.51, ping # 0. 2021-10-10T15:47:09Z- TerrainNav::Measurement type 1 from time = 1633880829.51 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:09Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594791.98, 0.13) 2021-10-10T15:47:09Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:09Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:09Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:09Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:09Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:09Z- AHRS_M2 msg: 1633880829.88 epoch sec; seqNo:1271 2021-10-10T15:47:09Z- AHRS_M2 msg: -0.05 phi; -0.08 theta; 1.59 psi 2021-10-10T15:47:09Z- handleDepth()-Depth_Keller msg: 1633880829889 epoch sec; seqNo:1297; depth 0.12 2021-10-10T15:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880829.94 epoch sec; seqNo:1298; 4061566.57 north; 594791.98 east 2021-10-10T15:47:10Z- AHRS_M2 msg: 1633880830.29 epoch sec; seqNo:1272 2021-10-10T15:47:10Z- AHRS_M2 msg: 0.05 phi; -0.13 theta; 1.58 psi 2021-10-10T15:47:10Z- handleDepth()-Depth_Keller msg: 1633880830330 epoch sec; seqNo:1298; depth 0.13 2021-10-10T15:47:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880830.38 epoch sec; seqNo:1299; 4061566.57 north; 594791.98 east 2021-10-10T15:47:10Z- AHRS_M2 msg: 1633880830.77 epoch sec; seqNo:1273 2021-10-10T15:47:10Z- AHRS_M2 msg: 0.11 phi; -0.11 theta; 1.57 psi 2021-10-10T15:47:10Z- handleDepth()-Depth_Keller msg: 1633880830784 epoch sec; seqNo:1299; depth 0.14 2021-10-10T15:47:10Z- handleDvl() - RDI_Pathfinder msg: 1633880830.87 epoch sec; seqNo:603 2021-10-10T15:47:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.04 , 87.27 , 0.00 , 81.15 2021-10-10T15:47:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.57 , -0.18 , -0.36 2021-10-10T15:47:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880830.92 epoch sec; seqNo:1300; 4061566.57 north; 594791.98 east 2021-10-10T15:47:11Z- AHRS_M2 msg: 1633880831.12 epoch sec; seqNo:1274 2021-10-10T15:47:11Z- AHRS_M2 msg: 0.08 phi; -0.11 theta; 1.56 psi 2021-10-10T15:47:11Z- handleDepth()-Depth_Keller msg: 1633880831138 epoch sec; seqNo:1300; depth 0.11 2021-10-10T15:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880831.22 epoch sec; seqNo:1301; 4061566.56 north; 594790.76 east 2021-10-10T15:47:11Z- AHRS_M2 msg: 1633880831.49 epoch sec; seqNo:1275 2021-10-10T15:47:11Z- AHRS_M2 msg: 0.03 phi; -0.11 theta; 1.54 psi 2021-10-10T15:47:11Z- handleDepth()-Depth_Keller msg: 1633880831496 epoch sec; seqNo:1301; depth 0.10 2021-10-10T15:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880831.52 epoch sec; seqNo:1302; 4061566.56 north; 594790.76 east 2021-10-10T15:47:11Z- AHRS_M2 msg: 1633880831.90 epoch sec; seqNo:1276 2021-10-10T15:47:11Z- AHRS_M2 msg: 0.00 phi; -0.16 theta; 1.55 psi 2021-10-10T15:47:11Z- handleDepth()-Depth_Keller msg: 1633880831908 epoch sec; seqNo:1302; depth 0.09 2021-10-10T15:47:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:11Z- handleDvl() - RDI_Pathfinder msg: 1633880831.91 epoch sec; seqNo:604 2021-10-10T15:47:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.57 , -0.18 , -0.36 2021-10-10T15:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880831.93 epoch sec; seqNo:1303; 4061566.94 north; 594790.75 east 2021-10-10T15:47:12Z- AHRS_M2 msg: 1633880832.29 epoch sec; seqNo:1277 2021-10-10T15:47:12Z- AHRS_M2 msg: 0.04 phi; -0.21 theta; 1.50 psi 2021-10-10T15:47:12Z- handleDepth()-Depth_Keller msg: 1633880832295 epoch sec; seqNo:1303; depth 0.10 2021-10-10T15:47:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880832.34 epoch sec; seqNo:1304; 4061566.94 north; 594790.75 east 2021-10-10T15:47:12Z- AHRS_M2 msg: 1633880832.74 epoch sec; seqNo:1278 2021-10-10T15:47:12Z- AHRS_M2 msg: 0.08 phi; -0.21 theta; 1.46 psi 2021-10-10T15:47:12Z- handleDepth()-Depth_Keller msg: 1633880832752 epoch sec; seqNo:1304; depth 0.12 2021-10-10T15:47:12Z- handleDvl() - RDI_Pathfinder msg: 1633880832.83 epoch sec; seqNo:605 2021-10-10T15:47:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.33 , 86.11 , 82.44 , 89.78 2021-10-10T15:47:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.63 , -0.13 , 0.72 2021-10-10T15:47:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880832.90 epoch sec; seqNo:1305; 4061566.94 north; 594790.75 east 2021-10-10T15:47:13Z- AHRS_M2 msg: 1633880833.12 epoch sec; seqNo:1279 2021-10-10T15:47:13Z- AHRS_M2 msg: 0.06 phi; -0.14 theta; 1.45 psi 2021-10-10T15:47:13Z- handleDepth()-Depth_Keller msg: 1633880833137 epoch sec; seqNo:1305; depth 0.10 2021-10-10T15:47:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:13Z- handleDvl() - RDI_Pathfinder msg: 1633880833.15 epoch sec; seqNo:606 2021-10-10T15:47:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.63 , -0.13 , 0.72 2021-10-10T15:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880833.19 epoch sec; seqNo:1306; 4061566.92 north; 594789.53 east 2021-10-10T15:47:13Z- AHRS_M2 msg: 1633880833.52 epoch sec; seqNo:1280 2021-10-10T15:47:13Z- AHRS_M2 msg: -0.02 phi; -0.11 theta; 1.47 psi 2021-10-10T15:47:13Z- handleDepth()-Depth_Keller msg: 1633880833524 epoch sec; seqNo:1306; depth 0.07 2021-10-10T15:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880833.56 epoch sec; seqNo:1307; 4061566.92 north; 594789.53 east 2021-10-10T15:47:13Z- AHRS_M2 msg: 1633880833.91 epoch sec; seqNo:1281 2021-10-10T15:47:13Z- AHRS_M2 msg: -0.08 phi; -0.08 theta; 1.46 psi 2021-10-10T15:47:13Z- handleDepth()-Depth_Keller msg: 1633880833916 epoch sec; seqNo:1307; depth 0.08 2021-10-10T15:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880833.97 epoch sec; seqNo:1308; 4061566.92 north; 594789.53 east 2021-10-10T15:47:14Z- AHRS_M2 msg: 1633880834.31 epoch sec; seqNo:1282 2021-10-10T15:47:14Z- AHRS_M2 msg: -0.09 phi; -0.01 theta; 1.45 psi 2021-10-10T15:47:14Z- handleDepth()-Depth_Keller msg: 1633880834320 epoch sec; seqNo:1308; depth 0.06 2021-10-10T15:47:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:14Z- handleDvl() - RDI_Pathfinder msg: 1633880834.32 epoch sec; seqNo:607 2021-10-10T15:47:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.63 , -0.13 , 0.72 2021-10-10T15:47:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880834.36 epoch sec; seqNo:1309; 4061566.92 north; 594789.53 east 2021-10-10T15:47:14Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-10T15:47:14Z- waiting for 1633880832.51, time is 1633880834.36 2021-10-10T15:47:14Z- LcmTrn::updateTrn() equating pose 1633880834.36 and meas times 1633880834.36 2021-10-10T15:47:14Z- LcmTrn::updateTrn() >>>> pose time 1633880834.36, meas time 1633880834.36 <<<< 2021-10-10T15:47:14Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880834.36, ping # 0. 2021-10-10T15:47:14Z- TerrainNav::Measurement type 1 from time = 1633880834.36 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:14Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594789.53, 0.06) 2021-10-10T15:47:14Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:14Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:14Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:14Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:14Z- AHRS_M2 msg: 1633880834.74 epoch sec; seqNo:1283 2021-10-10T15:47:14Z- AHRS_M2 msg: -0.08 phi; 0.01 theta; 1.46 psi 2021-10-10T15:47:14Z- handleDepth()-Depth_Keller msg: 1633880834749 epoch sec; seqNo:1309; depth 0.05 2021-10-10T15:47:14Z- handleDvl() - RDI_Pathfinder msg: 1633880834.88 epoch sec; seqNo:608 2021-10-10T15:47:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.53 , 93.31 , 98.20 , 84.75 2021-10-10T15:47:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , 0.54 , 0.17 2021-10-10T15:47:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880834.94 epoch sec; seqNo:1310; 4061566.55 north; 594789.54 east 2021-10-10T15:47:15Z- AHRS_M2 msg: 1633880835.15 epoch sec; seqNo:1284 2021-10-10T15:47:15Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 1.46 psi 2021-10-10T15:47:15Z- handleDepth()-Depth_Keller msg: 1633880835221 epoch sec; seqNo:1310; depth 0.04 2021-10-10T15:47:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880835.30 epoch sec; seqNo:1311; 4061566.55 north; 594789.54 east 2021-10-10T15:47:15Z- AHRS_M2 msg: 1633880835.52 epoch sec; seqNo:1285 2021-10-10T15:47:15Z- AHRS_M2 msg: 0.08 phi; 0.03 theta; 1.47 psi 2021-10-10T15:47:15Z- handleDepth()-Depth_Keller msg: 1633880835541 epoch sec; seqNo:1311; depth 0.06 2021-10-10T15:47:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:15Z- handleDvl() - RDI_Pathfinder msg: 1633880835.55 epoch sec; seqNo:609 2021-10-10T15:47:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , 0.54 , 0.17 2021-10-10T15:47:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880835.60 epoch sec; seqNo:1312; 4061566.56 north; 594790.76 east 2021-10-10T15:47:15Z- AHRS_M2 msg: 1633880835.94 epoch sec; seqNo:1286 2021-10-10T15:47:15Z- AHRS_M2 msg: 0.13 phi; 0.15 theta; 1.49 psi 2021-10-10T15:47:16Z- handleDepth()-Depth_Keller msg: 1633880836013 epoch sec; seqNo:1312; depth 0.07 2021-10-10T15:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880836.03 epoch sec; seqNo:1313; 4061566.18 north; 594790.76 east 2021-10-10T15:47:16Z- AHRS_M2 msg: 1633880836.33 epoch sec; seqNo:1287 2021-10-10T15:47:16Z- AHRS_M2 msg: 0.08 phi; 0.15 theta; 1.51 psi 2021-10-10T15:47:16Z- handleDepth()-Depth_Keller msg: 1633880836349 epoch sec; seqNo:1313; depth 0.08 2021-10-10T15:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880836.38 epoch sec; seqNo:1314; 4061566.18 north; 594790.76 east 2021-10-10T15:47:16Z- AHRS_M2 msg: 1633880836.75 epoch sec; seqNo:1288 2021-10-10T15:47:16Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 1.51 psi 2021-10-10T15:47:16Z- handleDepth()-Depth_Keller msg: 1633880836761 epoch sec; seqNo:1314; depth 0.09 2021-10-10T15:47:16Z- handleDvl() - RDI_Pathfinder msg: 1633880836.80 epoch sec; seqNo:610 2021-10-10T15:47:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.64 , 79.94 , 110.08 , 72.97 2021-10-10T15:47:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , 0.07 , -0.79 2021-10-10T15:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880836.83 epoch sec; seqNo:1315; 4061566.18 north; 594790.76 east 2021-10-10T15:47:17Z- AHRS_M2 msg: 1633880837.14 epoch sec; seqNo:1289 2021-10-10T15:47:17Z- AHRS_M2 msg: -0.24 phi; -0.11 theta; 1.52 psi 2021-10-10T15:47:17Z- handleDepth()-Depth_Keller msg: 1633880837152 epoch sec; seqNo:1315; depth 0.09 2021-10-10T15:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880837.20 epoch sec; seqNo:1316; 4061566.18 north; 594790.76 east 2021-10-10T15:47:17Z- AHRS_M2 msg: 1633880837.55 epoch sec; seqNo:1290 2021-10-10T15:47:17Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; 1.53 psi 2021-10-10T15:47:17Z- handleDepth()-Depth_Keller msg: 1633880837552 epoch sec; seqNo:1316; depth 0.10 2021-10-10T15:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880837.58 epoch sec; seqNo:1317; 4061566.18 north; 594790.76 east 2021-10-10T15:47:17Z- AHRS_M2 msg: 1633880837.95 epoch sec; seqNo:1291 2021-10-10T15:47:17Z- AHRS_M2 msg: 0.01 phi; -0.19 theta; 1.51 psi 2021-10-10T15:47:17Z- handleDepth()-Depth_Keller msg: 1633880837952 epoch sec; seqNo:1317; depth 0.08 2021-10-10T15:47:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:17Z- handleDvl() - RDI_Pathfinder msg: 1633880837.95 epoch sec; seqNo:611 2021-10-10T15:47:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , 0.07 , -0.79 2021-10-10T15:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880837.97 epoch sec; seqNo:1318; 4061566.18 north; 594790.76 east 2021-10-10T15:47:18Z- AHRS_M2 msg: 1633880838.36 epoch sec; seqNo:1292 2021-10-10T15:47:18Z- AHRS_M2 msg: 0.16 phi; -0.18 theta; 1.47 psi 2021-10-10T15:47:18Z- handleDepth()-Depth_Keller msg: 1633880838364 epoch sec; seqNo:1318; depth 0.09 2021-10-10T15:47:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880838.39 epoch sec; seqNo:1319; 4061565.80 north; 594790.77 east 2021-10-10T15:47:18Z- AHRS_M2 msg: 1633880838.77 epoch sec; seqNo:1293 2021-10-10T15:47:18Z- AHRS_M2 msg: 0.20 phi; -0.10 theta; 1.44 psi 2021-10-10T15:47:18Z- handleDepth()-Depth_Keller msg: 1633880838780 epoch sec; seqNo:1319; depth 0.11 2021-10-10T15:47:18Z- handleDvl() - RDI_Pathfinder msg: 1633880838.84 epoch sec; seqNo:612 2021-10-10T15:47:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880838.89 epoch sec; seqNo:1320; 4061565.79 north; 594789.55 east 2021-10-10T15:47:19Z- AHRS_M2 msg: 1633880839.17 epoch sec; seqNo:1294 2021-10-10T15:47:19Z- AHRS_M2 msg: 0.13 phi; -0.05 theta; 1.45 psi 2021-10-10T15:47:19Z- handleDepth()-Depth_Keller msg: 1633880839189 epoch sec; seqNo:1320; depth 0.10 2021-10-10T15:47:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:19Z- handleDvl() - RDI_Pathfinder msg: 1633880839.20 epoch sec; seqNo:613 2021-10-10T15:47:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880839.23 epoch sec; seqNo:1321; 4061565.79 north; 594789.55 east 2021-10-10T15:47:19Z- handleDepth()-Depth_Keller msg: 1633880839582 epoch sec; seqNo:1321; depth 0.08 2021-10-10T15:47:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880839.64 epoch sec; seqNo:1322; 4061565.79 north; 594789.55 east 2021-10-10T15:47:19Z- LcmTrn::handleMessages() - handling 44 messages took 0.74 ms and 129 calls... 2021-10-10T15:47:19Z- waiting for 1633880837.36, time is 1633880839.64 2021-10-10T15:47:19Z- LcmTrn::updateTrn() >>>> pose time 1633880839.64, meas time 1633880839.20 <<<< 2021-10-10T15:47:19Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880839.20, ping # 0. 2021-10-10T15:47:19Z- TerrainNav::Measurement type 1 from time = 1633880839.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:19Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594789.55, 0.08) 2021-10-10T15:47:19Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:19Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:19Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:19Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:19Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:19Z- AHRS_M2 msg: 1633880839.97 epoch sec; seqNo:1295 2021-10-10T15:47:19Z- AHRS_M2 msg: -0.07 phi; 0.02 theta; 1.46 psi 2021-10-10T15:47:19Z- handleDepth()-Depth_Keller msg: 1633880839980 epoch sec; seqNo:1322; depth 0.07 2021-10-10T15:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880840.01 epoch sec; seqNo:1323; 4061565.79 north; 594789.55 east 2021-10-10T15:47:20Z- AHRS_M2 msg: 1633880840.38 epoch sec; seqNo:1296 2021-10-10T15:47:20Z- AHRS_M2 msg: -0.12 phi; 0.00 theta; 1.50 psi 2021-10-10T15:47:20Z- handleDepth()-Depth_Keller msg: 1633880840420 epoch sec; seqNo:1323; depth 0.06 2021-10-10T15:47:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:20Z- handleDvl() - RDI_Pathfinder msg: 1633880840.42 epoch sec; seqNo:614 2021-10-10T15:47:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:20Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880840.48 epoch sec; seqNo:1324; 4061565.79 north; 594789.55 east 2021-10-10T15:47:20Z- AHRS_M2 msg: 1633880840.78 epoch sec; seqNo:1297 2021-10-10T15:47:20Z- AHRS_M2 msg: -0.14 phi; -0.06 theta; 1.55 psi 2021-10-10T15:47:20Z- handleDepth()-Depth_Keller msg: 1633880840784 epoch sec; seqNo:1324; depth 0.04 2021-10-10T15:47:20Z- handleDvl() - RDI_Pathfinder msg: 1633880840.82 epoch sec; seqNo:615 2021-10-10T15:47:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.64 , 89.30 , 97.86 , 80.75 2021-10-10T15:47:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.30 , -0.22 2021-10-10T15:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880840.87 epoch sec; seqNo:1325; 4061565.41 north; 594789.55 east 2021-10-10T15:47:21Z- AHRS_M2 msg: 1633880841.19 epoch sec; seqNo:1298 2021-10-10T15:47:21Z- AHRS_M2 msg: -0.10 phi; -0.07 theta; 1.55 psi 2021-10-10T15:47:21Z- handleDepth()-Depth_Keller msg: 1633880841200 epoch sec; seqNo:1325; depth 0.04 2021-10-10T15:47:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880841.23 epoch sec; seqNo:1326; 4061565.41 north; 594789.55 east 2021-10-10T15:47:21Z- AHRS_M2 msg: 1633880841.59 epoch sec; seqNo:1299 2021-10-10T15:47:21Z- AHRS_M2 msg: -0.04 phi; 0.00 theta; 1.51 psi 2021-10-10T15:47:21Z- handleDepth()-Depth_Keller msg: 1633880841596 epoch sec; seqNo:1326; depth 0.04 2021-10-10T15:47:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:21Z- handleDvl() - RDI_Pathfinder msg: 1633880841.60 epoch sec; seqNo:616 2021-10-10T15:47:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.30 , -0.22 2021-10-10T15:47:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880841.64 epoch sec; seqNo:1327; 4061565.41 north; 594789.55 east 2021-10-10T15:47:22Z- AHRS_M2 msg: 1633880841.99 epoch sec; seqNo:1300 2021-10-10T15:47:22Z- AHRS_M2 msg: 0.01 phi; 0.05 theta; 1.53 psi 2021-10-10T15:47:22Z- handleDepth()-Depth_Keller msg: 1633880842000 epoch sec; seqNo:1327; depth 0.04 2021-10-10T15:47:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880842.05 epoch sec; seqNo:1328; 4061565.41 north; 594789.55 east 2021-10-10T15:47:22Z- AHRS_M2 msg: 1633880842.40 epoch sec; seqNo:1301 2021-10-10T15:47:22Z- AHRS_M2 msg: 0.05 phi; 0.00 theta; 1.56 psi 2021-10-10T15:47:22Z- handleDepth()-Depth_Keller msg: 1633880842403 epoch sec; seqNo:1328; depth 0.05 2021-10-10T15:47:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880842.45 epoch sec; seqNo:1329; 4061565.03 north; 594789.56 east 2021-10-10T15:47:22Z- AHRS_M2 msg: 1633880842.80 epoch sec; seqNo:1302 2021-10-10T15:47:22Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.54 psi 2021-10-10T15:47:22Z- handleDepth()-Depth_Keller msg: 1633880842823 epoch sec; seqNo:1329; depth 0.07 2021-10-10T15:47:22Z- handleDvl() - RDI_Pathfinder msg: 1633880842.88 epoch sec; seqNo:617 2021-10-10T15:47:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.77 , 87.00 , 96.77 , 78.44 2021-10-10T15:47:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.18 , 0.02 2021-10-10T15:47:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880842.90 epoch sec; seqNo:1330; 4061565.03 north; 594789.56 east 2021-10-10T15:47:23Z- AHRS_M2 msg: 1633880843.22 epoch sec; seqNo:1303 2021-10-10T15:47:23Z- AHRS_M2 msg: -0.02 phi; -0.10 theta; 1.52 psi 2021-10-10T15:47:23Z- handleDepth()-Depth_Keller msg: 1633880843244 epoch sec; seqNo:1330; depth 0.05 2021-10-10T15:47:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880843.28 epoch sec; seqNo:1331; 4061565.41 north; 594789.55 east 2021-10-10T15:47:23Z- AHRS_M2 msg: 1633880843.61 epoch sec; seqNo:1304 2021-10-10T15:47:23Z- AHRS_M2 msg: -0.04 phi; -0.13 theta; 1.51 psi 2021-10-10T15:47:23Z- handleDepth()-Depth_Keller msg: 1633880843620 epoch sec; seqNo:1331; depth 0.04 2021-10-10T15:47:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880843.64 epoch sec; seqNo:1332; 4061565.41 north; 594789.55 east 2021-10-10T15:47:24Z- AHRS_M2 msg: 1633880844.01 epoch sec; seqNo:1305 2021-10-10T15:47:24Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 1.49 psi 2021-10-10T15:47:24Z- handleDepth()-Depth_Keller msg: 1633880844012 epoch sec; seqNo:1332; depth 0.05 2021-10-10T15:47:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:24Z- handleDvl() - RDI_Pathfinder msg: 1633880844.01 epoch sec; seqNo:618 2021-10-10T15:47:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , -0.18 , 0.02 2021-10-10T15:47:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880844.06 epoch sec; seqNo:1333; 4061565.41 north; 594789.55 east 2021-10-10T15:47:24Z- AHRS_M2 msg: 1633880844.43 epoch sec; seqNo:1306 2021-10-10T15:47:24Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 1.51 psi 2021-10-10T15:47:24Z- handleDepth()-Depth_Keller msg: 1633880844440 epoch sec; seqNo:1333; depth 0.05 2021-10-10T15:47:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880844.49 epoch sec; seqNo:1334; 4061565.41 north; 594789.55 east 2021-10-10T15:47:24Z- LcmTrn::handleMessages() - handling 41 messages took 0.82 ms and 125 calls... 2021-10-10T15:47:24Z- waiting for 1633880842.64, time is 1633880844.49 2021-10-10T15:47:24Z- LcmTrn::updateTrn() >>>> pose time 1633880844.49, meas time 1633880844.01 <<<< 2021-10-10T15:47:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880844.01, ping # 0. 2021-10-10T15:47:24Z- TerrainNav::Measurement type 1 from time = 1633880844.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:24Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594789.55, 0.05) 2021-10-10T15:47:24Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:24Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:24Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:24Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:24Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:24Z- AHRS_M2 msg: 1633880844.82 epoch sec; seqNo:1307 2021-10-10T15:47:24Z- AHRS_M2 msg: 0.11 phi; 0.01 theta; 1.54 psi 2021-10-10T15:47:24Z- handleDepth()-Depth_Keller msg: 1633880844825 epoch sec; seqNo:1334; depth 0.04 2021-10-10T15:47:24Z- handleDvl() - RDI_Pathfinder msg: 1633880844.91 epoch sec; seqNo:619 2021-10-10T15:47:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.69 , 89.57 , 88.35 , 0.00 2021-10-10T15:47:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , 0.10 , 0.69 2021-10-10T15:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880845.00 epoch sec; seqNo:1335; 4061565.41 north; 594789.55 east 2021-10-10T15:47:25Z- AHRS_M2 msg: 1633880845.23 epoch sec; seqNo:1308 2021-10-10T15:47:25Z- AHRS_M2 msg: 0.15 phi; 0.01 theta; 1.55 psi 2021-10-10T15:47:25Z- handleDepth()-Depth_Keller msg: 1633880845236 epoch sec; seqNo:1335; depth 0.08 2021-10-10T15:47:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:25Z- handleDvl() - RDI_Pathfinder msg: 1633880845.24 epoch sec; seqNo:620 2021-10-10T15:47:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , 0.10 , 0.69 2021-10-10T15:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880845.30 epoch sec; seqNo:1336; 4061565.41 north; 594789.55 east 2021-10-10T15:47:25Z- AHRS_M2 msg: 1633880845.62 epoch sec; seqNo:1309 2021-10-10T15:47:25Z- AHRS_M2 msg: 0.06 phi; 0.02 theta; 1.54 psi 2021-10-10T15:47:25Z- handleDepth()-Depth_Keller msg: 1633880845631 epoch sec; seqNo:1336; depth 0.09 2021-10-10T15:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880845.66 epoch sec; seqNo:1337; 4061565.41 north; 594789.55 east 2021-10-10T15:47:26Z- AHRS_M2 msg: 1633880846.04 epoch sec; seqNo:1310 2021-10-10T15:47:26Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 1.54 psi 2021-10-10T15:47:26Z- handleDepth()-Depth_Keller msg: 1633880846048 epoch sec; seqNo:1337; depth 0.05 2021-10-10T15:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880846.07 epoch sec; seqNo:1338; 4061565.41 north; 594789.55 east 2021-10-10T15:47:26Z- AHRS_M2 msg: 1633880846.43 epoch sec; seqNo:1311 2021-10-10T15:47:26Z- AHRS_M2 msg: -0.17 phi; -0.03 theta; 1.57 psi 2021-10-10T15:47:26Z- handleDepth()-Depth_Keller msg: 1633880846440 epoch sec; seqNo:1338; depth 0.05 2021-10-10T15:47:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:26Z- handleDvl() - RDI_Pathfinder msg: 1633880846.44 epoch sec; seqNo:621 2021-10-10T15:47:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , 0.10 , 0.69 2021-10-10T15:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880846.48 epoch sec; seqNo:1339; 4061565.41 north; 594789.55 east 2021-10-10T15:47:26Z- AHRS_M2 msg: 1633880846.85 epoch sec; seqNo:1312 2021-10-10T15:47:26Z- AHRS_M2 msg: -0.17 phi; -0.05 theta; 1.57 psi 2021-10-10T15:47:26Z- handleDepth()-Depth_Keller msg: 1633880846856 epoch sec; seqNo:1339; depth 0.05 2021-10-10T15:47:26Z- handleDvl() - RDI_Pathfinder msg: 1633880846.92 epoch sec; seqNo:622 2021-10-10T15:47:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:26Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880846.96 epoch sec; seqNo:1340; 4061565.03 north; 594789.56 east 2021-10-10T15:47:29Z- LcmTrn::handleMessages() - handling 22 messages took 0.34 ms and 60 calls... 2021-10-10T15:47:29Z- waiting for 1633880847.49, time is 1633880846.96 2021-10-10T15:47:30Z- AHRS_M2 msg: 1633880847.24 epoch sec; seqNo:1313 2021-10-10T15:47:30Z- AHRS_M2 msg: -0.14 phi; -0.04 theta; 1.56 psi 2021-10-10T15:47:30Z- handleDepth()-Depth_Keller msg: 1633880847244 epoch sec; seqNo:1340; depth 0.05 2021-10-10T15:47:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880847.29 epoch sec; seqNo:1341; 4061565.03 north; 594789.56 east 2021-10-10T15:47:30Z- AHRS_M2 msg: 1633880847.65 epoch sec; seqNo:1314 2021-10-10T15:47:30Z- AHRS_M2 msg: -0.07 phi; -0.04 theta; 1.57 psi 2021-10-10T15:47:30Z- handleDepth()-Depth_Keller msg: 1633880847660 epoch sec; seqNo:1341; depth 0.04 2021-10-10T15:47:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:30Z- handleDvl() - RDI_Pathfinder msg: 1633880847.66 epoch sec; seqNo:623 2021-10-10T15:47:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:30Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880847.69 epoch sec; seqNo:1342; 4061565.04 north; 594790.78 east 2021-10-10T15:47:31Z- AHRS_M2 msg: 1633880848.05 epoch sec; seqNo:1315 2021-10-10T15:47:31Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 1.56 psi 2021-10-10T15:47:31Z- handleDepth()-Depth_Keller msg: 1633880848052 epoch sec; seqNo:1342; depth 0.04 2021-10-10T15:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880848.10 epoch sec; seqNo:1343; 4061565.04 north; 594790.78 east 2021-10-10T15:47:31Z- AHRS_M2 msg: 1633880848.47 epoch sec; seqNo:1316 2021-10-10T15:47:31Z- AHRS_M2 msg: 0.10 phi; -0.02 theta; 1.58 psi 2021-10-10T15:47:31Z- handleDepth()-Depth_Keller msg: 1633880848476 epoch sec; seqNo:1343; depth 0.04 2021-10-10T15:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880848.53 epoch sec; seqNo:1344; 4061565.04 north; 594790.78 east 2021-10-10T15:47:31Z- AHRS_M2 msg: 1633880848.86 epoch sec; seqNo:1317 2021-10-10T15:47:31Z- AHRS_M2 msg: 0.09 phi; -0.04 theta; 1.59 psi 2021-10-10T15:47:31Z- handleDepth()-Depth_Keller msg: 1633880848868 epoch sec; seqNo:1344; depth 0.04 2021-10-10T15:47:31Z- handleDvl() - RDI_Pathfinder msg: 1633880848.91 epoch sec; seqNo:624 2021-10-10T15:47:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880848.96 epoch sec; seqNo:1345; 4061565.04 north; 594790.78 east 2021-10-10T15:47:32Z- AHRS_M2 msg: 1633880849.26 epoch sec; seqNo:1318 2021-10-10T15:47:32Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 1.56 psi 2021-10-10T15:47:32Z- handleDepth()-Depth_Keller msg: 1633880849272 epoch sec; seqNo:1345; depth 0.03 2021-10-10T15:47:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880849.38 epoch sec; seqNo:1346; 4061565.04 north; 594790.78 east 2021-10-10T15:47:32Z- AHRS_M2 msg: 1633880849.67 epoch sec; seqNo:1319 2021-10-10T15:47:32Z- AHRS_M2 msg: -0.05 phi; 0.06 theta; 1.57 psi 2021-10-10T15:47:32Z- handleDepth()-Depth_Keller msg: 1633880849674 epoch sec; seqNo:1346; depth 0.01 2021-10-10T15:47:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880849.72 epoch sec; seqNo:1347; 4061565.04 north; 594790.78 east 2021-10-10T15:47:33Z- AHRS_M2 msg: 1633880850.07 epoch sec; seqNo:1320 2021-10-10T15:47:33Z- AHRS_M2 msg: -0.04 phi; 0.06 theta; 1.61 psi 2021-10-10T15:47:33Z- handleDepth()-Depth_Keller msg: 1633880850072 epoch sec; seqNo:1347; depth 0.06 2021-10-10T15:47:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:33Z- handleDvl() - RDI_Pathfinder msg: 1633880850.07 epoch sec; seqNo:625 2021-10-10T15:47:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880850.09 epoch sec; seqNo:1348; 4061564.67 north; 594790.78 east 2021-10-10T15:47:33Z- AHRS_M2 msg: 1633880850.48 epoch sec; seqNo:1321 2021-10-10T15:47:33Z- AHRS_M2 msg: -0.03 phi; 0.00 theta; 1.63 psi 2021-10-10T15:47:33Z- handleDepth()-Depth_Keller msg: 1633880850508 epoch sec; seqNo:1348; depth 0.07 2021-10-10T15:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880850.56 epoch sec; seqNo:1349; 4061564.67 north; 594790.78 east 2021-10-10T15:47:33Z- handleDepth()-Depth_Keller msg: 1633880850892 epoch sec; seqNo:1349; depth 0.08 2021-10-10T15:47:33Z- handleDvl() - RDI_Pathfinder msg: 1633880850.94 epoch sec; seqNo:626 2021-10-10T15:47:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.77 , 90.25 , 96.23 , 68.46 2021-10-10T15:47:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.00 , -0.61 2021-10-10T15:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880850.98 epoch sec; seqNo:1350; 4061564.67 north; 594790.78 east 2021-10-10T15:47:34Z- AHRS_M2 msg: 1633880851.28 epoch sec; seqNo:1322 2021-10-10T15:47:34Z- AHRS_M2 msg: -0.08 phi; -0.06 theta; 1.60 psi 2021-10-10T15:47:34Z- handleDepth()-Depth_Keller msg: 1633880851288 epoch sec; seqNo:1350; depth 0.05 2021-10-10T15:47:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:34Z- handleDvl() - RDI_Pathfinder msg: 1633880851.29 epoch sec; seqNo:627 2021-10-10T15:47:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:34Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.00 , -0.61 2021-10-10T15:47:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880851.33 epoch sec; seqNo:1351; 4061564.67 north; 594790.78 east 2021-10-10T15:47:34Z- AHRS_M2 msg: 1633880851.68 epoch sec; seqNo:1323 2021-10-10T15:47:34Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 1.62 psi 2021-10-10T15:47:34Z- handleDepth()-Depth_Keller msg: 1633880851692 epoch sec; seqNo:1351; depth 0.06 2021-10-10T15:47:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880851.72 epoch sec; seqNo:1352; 4061565.04 north; 594790.78 east 2021-10-10T15:47:35Z- LcmTrn::handleMessages() - handling 40 messages took 0.76 ms and 125 calls... 2021-10-10T15:47:35Z- waiting for 1633880847.49, time is 1633880851.72 2021-10-10T15:47:35Z- LcmTrn::updateTrn() >>>> pose time 1633880851.72, meas time 1633880851.29 <<<< 2021-10-10T15:47:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880851.29, ping # 0. 2021-10-10T15:47:35Z- TerrainNav::Measurement type 1 from time = 1633880851.29 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:35Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594790.78, 0.06) 2021-10-10T15:47:35Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:35Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:35Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:35Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:35Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:35Z- AHRS_M2 msg: 1633880852.09 epoch sec; seqNo:1324 2021-10-10T15:47:35Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 1.61 psi 2021-10-10T15:47:35Z- handleDepth()-Depth_Keller msg: 1633880852092 epoch sec; seqNo:1352; depth 0.05 2021-10-10T15:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880852.13 epoch sec; seqNo:1353; 4061565.03 north; 594789.56 east 2021-10-10T15:47:35Z- AHRS_M2 msg: 1633880852.49 epoch sec; seqNo:1325 2021-10-10T15:47:35Z- AHRS_M2 msg: 0.06 phi; -0.04 theta; 1.61 psi 2021-10-10T15:47:35Z- handleDepth()-Depth_Keller msg: 1633880852496 epoch sec; seqNo:1353; depth 0.06 2021-10-10T15:47:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:35Z- handleDvl() - RDI_Pathfinder msg: 1633880852.50 epoch sec; seqNo:628 2021-10-10T15:47:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.00 , -0.61 2021-10-10T15:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880852.55 epoch sec; seqNo:1354; 4061564.65 north; 594789.56 east 2021-10-10T15:47:35Z- AHRS_M2 msg: 1633880852.90 epoch sec; seqNo:1326 2021-10-10T15:47:35Z- AHRS_M2 msg: 0.09 phi; -0.08 theta; 1.59 psi 2021-10-10T15:47:35Z- handleDepth()-Depth_Keller msg: 1633880852904 epoch sec; seqNo:1354; depth 0.06 2021-10-10T15:47:35Z- handleDvl() - RDI_Pathfinder msg: 1633880852.95 epoch sec; seqNo:629 2021-10-10T15:47:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.04 , 86.04 , 90.93 , 78.71 2021-10-10T15:47:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.00 , 0.46 2021-10-10T15:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880852.99 epoch sec; seqNo:1355; 4061565.03 north; 594789.56 east 2021-10-10T15:47:36Z- AHRS_M2 msg: 1633880853.30 epoch sec; seqNo:1327 2021-10-10T15:47:36Z- AHRS_M2 msg: 0.06 phi; -0.09 theta; 1.57 psi 2021-10-10T15:47:36Z- handleDepth()-Depth_Keller msg: 1633880853304 epoch sec; seqNo:1355; depth 0.05 2021-10-10T15:47:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880853.34 epoch sec; seqNo:1356; 4061565.03 north; 594789.56 east 2021-10-10T15:47:36Z- AHRS_M2 msg: 1633880853.70 epoch sec; seqNo:1328 2021-10-10T15:47:36Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 1.59 psi 2021-10-10T15:47:36Z- handleDepth()-Depth_Keller msg: 1633880853713 epoch sec; seqNo:1356; depth 0.01 2021-10-10T15:47:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:36Z- handleDvl() - RDI_Pathfinder msg: 1633880853.72 epoch sec; seqNo:630 2021-10-10T15:47:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.00 , 0.46 2021-10-10T15:47:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880853.76 epoch sec; seqNo:1357; 4061565.03 north; 594789.56 east 2021-10-10T15:47:37Z- AHRS_M2 msg: 1633880854.12 epoch sec; seqNo:1329 2021-10-10T15:47:37Z- AHRS_M2 msg: 0.04 phi; 0.06 theta; 1.60 psi 2021-10-10T15:47:37Z- handleDepth()-Depth_Keller msg: 1633880854123 epoch sec; seqNo:1357; depth 0.02 2021-10-10T15:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880854.16 epoch sec; seqNo:1358; 4061565.03 north; 594789.56 east 2021-10-10T15:47:37Z- AHRS_M2 msg: 1633880854.53 epoch sec; seqNo:1330 2021-10-10T15:47:37Z- AHRS_M2 msg: 0.02 phi; 0.07 theta; 1.61 psi 2021-10-10T15:47:37Z- handleDepth()-Depth_Keller msg: 1633880854552 epoch sec; seqNo:1358; depth 0.04 2021-10-10T15:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880854.60 epoch sec; seqNo:1359; 4061565.03 north; 594789.56 east 2021-10-10T15:47:37Z- AHRS_M2 msg: 1633880854.92 epoch sec; seqNo:1331 2021-10-10T15:47:37Z- AHRS_M2 msg: -0.02 phi; 0.04 theta; 1.64 psi 2021-10-10T15:47:37Z- handleDepth()-Depth_Keller msg: 1633880854924 epoch sec; seqNo:1359; depth 0.06 2021-10-10T15:47:37Z- handleDvl() - RDI_Pathfinder msg: 1633880854.97 epoch sec; seqNo:631 2021-10-10T15:47:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.04 , 87.26 , 98.26 , 78.71 2021-10-10T15:47:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , 0.03 , 0.00 2021-10-10T15:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880855.01 epoch sec; seqNo:1360; 4061565.03 north; 594789.56 east 2021-10-10T15:47:38Z- AHRS_M2 msg: 1633880855.32 epoch sec; seqNo:1332 2021-10-10T15:47:38Z- AHRS_M2 msg: -0.08 phi; 0.00 theta; 1.66 psi 2021-10-10T15:47:38Z- handleDepth()-Depth_Keller msg: 1633880855323 epoch sec; seqNo:1360; depth 0.06 2021-10-10T15:47:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880855.43 epoch sec; seqNo:1361; 4061564.65 north; 594789.56 east 2021-10-10T15:47:38Z- AHRS_M2 msg: 1633880855.74 epoch sec; seqNo:1333 2021-10-10T15:47:38Z- AHRS_M2 msg: -0.14 phi; 0.02 theta; 1.67 psi 2021-10-10T15:47:38Z- handleDepth()-Depth_Keller msg: 1633880855751 epoch sec; seqNo:1361; depth 0.06 2021-10-10T15:47:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880855.80 epoch sec; seqNo:1362; 4061564.65 north; 594789.56 east 2021-10-10T15:47:39Z- AHRS_M2 msg: 1633880856.13 epoch sec; seqNo:1334 2021-10-10T15:47:39Z- AHRS_M2 msg: -0.17 phi; 0.05 theta; 1.68 psi 2021-10-10T15:47:39Z- handleDepth()-Depth_Keller msg: 1633880856140 epoch sec; seqNo:1362; depth 0.07 2021-10-10T15:47:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:39Z- handleDvl() - RDI_Pathfinder msg: 1633880856.14 epoch sec; seqNo:632 2021-10-10T15:47:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , 0.03 , 0.00 2021-10-10T15:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880856.20 epoch sec; seqNo:1363; 4061564.67 north; 594790.78 east 2021-10-10T15:47:39Z- AHRS_M2 msg: 1633880856.53 epoch sec; seqNo:1335 2021-10-10T15:47:39Z- AHRS_M2 msg: -0.13 phi; 0.02 theta; 1.69 psi 2021-10-10T15:47:39Z- handleDepth()-Depth_Keller msg: 1633880856568 epoch sec; seqNo:1363; depth 0.05 2021-10-10T15:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880856.61 epoch sec; seqNo:1364; 4061564.67 north; 594790.78 east 2021-10-10T15:47:39Z- AHRS_M2 msg: 1633880856.94 epoch sec; seqNo:1336 2021-10-10T15:47:39Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 1.71 psi 2021-10-10T15:47:39Z- handleDepth()-Depth_Keller msg: 1633880856969 epoch sec; seqNo:1364; depth 0.06 2021-10-10T15:47:40Z- handleDvl() - RDI_Pathfinder msg: 1633880857.04 epoch sec; seqNo:633 2021-10-10T15:47:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.47 , 96.84 , 98.06 , 79.73 2021-10-10T15:47:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.25 , -0.54 2021-10-10T15:47:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880857.09 epoch sec; seqNo:1365; 4061565.04 north; 594790.78 east 2021-10-10T15:47:40Z- LcmTrn::handleMessages() - handling 45 messages took 0.96 ms and 126 calls... 2021-10-10T15:47:40Z- waiting for 1633880854.72, time is 1633880857.09 2021-10-10T15:47:40Z- LcmTrn::updateTrn() equating pose 1633880857.09 and meas times 1633880857.09 2021-10-10T15:47:40Z- LcmTrn::updateTrn() >>>> pose time 1633880857.09, meas time 1633880857.09 <<<< 2021-10-10T15:47:40Z- TerrainNav::Measurement type 1 from time = 1633880857.09 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:47:40Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594790.78, 0.06) 2021-10-10T15:47:40Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:40Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:40Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:40Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:40Z- AHRS_M2 msg: 1633880857.35 epoch sec; seqNo:1337 2021-10-10T15:47:40Z- AHRS_M2 msg: 0.06 phi; -0.11 theta; 1.70 psi 2021-10-10T15:47:40Z- handleDepth()-Depth_Keller msg: 1633880857360 epoch sec; seqNo:1365; depth 0.08 2021-10-10T15:47:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:40Z- handleDvl() - RDI_Pathfinder msg: 1633880857.36 epoch sec; seqNo:634 2021-10-10T15:47:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.25 , -0.54 2021-10-10T15:47:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880857.45 epoch sec; seqNo:1366; 4061565.04 north; 594790.78 east 2021-10-10T15:47:40Z- AHRS_M2 msg: 1633880857.75 epoch sec; seqNo:1338 2021-10-10T15:47:40Z- AHRS_M2 msg: 0.06 phi; -0.14 theta; 1.69 psi 2021-10-10T15:47:40Z- handleDepth()-Depth_Keller msg: 1633880857755 epoch sec; seqNo:1366; depth 0.06 2021-10-10T15:47:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880857.78 epoch sec; seqNo:1367; 4061565.04 north; 594790.78 east 2021-10-10T15:47:41Z- AHRS_M2 msg: 1633880858.15 epoch sec; seqNo:1339 2021-10-10T15:47:41Z- AHRS_M2 msg: 0.08 phi; -0.14 theta; 1.70 psi 2021-10-10T15:47:41Z- handleDepth()-Depth_Keller msg: 1633880858160 epoch sec; seqNo:1367; depth 0.06 2021-10-10T15:47:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880858.18 epoch sec; seqNo:1368; 4061565.04 north; 594790.78 east 2021-10-10T15:47:41Z- AHRS_M2 msg: 1633880858.56 epoch sec; seqNo:1340 2021-10-10T15:47:41Z- AHRS_M2 msg: 0.16 phi; -0.09 theta; 1.71 psi 2021-10-10T15:47:41Z- handleDepth()-Depth_Keller msg: 1633880858576 epoch sec; seqNo:1368; depth 0.05 2021-10-10T15:47:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:41Z- handleDvl() - RDI_Pathfinder msg: 1633880858.58 epoch sec; seqNo:635 2021-10-10T15:47:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.25 , -0.54 2021-10-10T15:47:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880858.63 epoch sec; seqNo:1369; 4061565.04 north; 594790.78 east 2021-10-10T15:47:41Z- AHRS_M2 msg: 1633880858.98 epoch sec; seqNo:1341 2021-10-10T15:47:41Z- AHRS_M2 msg: 0.18 phi; -0.04 theta; 1.70 psi 2021-10-10T15:47:42Z- handleDepth()-Depth_Keller msg: 1633880859024 epoch sec; seqNo:1369; depth 0.07 2021-10-10T15:47:42Z- handleDvl() - RDI_Pathfinder msg: 1633880859.12 epoch sec; seqNo:636 2021-10-10T15:47:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.51 , 83.39 , 84.62 , 84.62 2021-10-10T15:47:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.38 , 0.78 2021-10-10T15:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880859.20 epoch sec; seqNo:1370; 4061565.41 north; 594789.55 east 2021-10-10T15:47:42Z- AHRS_M2 msg: 1633880859.39 epoch sec; seqNo:1342 2021-10-10T15:47:42Z- AHRS_M2 msg: 0.14 phi; -0.02 theta; 1.66 psi 2021-10-10T15:47:42Z- handleDepth()-Depth_Keller msg: 1633880859404 epoch sec; seqNo:1370; depth 0.06 2021-10-10T15:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880859.50 epoch sec; seqNo:1371; 4061565.79 north; 594789.55 east 2021-10-10T15:47:42Z- AHRS_M2 msg: 1633880859.77 epoch sec; seqNo:1343 2021-10-10T15:47:42Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 1.64 psi 2021-10-10T15:47:42Z- handleDepth()-Depth_Keller msg: 1633880859780 epoch sec; seqNo:1371; depth 0.05 2021-10-10T15:47:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:42Z- handleDvl() - RDI_Pathfinder msg: 1633880859.78 epoch sec; seqNo:637 2021-10-10T15:47:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.38 , 0.78 2021-10-10T15:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880859.86 epoch sec; seqNo:1372; 4061565.79 north; 594789.55 east 2021-10-10T15:47:43Z- AHRS_M2 msg: 1633880860.18 epoch sec; seqNo:1344 2021-10-10T15:47:43Z- AHRS_M2 msg: -0.11 phi; -0.03 theta; 1.65 psi 2021-10-10T15:47:43Z- handleDepth()-Depth_Keller msg: 1633880860183 epoch sec; seqNo:1372; depth 0.03 2021-10-10T15:47:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880860.24 epoch sec; seqNo:1373; 4061565.79 north; 594789.55 east 2021-10-10T15:47:43Z- AHRS_M2 msg: 1633880860.59 epoch sec; seqNo:1345 2021-10-10T15:47:43Z- AHRS_M2 msg: -0.12 phi; -0.07 theta; 1.67 psi 2021-10-10T15:47:43Z- handleDepth()-Depth_Keller msg: 1633880860681 epoch sec; seqNo:1373; depth 0.04 2021-10-10T15:47:43Z- handleDvl() - RDI_Pathfinder msg: 1633880860.80 epoch sec; seqNo:638 2021-10-10T15:47:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.60 , 0.00 , 98.27 , 81.15 2021-10-10T15:47:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , 0.14 , 0.32 2021-10-10T15:47:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880860.89 epoch sec; seqNo:1374; 4061565.79 north; 594789.55 east 2021-10-10T15:47:44Z- handleDepth()-Depth_Keller msg: 1633880861136 epoch sec; seqNo:1374; depth 0.05 2021-10-10T15:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880861.21 epoch sec; seqNo:1375; 4061565.79 north; 594789.55 east 2021-10-10T15:47:44Z- AHRS_M2 msg: 1633880861.45 epoch sec; seqNo:1346 2021-10-10T15:47:44Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 1.66 psi 2021-10-10T15:47:44Z- handleDepth()-Depth_Keller msg: 1633880861470 epoch sec; seqNo:1375; depth 0.04 2021-10-10T15:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880861.53 epoch sec; seqNo:1376; 4061565.79 north; 594789.55 east 2021-10-10T15:47:44Z- AHRS_M2 msg: 1633880861.84 epoch sec; seqNo:1347 2021-10-10T15:47:44Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 1.64 psi 2021-10-10T15:47:44Z- handleDepth()-Depth_Keller msg: 1633880861852 epoch sec; seqNo:1376; depth 0.05 2021-10-10T15:47:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:44Z- handleDvl() - RDI_Pathfinder msg: 1633880861.85 epoch sec; seqNo:639 2021-10-10T15:47:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , 0.14 , 0.32 2021-10-10T15:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880861.91 epoch sec; seqNo:1377; 4061565.79 north; 594789.55 east 2021-10-10T15:47:45Z- LcmTrn::handleMessages() - handling 41 messages took 0.88 ms and 123 calls... 2021-10-10T15:47:45Z- waiting for 1633880860.09, time is 1633880861.91 2021-10-10T15:47:45Z- LcmTrn::updateTrn() equating pose 1633880861.91 and meas times 1633880861.91 2021-10-10T15:47:45Z- LcmTrn::updateTrn() >>>> pose time 1633880861.91, meas time 1633880861.91 <<<< 2021-10-10T15:47:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880861.91, ping # 0. 2021-10-10T15:47:45Z- TerrainNav::Measurement type 1 from time = 1633880861.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:45Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594789.55, 0.05) 2021-10-10T15:47:45Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:45Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:45Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:45Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:45Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:45Z- AHRS_M2 msg: 1633880862.24 epoch sec; seqNo:1348 2021-10-10T15:47:45Z- AHRS_M2 msg: 0.18 phi; -0.05 theta; 1.58 psi 2021-10-10T15:47:45Z- handleDepth()-Depth_Keller msg: 1633880862247 epoch sec; seqNo:1377; depth 0.08 2021-10-10T15:47:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880862.27 epoch sec; seqNo:1378; 4061565.79 north; 594789.55 east 2021-10-10T15:47:45Z- AHRS_M2 msg: 1633880862.65 epoch sec; seqNo:1349 2021-10-10T15:47:45Z- AHRS_M2 msg: 0.13 phi; 0.04 theta; 1.59 psi 2021-10-10T15:47:45Z- handleDepth()-Depth_Keller msg: 1633880862656 epoch sec; seqNo:1378; depth 0.05 2021-10-10T15:47:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880862.73 epoch sec; seqNo:1379; 4061565.79 north; 594789.55 east 2021-10-10T15:47:46Z- AHRS_M2 msg: 1633880863.05 epoch sec; seqNo:1350 2021-10-10T15:47:46Z- AHRS_M2 msg: 0.04 phi; 0.06 theta; 1.61 psi 2021-10-10T15:47:46Z- handleDepth()-Depth_Keller msg: 1633880863053 epoch sec; seqNo:1379; depth 0.04 2021-10-10T15:47:46Z- handleDvl() - RDI_Pathfinder msg: 1633880863.12 epoch sec; seqNo:640 2021-10-10T15:47:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.84 , 77.89 , 98.06 , 83.39 2021-10-10T15:47:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.35 , -0.32 2021-10-10T15:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880863.27 epoch sec; seqNo:1380; 4061565.41 north; 594789.55 east 2021-10-10T15:47:46Z- AHRS_M2 msg: 1633880863.46 epoch sec; seqNo:1351 2021-10-10T15:47:46Z- AHRS_M2 msg: -0.05 phi; 0.06 theta; 1.60 psi 2021-10-10T15:47:46Z- handleDepth()-Depth_Keller msg: 1633880863461 epoch sec; seqNo:1380; depth 0.05 2021-10-10T15:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880863.51 epoch sec; seqNo:1381; 4061565.41 north; 594789.55 east 2021-10-10T15:47:46Z- AHRS_M2 msg: 1633880863.86 epoch sec; seqNo:1352 2021-10-10T15:47:46Z- AHRS_M2 msg: -0.12 phi; 0.06 theta; 1.63 psi 2021-10-10T15:47:46Z- handleDepth()-Depth_Keller msg: 1633880863864 epoch sec; seqNo:1381; depth 0.06 2021-10-10T15:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880863.89 epoch sec; seqNo:1382; 4061565.04 north; 594790.78 east 2021-10-10T15:47:47Z- AHRS_M2 msg: 1633880864.26 epoch sec; seqNo:1353 2021-10-10T15:47:47Z- AHRS_M2 msg: -0.13 phi; 0.05 theta; 1.65 psi 2021-10-10T15:47:47Z- handleDepth()-Depth_Keller msg: 1633880864268 epoch sec; seqNo:1382; depth 0.08 2021-10-10T15:47:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:47Z- handleDvl() - RDI_Pathfinder msg: 1633880864.27 epoch sec; seqNo:641 2021-10-10T15:47:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.35 , -0.32 2021-10-10T15:47:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880864.35 epoch sec; seqNo:1383; 4061565.04 north; 594790.78 east 2021-10-10T15:47:47Z- AHRS_M2 msg: 1633880864.73 epoch sec; seqNo:1354 2021-10-10T15:47:47Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.66 psi 2021-10-10T15:47:47Z- handleDepth()-Depth_Keller msg: 1633880864749 epoch sec; seqNo:1383; depth 0.08 2021-10-10T15:47:47Z- handleDvl() - RDI_Pathfinder msg: 1633880864.88 epoch sec; seqNo:642 2021-10-10T15:47:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.48 , 96.71 , 96.71 , 0.00 2021-10-10T15:47:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.83 , -0.50 , -0.81 2021-10-10T15:47:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880864.94 epoch sec; seqNo:1384; 4061565.41 north; 594789.55 east 2021-10-10T15:47:48Z- AHRS_M2 msg: 1633880865.13 epoch sec; seqNo:1355 2021-10-10T15:47:48Z- AHRS_M2 msg: 0.06 phi; -0.07 theta; 1.62 psi 2021-10-10T15:47:48Z- handleDepth()-Depth_Keller msg: 1633880865152 epoch sec; seqNo:1384; depth 0.11 2021-10-10T15:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880865.21 epoch sec; seqNo:1385; 4061565.41 north; 594789.55 east 2021-10-10T15:47:48Z- AHRS_M2 msg: 1633880865.47 epoch sec; seqNo:1356 2021-10-10T15:47:48Z- AHRS_M2 msg: 0.08 phi; -0.10 theta; 1.59 psi 2021-10-10T15:47:48Z- handleDepth()-Depth_Keller msg: 1633880865484 epoch sec; seqNo:1385; depth 0.11 2021-10-10T15:47:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:48Z- handleDvl() - RDI_Pathfinder msg: 1633880865.49 epoch sec; seqNo:643 2021-10-10T15:47:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.83 , -0.50 , -0.81 2021-10-10T15:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880865.51 epoch sec; seqNo:1386; 4061565.79 north; 594789.55 east 2021-10-10T15:47:48Z- AHRS_M2 msg: 1633880865.87 epoch sec; seqNo:1357 2021-10-10T15:47:48Z- AHRS_M2 msg: 0.04 phi; -0.16 theta; 1.59 psi 2021-10-10T15:47:48Z- handleDepth()-Depth_Keller msg: 1633880865880 epoch sec; seqNo:1386; depth 0.09 2021-10-10T15:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880865.97 epoch sec; seqNo:1387; 4061565.79 north; 594789.55 east 2021-10-10T15:47:49Z- AHRS_M2 msg: 1633880866.28 epoch sec; seqNo:1358 2021-10-10T15:47:49Z- AHRS_M2 msg: 0.01 phi; -0.20 theta; 1.59 psi 2021-10-10T15:47:49Z- handleDepth()-Depth_Keller msg: 1633880866284 epoch sec; seqNo:1387; depth 0.09 2021-10-10T15:47:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880866.30 epoch sec; seqNo:1388; 4061566.17 north; 594789.54 east 2021-10-10T15:47:49Z- AHRS_M2 msg: 1633880866.73 epoch sec; seqNo:1359 2021-10-10T15:47:49Z- AHRS_M2 msg: -0.00 phi; -0.19 theta; 1.55 psi 2021-10-10T15:47:49Z- handleDepth()-Depth_Keller msg: 1633880866759 epoch sec; seqNo:1388; depth 0.08 2021-10-10T15:47:49Z- handleDvl() - RDI_Pathfinder msg: 1633880866.86 epoch sec; seqNo:644 2021-10-10T15:47:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.86 , 79.52 , 80.75 , 90.52 2021-10-10T15:47:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.43 , 0.05 , 0.95 2021-10-10T15:47:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880866.92 epoch sec; seqNo:1389; 4061566.15 north; 594788.32 east 2021-10-10T15:47:50Z- AHRS_M2 msg: 1633880867.09 epoch sec; seqNo:1360 2021-10-10T15:47:50Z- AHRS_M2 msg: -0.01 phi; -0.13 theta; 1.50 psi 2021-10-10T15:47:50Z- handleDepth()-Depth_Keller msg: 1633880867100 epoch sec; seqNo:1389; depth 0.06 2021-10-10T15:47:50Z- LcmTrn::handleMessages() - handling 43 messages took 0.80 ms and 127 calls... 2021-10-10T15:47:50Z- waiting for 1633880864.91, time is 1633880867.09 2021-10-10T15:47:50Z- LcmTrn::updateTrn() >>>> pose time 1633880867.09, meas time 1633880866.86 <<<< 2021-10-10T15:47:50Z- TerrainNav::Measurement type 1 from time = 1633880866.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:47:50Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594788.32, 0.06) 2021-10-10T15:47:50Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:50Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:50Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:50Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:50Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880867.16 epoch sec; seqNo:1390; 4061566.15 north; 594788.32 east 2021-10-10T15:47:50Z- AHRS_M2 msg: 1633880867.49 epoch sec; seqNo:1361 2021-10-10T15:47:50Z- AHRS_M2 msg: 0.02 phi; -0.10 theta; 1.50 psi 2021-10-10T15:47:50Z- handleDepth()-Depth_Keller msg: 1633880867496 epoch sec; seqNo:1390; depth 0.07 2021-10-10T15:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880867.52 epoch sec; seqNo:1391; 4061565.77 north; 594788.33 east 2021-10-10T15:47:50Z- AHRS_M2 msg: 1633880867.89 epoch sec; seqNo:1362 2021-10-10T15:47:50Z- AHRS_M2 msg: 0.07 phi; -0.11 theta; 1.52 psi 2021-10-10T15:47:50Z- handleDepth()-Depth_Keller msg: 1633880867899 epoch sec; seqNo:1391; depth 0.07 2021-10-10T15:47:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:50Z- handleDvl() - RDI_Pathfinder msg: 1633880867.90 epoch sec; seqNo:645 2021-10-10T15:47:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.43 , 0.05 , 0.95 2021-10-10T15:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880867.95 epoch sec; seqNo:1392; 4061565.77 north; 594788.33 east 2021-10-10T15:47:51Z- AHRS_M2 msg: 1633880868.30 epoch sec; seqNo:1363 2021-10-10T15:47:51Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 1.53 psi 2021-10-10T15:47:51Z- handleDepth()-Depth_Keller msg: 1633880868304 epoch sec; seqNo:1392; depth 0.09 2021-10-10T15:47:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880868.35 epoch sec; seqNo:1393; 4061565.77 north; 594788.33 east 2021-10-10T15:47:51Z- AHRS_M2 msg: 1633880868.76 epoch sec; seqNo:1364 2021-10-10T15:47:51Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.54 psi 2021-10-10T15:47:51Z- handleDepth()-Depth_Keller msg: 1633880868775 epoch sec; seqNo:1393; depth 0.10 2021-10-10T15:47:51Z- handleDvl() - RDI_Pathfinder msg: 1633880868.85 epoch sec; seqNo:646 2021-10-10T15:47:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880868.90 epoch sec; seqNo:1394; 4061565.77 north; 594788.33 east 2021-10-10T15:47:52Z- AHRS_M2 msg: 1633880869.11 epoch sec; seqNo:1365 2021-10-10T15:47:52Z- AHRS_M2 msg: -0.09 phi; -0.06 theta; 1.54 psi 2021-10-10T15:47:52Z- handleDepth()-Depth_Keller msg: 1633880869125 epoch sec; seqNo:1394; depth 0.05 2021-10-10T15:47:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:52Z- handleDvl() - RDI_Pathfinder msg: 1633880869.13 epoch sec; seqNo:647 2021-10-10T15:47:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880869.19 epoch sec; seqNo:1395; 4061565.76 north; 594787.11 east 2021-10-10T15:47:52Z- AHRS_M2 msg: 1633880869.51 epoch sec; seqNo:1366 2021-10-10T15:47:52Z- AHRS_M2 msg: -0.09 phi; -0.07 theta; 1.54 psi 2021-10-10T15:47:52Z- handleDepth()-Depth_Keller msg: 1633880869520 epoch sec; seqNo:1395; depth 0.04 2021-10-10T15:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880869.56 epoch sec; seqNo:1396; 4061565.76 north; 594787.11 east 2021-10-10T15:47:52Z- AHRS_M2 msg: 1633880869.91 epoch sec; seqNo:1367 2021-10-10T15:47:52Z- AHRS_M2 msg: -0.06 phi; 0.01 theta; 1.55 psi 2021-10-10T15:47:52Z- handleDepth()-Depth_Keller msg: 1633880869924 epoch sec; seqNo:1396; depth 0.04 2021-10-10T15:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880869.94 epoch sec; seqNo:1397; 4061565.76 north; 594787.11 east 2021-10-10T15:47:53Z- AHRS_M2 msg: 1633880870.32 epoch sec; seqNo:1368 2021-10-10T15:47:53Z- AHRS_M2 msg: -0.02 phi; 0.08 theta; 1.55 psi 2021-10-10T15:47:53Z- handleDepth()-Depth_Keller msg: 1633880870322 epoch sec; seqNo:1397; depth 0.07 2021-10-10T15:47:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:53Z- handleDvl() - RDI_Pathfinder msg: 1633880870.32 epoch sec; seqNo:648 2021-10-10T15:47:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880870.36 epoch sec; seqNo:1398; 4061565.76 north; 594787.11 east 2021-10-10T15:47:53Z- AHRS_M2 msg: 1633880870.74 epoch sec; seqNo:1369 2021-10-10T15:47:53Z- AHRS_M2 msg: 0.01 phi; 0.05 theta; 1.56 psi 2021-10-10T15:47:53Z- handleDepth()-Depth_Keller msg: 1633880870780 epoch sec; seqNo:1398; depth 0.06 2021-10-10T15:47:53Z- handleDvl() - RDI_Pathfinder msg: 1633880870.89 epoch sec; seqNo:649 2021-10-10T15:47:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.44 , 91.00 , 92.22 , 81.22 2021-10-10T15:47:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , 0.03 , -0.11 2021-10-10T15:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880870.97 epoch sec; seqNo:1399; 4061565.76 north; 594787.11 east 2021-10-10T15:47:54Z- AHRS_M2 msg: 1633880871.16 epoch sec; seqNo:1370 2021-10-10T15:47:54Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 1.59 psi 2021-10-10T15:47:54Z- handleDepth()-Depth_Keller msg: 1633880871170 epoch sec; seqNo:1399; depth 0.05 2021-10-10T15:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880871.25 epoch sec; seqNo:1400; 4061565.76 north; 594787.11 east 2021-10-10T15:47:54Z- AHRS_M2 msg: 1633880871.53 epoch sec; seqNo:1371 2021-10-10T15:47:54Z- AHRS_M2 msg: 0.02 phi; -0.08 theta; 1.59 psi 2021-10-10T15:47:54Z- handleDepth()-Depth_Keller msg: 1633880871543 epoch sec; seqNo:1400; depth 0.08 2021-10-10T15:47:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:54Z- handleDvl() - RDI_Pathfinder msg: 1633880871.55 epoch sec; seqNo:650 2021-10-10T15:47:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , 0.03 , -0.11 2021-10-10T15:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880871.58 epoch sec; seqNo:1401; 4061565.76 north; 594787.11 east 2021-10-10T15:47:54Z- AHRS_M2 msg: 1633880871.93 epoch sec; seqNo:1372 2021-10-10T15:47:54Z- AHRS_M2 msg: -0.01 phi; -0.10 theta; 1.58 psi 2021-10-10T15:47:54Z- handleDepth()-Depth_Keller msg: 1633880871944 epoch sec; seqNo:1401; depth 0.08 2021-10-10T15:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880871.97 epoch sec; seqNo:1402; 4061565.76 north; 594787.11 east 2021-10-10T15:47:55Z- LcmTrn::handleMessages() - handling 43 messages took 0.79 ms and 127 calls... 2021-10-10T15:47:55Z- waiting for 1633880870.09, time is 1633880871.97 2021-10-10T15:47:55Z- LcmTrn::updateTrn() >>>> pose time 1633880871.97, meas time 1633880871.55 <<<< 2021-10-10T15:47:55Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880871.55, ping # 0. 2021-10-10T15:47:55Z- TerrainNav::Measurement type 1 from time = 1633880871.55 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:47:55Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594787.11, 0.08) 2021-10-10T15:47:55Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:47:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:47:55Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:47:55Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:47:55Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:47:55Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:47:55Z- AHRS_M2 msg: 1633880872.34 epoch sec; seqNo:1373 2021-10-10T15:47:55Z- AHRS_M2 msg: 0.01 phi; -0.13 theta; 1.58 psi 2021-10-10T15:47:55Z- handleDepth()-Depth_Keller msg: 1633880872344 epoch sec; seqNo:1402; depth 0.06 2021-10-10T15:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880872.37 epoch sec; seqNo:1403; 4061565.76 north; 594787.11 east 2021-10-10T15:47:55Z- AHRS_M2 msg: 1633880872.74 epoch sec; seqNo:1374 2021-10-10T15:47:55Z- AHRS_M2 msg: 0.09 phi; -0.16 theta; 1.57 psi 2021-10-10T15:47:55Z- handleDepth()-Depth_Keller msg: 1633880872768 epoch sec; seqNo:1403; depth 0.06 2021-10-10T15:47:55Z- handleDvl() - RDI_Pathfinder msg: 1633880872.83 epoch sec; seqNo:651 2021-10-10T15:47:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.13 , 87.13 , 88.35 , 77.48 2021-10-10T15:47:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.31 , 0.09 2021-10-10T15:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880872.88 epoch sec; seqNo:1404; 4061565.76 north; 594787.11 east 2021-10-10T15:47:56Z- AHRS_M2 msg: 1633880873.15 epoch sec; seqNo:1375 2021-10-10T15:47:56Z- AHRS_M2 msg: 0.15 phi; -0.15 theta; 1.56 psi 2021-10-10T15:47:56Z- handleDepth()-Depth_Keller msg: 1633880873156 epoch sec; seqNo:1404; depth 0.09 2021-10-10T15:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880873.21 epoch sec; seqNo:1405; 4061565.76 north; 594787.11 east 2021-10-10T15:47:56Z- handleDepth()-Depth_Keller msg: 1633880873564 epoch sec; seqNo:1405; depth 0.08 2021-10-10T15:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880873.60 epoch sec; seqNo:1406; 4061566.13 north; 594785.88 east 2021-10-10T15:47:56Z- AHRS_M2 msg: 1633880873.95 epoch sec; seqNo:1376 2021-10-10T15:47:56Z- AHRS_M2 msg: -0.01 phi; -0.11 theta; 1.56 psi 2021-10-10T15:47:56Z- handleDepth()-Depth_Keller msg: 1633880873965 epoch sec; seqNo:1406; depth 0.09 2021-10-10T15:47:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:56Z- handleDvl() - RDI_Pathfinder msg: 1633880873.97 epoch sec; seqNo:652 2021-10-10T15:47:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.31 , 0.09 2021-10-10T15:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880874.00 epoch sec; seqNo:1407; 4061566.13 north; 594785.88 east 2021-10-10T15:47:57Z- AHRS_M2 msg: 1633880874.36 epoch sec; seqNo:1377 2021-10-10T15:47:57Z- AHRS_M2 msg: -0.08 phi; -0.07 theta; 1.53 psi 2021-10-10T15:47:57Z- handleDepth()-Depth_Keller msg: 1633880874364 epoch sec; seqNo:1407; depth 0.07 2021-10-10T15:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880874.39 epoch sec; seqNo:1408; 4061566.13 north; 594785.88 east 2021-10-10T15:47:57Z- AHRS_M2 msg: 1633880874.76 epoch sec; seqNo:1378 2021-10-10T15:47:57Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 1.50 psi 2021-10-10T15:47:57Z- handleDepth()-Depth_Keller msg: 1633880874768 epoch sec; seqNo:1408; depth 0.07 2021-10-10T15:47:57Z- handleDvl() - RDI_Pathfinder msg: 1633880874.81 epoch sec; seqNo:653 2021-10-10T15:47:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880874.89 epoch sec; seqNo:1409; 4061566.51 north; 594785.88 east 2021-10-10T15:47:58Z- AHRS_M2 msg: 1633880875.17 epoch sec; seqNo:1379 2021-10-10T15:47:58Z- AHRS_M2 msg: -0.01 phi; 0.04 theta; 1.52 psi 2021-10-10T15:47:58Z- handleDepth()-Depth_Keller msg: 1633880875188 epoch sec; seqNo:1409; depth 0.06 2021-10-10T15:47:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:58Z- handleDvl() - RDI_Pathfinder msg: 1633880875.19 epoch sec; seqNo:654 2021-10-10T15:47:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:58Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880875.29 epoch sec; seqNo:1410; 4061566.51 north; 594785.88 east 2021-10-10T15:47:58Z- AHRS_M2 msg: 1633880875.57 epoch sec; seqNo:1380 2021-10-10T15:47:58Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 1.57 psi 2021-10-10T15:47:58Z- handleDepth()-Depth_Keller msg: 1633880875596 epoch sec; seqNo:1410; depth 0.08 2021-10-10T15:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880875.63 epoch sec; seqNo:1411; 4061566.51 north; 594785.88 east 2021-10-10T15:47:58Z- AHRS_M2 msg: 1633880875.97 epoch sec; seqNo:1381 2021-10-10T15:47:58Z- AHRS_M2 msg: 0.01 phi; -0.05 theta; 1.59 psi 2021-10-10T15:47:58Z- handleDepth()-Depth_Keller msg: 1633880875984 epoch sec; seqNo:1411; depth 0.07 2021-10-10T15:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880876.02 epoch sec; seqNo:1412; 4061566.87 north; 594784.65 east 2021-10-10T15:47:59Z- AHRS_M2 msg: 1633880876.38 epoch sec; seqNo:1382 2021-10-10T15:47:59Z- AHRS_M2 msg: -0.05 phi; -0.11 theta; 1.57 psi 2021-10-10T15:47:59Z- handleDepth()-Depth_Keller msg: 1633880876387 epoch sec; seqNo:1412; depth 0.06 2021-10-10T15:47:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:47:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:47:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:47:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:47:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:47:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:47:59Z- handleDvl() - RDI_Pathfinder msg: 1633880876.39 epoch sec; seqNo:655 2021-10-10T15:47:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:47:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880876.41 epoch sec; seqNo:1413; 4061566.87 north; 594784.65 east 2021-10-10T15:47:59Z- AHRS_M2 msg: 1633880876.78 epoch sec; seqNo:1383 2021-10-10T15:47:59Z- AHRS_M2 msg: -0.09 phi; -0.10 theta; 1.56 psi 2021-10-10T15:47:59Z- handleDepth()-Depth_Keller msg: 1633880876788 epoch sec; seqNo:1413; depth 0.05 2021-10-10T15:47:59Z- handleDvl() - RDI_Pathfinder msg: 1633880876.83 epoch sec; seqNo:656 2021-10-10T15:47:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.33 , 86.11 , 98.34 , 0.00 2021-10-10T15:47:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.66 , 0.25 , -0.19 2021-10-10T15:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880876.86 epoch sec; seqNo:1414; 4061566.87 north; 594784.65 east 2021-10-10T15:48:00Z- AHRS_M2 msg: 1633880877.19 epoch sec; seqNo:1384 2021-10-10T15:48:00Z- AHRS_M2 msg: -0.09 phi; -0.06 theta; 1.56 psi 2021-10-10T15:48:00Z- LcmTrn::handleMessages() - handling 42 messages took 0.98 ms and 122 calls... 2021-10-10T15:48:00Z- waiting for 1633880874.97, time is 1633880877.19 2021-10-10T15:48:00Z- LcmTrn::updateTrn() >>>> pose time 1633880877.19, meas time 1633880876.83 <<<< 2021-10-10T15:48:00Z- TerrainNav::Measurement type 1 from time = 1633880876.83 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:48:00Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594784.65, 0.05) 2021-10-10T15:48:00Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:00Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:00Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:00Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:00Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:00Z- handleDepth()-Depth_Keller msg: 1633880877192 epoch sec; seqNo:1414; depth 0.04 2021-10-10T15:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880877.24 epoch sec; seqNo:1415; 4061566.49 north; 594784.66 east 2021-10-10T15:48:00Z- AHRS_M2 msg: 1633880877.59 epoch sec; seqNo:1385 2021-10-10T15:48:00Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.57 psi 2021-10-10T15:48:00Z- handleDepth()-Depth_Keller msg: 1633880877596 epoch sec; seqNo:1415; depth 0.04 2021-10-10T15:48:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:00Z- handleDvl() - RDI_Pathfinder msg: 1633880877.60 epoch sec; seqNo:657 2021-10-10T15:48:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.66 , 0.25 , -0.19 2021-10-10T15:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880877.66 epoch sec; seqNo:1416; 4061566.49 north; 594784.66 east 2021-10-10T15:48:00Z- AHRS_M2 msg: 1633880877.99 epoch sec; seqNo:1386 2021-10-10T15:48:00Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.56 psi 2021-10-10T15:48:00Z- handleDepth()-Depth_Keller msg: 1633880878000 epoch sec; seqNo:1416; depth 0.04 2021-10-10T15:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880878.04 epoch sec; seqNo:1417; 4061566.48 north; 594783.44 east 2021-10-10T15:48:01Z- AHRS_M2 msg: 1633880878.40 epoch sec; seqNo:1387 2021-10-10T15:48:01Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 1.54 psi 2021-10-10T15:48:01Z- handleDepth()-Depth_Keller msg: 1633880878404 epoch sec; seqNo:1417; depth 0.03 2021-10-10T15:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880878.44 epoch sec; seqNo:1418; 4061566.48 north; 594783.44 east 2021-10-10T15:48:01Z- AHRS_M2 msg: 1633880878.80 epoch sec; seqNo:1388 2021-10-10T15:48:01Z- AHRS_M2 msg: 0.08 phi; -0.01 theta; 1.56 psi 2021-10-10T15:48:01Z- handleDepth()-Depth_Keller msg: 1633880878812 epoch sec; seqNo:1418; depth 0.01 2021-10-10T15:48:01Z- handleDvl() - RDI_Pathfinder msg: 1633880878.86 epoch sec; seqNo:658 2021-10-10T15:48:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.01 , 85.57 , 92.90 , 79.46 2021-10-10T15:48:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.12 , 0.26 2021-10-10T15:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880878.89 epoch sec; seqNo:1419; 4061566.48 north; 594783.44 east 2021-10-10T15:48:02Z- AHRS_M2 msg: 1633880879.20 epoch sec; seqNo:1389 2021-10-10T15:48:02Z- AHRS_M2 msg: 0.09 phi; -0.00 theta; 1.56 psi 2021-10-10T15:48:02Z- handleDepth()-Depth_Keller msg: 1633880879220 epoch sec; seqNo:1419; depth 0.06 2021-10-10T15:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880879.26 epoch sec; seqNo:1420; 4061566.48 north; 594783.44 east 2021-10-10T15:48:02Z- AHRS_M2 msg: 1633880879.61 epoch sec; seqNo:1390 2021-10-10T15:48:02Z- AHRS_M2 msg: 0.00 phi; 0.01 theta; 1.55 psi 2021-10-10T15:48:02Z- handleDepth()-Depth_Keller msg: 1633880879616 epoch sec; seqNo:1420; depth 0.07 2021-10-10T15:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880879.65 epoch sec; seqNo:1421; 4061566.48 north; 594783.44 east 2021-10-10T15:48:02Z- AHRS_M2 msg: 1633880880.01 epoch sec; seqNo:1391 2021-10-10T15:48:02Z- AHRS_M2 msg: -0.09 phi; 0.03 theta; 1.57 psi 2021-10-10T15:48:02Z- handleDepth()-Depth_Keller msg: 1633880880020 epoch sec; seqNo:1421; depth 0.07 2021-10-10T15:48:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:02Z- handleDvl() - RDI_Pathfinder msg: 1633880880.02 epoch sec; seqNo:659 2021-10-10T15:48:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.12 , 0.26 2021-10-10T15:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880880.07 epoch sec; seqNo:1422; 4061566.49 north; 594784.66 east 2021-10-10T15:48:03Z- AHRS_M2 msg: 1633880880.42 epoch sec; seqNo:1392 2021-10-10T15:48:03Z- AHRS_M2 msg: -0.14 phi; 0.06 theta; 1.60 psi 2021-10-10T15:48:03Z- handleDepth()-Depth_Keller msg: 1633880880460 epoch sec; seqNo:1422; depth 0.06 2021-10-10T15:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880880.49 epoch sec; seqNo:1423; 4061566.49 north; 594784.66 east 2021-10-10T15:48:03Z- AHRS_M2 msg: 1633880880.82 epoch sec; seqNo:1393 2021-10-10T15:48:03Z- AHRS_M2 msg: -0.12 phi; 0.05 theta; 1.60 psi 2021-10-10T15:48:03Z- handleDepth()-Depth_Keller msg: 1633880880836 epoch sec; seqNo:1423; depth 0.06 2021-10-10T15:48:03Z- handleDvl() - RDI_Pathfinder msg: 1633880880.89 epoch sec; seqNo:660 2021-10-10T15:48:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.31 , 92.09 , 98.20 , 83.53 2021-10-10T15:48:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.11 , -0.09 2021-10-10T15:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880880.92 epoch sec; seqNo:1424; 4061566.49 north; 594784.66 east 2021-10-10T15:48:04Z- AHRS_M2 msg: 1633880881.23 epoch sec; seqNo:1394 2021-10-10T15:48:04Z- AHRS_M2 msg: -0.11 phi; 0.02 theta; 1.60 psi 2021-10-10T15:48:04Z- handleDepth()-Depth_Keller msg: 1633880881240 epoch sec; seqNo:1424; depth 0.08 2021-10-10T15:48:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:04Z- handleDvl() - RDI_Pathfinder msg: 1633880881.26 epoch sec; seqNo:661 2021-10-10T15:48:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.11 , -0.09 2021-10-10T15:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880881.31 epoch sec; seqNo:1425; 4061566.49 north; 594784.66 east 2021-10-10T15:48:04Z- handleDepth()-Depth_Keller msg: 1633880881653 epoch sec; seqNo:1425; depth 0.09 2021-10-10T15:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880881.75 epoch sec; seqNo:1426; 4061566.49 north; 594784.66 east 2021-10-10T15:48:05Z- handleDepth()-Depth_Keller msg: 1633880882056 epoch sec; seqNo:1426; depth 0.08 2021-10-10T15:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880882.09 epoch sec; seqNo:1427; 4061566.49 north; 594784.66 east 2021-10-10T15:48:05Z- LcmTrn::handleMessages() - handling 41 messages took 0.73 ms and 126 calls... 2021-10-10T15:48:05Z- waiting for 1633880880.19, time is 1633880882.09 2021-10-10T15:48:05Z- LcmTrn::updateTrn() >>>> pose time 1633880882.09, meas time 1633880881.26 <<<< 2021-10-10T15:48:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880881.26, ping # 0. 2021-10-10T15:48:05Z- TerrainNav::Measurement type 1 from time = 1633880881.26 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:48:05Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594784.66, 0.08) 2021-10-10T15:48:05Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:05Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:05Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:05Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:05Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:05Z- AHRS_M2 msg: 1633880882.44 epoch sec; seqNo:1395 2021-10-10T15:48:05Z- AHRS_M2 msg: -0.05 phi; -0.05 theta; 1.65 psi 2021-10-10T15:48:05Z- handleDepth()-Depth_Keller msg: 1633880882447 epoch sec; seqNo:1427; depth 0.07 2021-10-10T15:48:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:05Z- handleDvl() - RDI_Pathfinder msg: 1633880882.45 epoch sec; seqNo:662 2021-10-10T15:48:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.11 , -0.09 2021-10-10T15:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880882.46 epoch sec; seqNo:1428; 4061566.49 north; 594784.66 east 2021-10-10T15:48:05Z- AHRS_M2 msg: 1633880882.84 epoch sec; seqNo:1396 2021-10-10T15:48:05Z- AHRS_M2 msg: -0.06 phi; -0.13 theta; 1.65 psi 2021-10-10T15:48:05Z- handleDepth()-Depth_Keller msg: 1633880882865 epoch sec; seqNo:1428; depth 0.07 2021-10-10T15:48:05Z- handleDvl() - RDI_Pathfinder msg: 1633880882.91 epoch sec; seqNo:663 2021-10-10T15:48:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.12 , 89.37 , 95.48 , 70.10 2021-10-10T15:48:05Z- handleDvl() - RDI_Pathfinder msg: velocities -1.01 , -0.32 , 0.05 2021-10-10T15:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880882.97 epoch sec; seqNo:1429; 4061566.48 north; 594783.44 east 2021-10-10T15:48:06Z- AHRS_M2 msg: 1633880883.24 epoch sec; seqNo:1397 2021-10-10T15:48:06Z- AHRS_M2 msg: -0.03 phi; -0.14 theta; 1.63 psi 2021-10-10T15:48:06Z- handleDepth()-Depth_Keller msg: 1633880883260 epoch sec; seqNo:1429; depth 0.08 2021-10-10T15:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880883.31 epoch sec; seqNo:1430; 4061566.86 north; 594783.43 east 2021-10-10T15:48:06Z- AHRS_M2 msg: 1633880883.65 epoch sec; seqNo:1398 2021-10-10T15:48:06Z- AHRS_M2 msg: -0.01 phi; -0.09 theta; 1.61 psi 2021-10-10T15:48:06Z- handleDepth()-Depth_Keller msg: 1633880883656 epoch sec; seqNo:1430; depth 0.06 2021-10-10T15:48:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:06Z- handleDvl() - RDI_Pathfinder msg: 1633880883.66 epoch sec; seqNo:664 2021-10-10T15:48:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:06Z- handleDvl() - RDI_Pathfinder msg: velocities -1.01 , -0.32 , 0.05 2021-10-10T15:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880883.71 epoch sec; seqNo:1431; 4061566.86 north; 594783.43 east 2021-10-10T15:48:07Z- AHRS_M2 msg: 1633880884.05 epoch sec; seqNo:1399 2021-10-10T15:48:07Z- AHRS_M2 msg: -0.00 phi; -0.04 theta; 1.60 psi 2021-10-10T15:48:07Z- handleDepth()-Depth_Keller msg: 1633880884060 epoch sec; seqNo:1431; depth 0.05 2021-10-10T15:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880884.10 epoch sec; seqNo:1432; 4061566.84 north; 594782.21 east 2021-10-10T15:48:07Z- AHRS_M2 msg: 1633880884.46 epoch sec; seqNo:1400 2021-10-10T15:48:07Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 1.60 psi 2021-10-10T15:48:07Z- handleDepth()-Depth_Keller msg: 1633880884484 epoch sec; seqNo:1432; depth 0.05 2021-10-10T15:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880884.54 epoch sec; seqNo:1433; 4061567.22 north; 594782.21 east 2021-10-10T15:48:07Z- AHRS_M2 msg: 1633880884.86 epoch sec; seqNo:1401 2021-10-10T15:48:07Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 1.61 psi 2021-10-10T15:48:07Z- handleDepth()-Depth_Keller msg: 1633880884872 epoch sec; seqNo:1433; depth 0.02 2021-10-10T15:48:07Z- handleDvl() - RDI_Pathfinder msg: 1633880884.93 epoch sec; seqNo:665 2021-10-10T15:48:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.18 , 86.18 , 98.40 , 78.85 2021-10-10T15:48:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.07 , 0.92 2021-10-10T15:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880884.96 epoch sec; seqNo:1434; 4061567.22 north; 594782.21 east 2021-10-10T15:48:08Z- AHRS_M2 msg: 1633880885.27 epoch sec; seqNo:1402 2021-10-10T15:48:08Z- AHRS_M2 msg: 0.05 phi; -0.06 theta; 1.61 psi 2021-10-10T15:48:08Z- handleDepth()-Depth_Keller msg: 1633880885272 epoch sec; seqNo:1434; depth 0.04 2021-10-10T15:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880885.32 epoch sec; seqNo:1435; 4061567.22 north; 594782.21 east 2021-10-10T15:48:08Z- AHRS_M2 msg: 1633880885.67 epoch sec; seqNo:1403 2021-10-10T15:48:08Z- AHRS_M2 msg: 0.06 phi; -0.03 theta; 1.57 psi 2021-10-10T15:48:08Z- handleDepth()-Depth_Keller msg: 1633880885676 epoch sec; seqNo:1435; depth 0.06 2021-10-10T15:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880885.71 epoch sec; seqNo:1436; 4061567.22 north; 594782.21 east 2021-10-10T15:48:09Z- AHRS_M2 msg: 1633880886.07 epoch sec; seqNo:1404 2021-10-10T15:48:09Z- AHRS_M2 msg: 0.04 phi; 0.02 theta; 1.57 psi 2021-10-10T15:48:09Z- handleDepth()-Depth_Keller msg: 1633880886082 epoch sec; seqNo:1436; depth 0.05 2021-10-10T15:48:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:09Z- handleDvl() - RDI_Pathfinder msg: 1633880886.08 epoch sec; seqNo:666 2021-10-10T15:48:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.07 , 0.92 2021-10-10T15:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880886.14 epoch sec; seqNo:1437; 4061567.22 north; 594782.21 east 2021-10-10T15:48:09Z- AHRS_M2 msg: 1633880886.48 epoch sec; seqNo:1405 2021-10-10T15:48:09Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.58 psi 2021-10-10T15:48:09Z- handleDepth()-Depth_Keller msg: 1633880886489 epoch sec; seqNo:1437; depth 0.06 2021-10-10T15:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880886.53 epoch sec; seqNo:1438; 4061566.84 north; 594782.21 east 2021-10-10T15:48:09Z- AHRS_M2 msg: 1633880886.89 epoch sec; seqNo:1406 2021-10-10T15:48:09Z- AHRS_M2 msg: -0.06 phi; -0.02 theta; 1.56 psi 2021-10-10T15:48:09Z- handleDepth()-Depth_Keller msg: 1633880886892 epoch sec; seqNo:1438; depth 0.06 2021-10-10T15:48:09Z- handleDvl() - RDI_Pathfinder msg: 1633880886.96 epoch sec; seqNo:667 2021-10-10T15:48:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.57 , 85.91 , 96.91 , 0.00 2021-10-10T15:48:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.37 , 0.25 , 0.07 2021-10-10T15:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880887.01 epoch sec; seqNo:1439; 4061566.84 north; 594782.21 east 2021-10-10T15:48:10Z- LcmTrn::handleMessages() - handling 42 messages took 0.80 ms and 126 calls... 2021-10-10T15:48:10Z- waiting for 1633880885.09, time is 1633880887.01 2021-10-10T15:48:10Z- LcmTrn::updateTrn() equating pose 1633880887.01 and meas times 1633880887.01 2021-10-10T15:48:10Z- LcmTrn::updateTrn() >>>> pose time 1633880887.01, meas time 1633880887.01 <<<< 2021-10-10T15:48:10Z- TerrainNav::Measurement type 1 from time = 1633880887.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:48:10Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594782.21, 0.06) 2021-10-10T15:48:10Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:10Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:10Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:10Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:10Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:10Z- AHRS_M2 msg: 1633880887.29 epoch sec; seqNo:1407 2021-10-10T15:48:10Z- AHRS_M2 msg: -0.09 phi; 0.03 theta; 1.57 psi 2021-10-10T15:48:10Z- handleDepth()-Depth_Keller msg: 1633880887292 epoch sec; seqNo:1439; depth 0.05 2021-10-10T15:48:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:10Z- handleDvl() - RDI_Pathfinder msg: 1633880887.29 epoch sec; seqNo:668 2021-10-10T15:48:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.37 , 0.25 , 0.07 2021-10-10T15:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880887.33 epoch sec; seqNo:1440; 4061566.86 north; 594783.43 east 2021-10-10T15:48:10Z- AHRS_M2 msg: 1633880887.69 epoch sec; seqNo:1408 2021-10-10T15:48:10Z- AHRS_M2 msg: -0.09 phi; 0.06 theta; 1.60 psi 2021-10-10T15:48:10Z- handleDepth()-Depth_Keller msg: 1633880887708 epoch sec; seqNo:1440; depth 0.03 2021-10-10T15:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880887.75 epoch sec; seqNo:1441; 4061566.86 north; 594783.43 east 2021-10-10T15:48:11Z- AHRS_M2 msg: 1633880888.09 epoch sec; seqNo:1409 2021-10-10T15:48:11Z- AHRS_M2 msg: -0.03 phi; 0.05 theta; 1.58 psi 2021-10-10T15:48:11Z- handleDepth()-Depth_Keller msg: 1633880888100 epoch sec; seqNo:1441; depth 0.03 2021-10-10T15:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880888.14 epoch sec; seqNo:1442; 4061566.48 north; 594783.44 east 2021-10-10T15:48:11Z- AHRS_M2 msg: 1633880888.50 epoch sec; seqNo:1410 2021-10-10T15:48:11Z- AHRS_M2 msg: 0.04 phi; 0.07 theta; 1.59 psi 2021-10-10T15:48:11Z- handleDepth()-Depth_Keller msg: 1633880888503 epoch sec; seqNo:1442; depth 0.06 2021-10-10T15:48:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:11Z- handleDvl() - RDI_Pathfinder msg: 1633880888.51 epoch sec; seqNo:669 2021-10-10T15:48:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.37 , 0.25 , 0.07 2021-10-10T15:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880888.53 epoch sec; seqNo:1443; 4061566.48 north; 594783.44 east 2021-10-10T15:48:11Z- AHRS_M2 msg: 1633880888.90 epoch sec; seqNo:1411 2021-10-10T15:48:11Z- AHRS_M2 msg: 0.04 phi; 0.07 theta; 1.64 psi 2021-10-10T15:48:11Z- handleDepth()-Depth_Keller msg: 1633880888916 epoch sec; seqNo:1443; depth 0.06 2021-10-10T15:48:11Z- handleDvl() - RDI_Pathfinder msg: 1633880888.95 epoch sec; seqNo:670 2021-10-10T15:48:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.12 , 92.90 , 99.01 , 79.46 2021-10-10T15:48:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , -0.22 , -0.80 2021-10-10T15:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880888.99 epoch sec; seqNo:1444; 4061566.48 north; 594783.44 east 2021-10-10T15:48:12Z- AHRS_M2 msg: 1633880889.30 epoch sec; seqNo:1412 2021-10-10T15:48:12Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 1.63 psi 2021-10-10T15:48:12Z- handleDepth()-Depth_Keller msg: 1633880889315 epoch sec; seqNo:1444; depth 0.07 2021-10-10T15:48:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880889.40 epoch sec; seqNo:1445; 4061566.86 north; 594783.43 east 2021-10-10T15:48:12Z- AHRS_M2 msg: 1633880889.71 epoch sec; seqNo:1413 2021-10-10T15:48:12Z- AHRS_M2 msg: -0.11 phi; -0.08 theta; 1.58 psi 2021-10-10T15:48:12Z- handleDepth()-Depth_Keller msg: 1633880889728 epoch sec; seqNo:1445; depth 0.06 2021-10-10T15:48:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880889.77 epoch sec; seqNo:1446; 4061566.86 north; 594783.43 east 2021-10-10T15:48:13Z- AHRS_M2 msg: 1633880890.11 epoch sec; seqNo:1414 2021-10-10T15:48:13Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 1.58 psi 2021-10-10T15:48:13Z- handleDepth()-Depth_Keller msg: 1633880890120 epoch sec; seqNo:1446; depth 0.07 2021-10-10T15:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880890.18 epoch sec; seqNo:1447; 4061566.86 north; 594783.43 east 2021-10-10T15:48:13Z- AHRS_M2 msg: 1633880890.52 epoch sec; seqNo:1415 2021-10-10T15:48:13Z- AHRS_M2 msg: -0.17 phi; 0.00 theta; 1.65 psi 2021-10-10T15:48:13Z- handleDepth()-Depth_Keller msg: 1633880890533 epoch sec; seqNo:1447; depth 0.05 2021-10-10T15:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880890.56 epoch sec; seqNo:1448; 4061567.24 north; 594783.43 east 2021-10-10T15:48:13Z- AHRS_M2 msg: 1633880890.92 epoch sec; seqNo:1416 2021-10-10T15:48:13Z- AHRS_M2 msg: -0.07 phi; -0.07 theta; 1.69 psi 2021-10-10T15:48:13Z- handleDepth()-Depth_Keller msg: 1633880890927 epoch sec; seqNo:1448; depth 0.05 2021-10-10T15:48:13Z- handleDvl() - RDI_Pathfinder msg: 1633880890.95 epoch sec; seqNo:671 2021-10-10T15:48:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.65 , 94.32 , 0.00 , 83.32 2021-10-10T15:48:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.77 , -0.09 , 0.14 2021-10-10T15:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880891.00 epoch sec; seqNo:1449; 4061567.24 north; 594783.43 east 2021-10-10T15:48:14Z- AHRS_M2 msg: 1633880891.32 epoch sec; seqNo:1417 2021-10-10T15:48:14Z- AHRS_M2 msg: 0.04 phi; -0.13 theta; 1.65 psi 2021-10-10T15:48:14Z- handleDepth()-Depth_Keller msg: 1633880891345 epoch sec; seqNo:1449; depth 0.07 2021-10-10T15:48:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880891.37 epoch sec; seqNo:1450; 4061567.22 north; 594782.21 east 2021-10-10T15:48:14Z- AHRS_M2 msg: 1633880891.73 epoch sec; seqNo:1418 2021-10-10T15:48:14Z- AHRS_M2 msg: 0.06 phi; -0.11 theta; 1.61 psi 2021-10-10T15:48:14Z- handleDepth()-Depth_Keller msg: 1633880891759 epoch sec; seqNo:1450; depth 0.06 2021-10-10T15:48:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880891.78 epoch sec; seqNo:1451; 4061567.22 north; 594782.21 east 2021-10-10T15:48:15Z- AHRS_M2 msg: 1633880892.13 epoch sec; seqNo:1419 2021-10-10T15:48:15Z- AHRS_M2 msg: 0.08 phi; -0.05 theta; 1.61 psi 2021-10-10T15:48:15Z- handleDepth()-Depth_Keller msg: 1633880892139 epoch sec; seqNo:1451; depth 0.05 2021-10-10T15:48:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:15Z- handleDvl() - RDI_Pathfinder msg: 1633880892.14 epoch sec; seqNo:672 2021-10-10T15:48:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.77 , -0.09 , 0.14 2021-10-10T15:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880892.16 epoch sec; seqNo:1452; 4061567.22 north; 594782.21 east 2021-10-10T15:48:15Z- LcmTrn::handleMessages() - handling 44 messages took 0.90 ms and 126 calls... 2021-10-10T15:48:15Z- waiting for 1633880890.01, time is 1633880892.16 2021-10-10T15:48:15Z- LcmTrn::updateTrn() equating pose 1633880892.16 and meas times 1633880892.16 2021-10-10T15:48:15Z- LcmTrn::updateTrn() >>>> pose time 1633880892.16, meas time 1633880892.16 <<<< 2021-10-10T15:48:15Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880892.16, ping # 0. 2021-10-10T15:48:15Z- TerrainNav::Measurement type 1 from time = 1633880892.16 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:48:15Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594782.21, 0.05) 2021-10-10T15:48:15Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:15Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:15Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:15Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:15Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:15Z- AHRS_M2 msg: 1633880892.54 epoch sec; seqNo:1420 2021-10-10T15:48:15Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 1.59 psi 2021-10-10T15:48:15Z- handleDepth()-Depth_Keller msg: 1633880892544 epoch sec; seqNo:1452; depth 0.04 2021-10-10T15:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880892.57 epoch sec; seqNo:1453; 4061567.22 north; 594782.21 east 2021-10-10T15:48:15Z- AHRS_M2 msg: 1633880892.94 epoch sec; seqNo:1421 2021-10-10T15:48:15Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 1.56 psi 2021-10-10T15:48:15Z- handleDepth()-Depth_Keller msg: 1633880892953 epoch sec; seqNo:1453; depth 0.06 2021-10-10T15:48:15Z- handleDvl() - RDI_Pathfinder msg: 1633880892.98 epoch sec; seqNo:673 2021-10-10T15:48:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.00 , 81.22 , 88.56 , 81.22 2021-10-10T15:48:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.29 , 0.93 2021-10-10T15:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880893.02 epoch sec; seqNo:1454; 4061567.60 north; 594782.20 east 2021-10-10T15:48:16Z- AHRS_M2 msg: 1633880893.35 epoch sec; seqNo:1422 2021-10-10T15:48:16Z- AHRS_M2 msg: 0.06 phi; -0.05 theta; 1.56 psi 2021-10-10T15:48:16Z- handleDepth()-Depth_Keller msg: 1633880893352 epoch sec; seqNo:1454; depth 0.05 2021-10-10T15:48:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:16Z- handleDvl() - RDI_Pathfinder msg: 1633880893.35 epoch sec; seqNo:674 2021-10-10T15:48:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.29 , 0.93 2021-10-10T15:48:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880893.40 epoch sec; seqNo:1455; 4061567.60 north; 594782.20 east 2021-10-10T15:48:16Z- AHRS_M2 msg: 1633880893.75 epoch sec; seqNo:1423 2021-10-10T15:48:16Z- AHRS_M2 msg: -0.03 phi; -0.06 theta; 1.56 psi 2021-10-10T15:48:16Z- handleDepth()-Depth_Keller msg: 1633880893756 epoch sec; seqNo:1455; depth 0.04 2021-10-10T15:48:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880893.82 epoch sec; seqNo:1456; 4061567.98 north; 594782.20 east 2021-10-10T15:48:17Z- handleDepth()-Depth_Keller msg: 1633880894180 epoch sec; seqNo:1456; depth 0.03 2021-10-10T15:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880894.21 epoch sec; seqNo:1457; 4061567.98 north; 594782.20 east 2021-10-10T15:48:17Z- AHRS_M2 msg: 1633880894.56 epoch sec; seqNo:1424 2021-10-10T15:48:17Z- AHRS_M2 msg: -0.14 phi; 0.03 theta; 1.59 psi 2021-10-10T15:48:17Z- handleDepth()-Depth_Keller msg: 1633880894563 epoch sec; seqNo:1457; depth 0.04 2021-10-10T15:48:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:17Z- handleDvl() - RDI_Pathfinder msg: 1633880894.57 epoch sec; seqNo:675 2021-10-10T15:48:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.29 , 0.93 2021-10-10T15:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880894.60 epoch sec; seqNo:1458; 4061567.98 north; 594782.20 east 2021-10-10T15:48:17Z- AHRS_M2 msg: 1633880894.96 epoch sec; seqNo:1425 2021-10-10T15:48:17Z- AHRS_M2 msg: -0.04 phi; 0.10 theta; 1.59 psi 2021-10-10T15:48:17Z- handleDepth()-Depth_Keller msg: 1633880894968 epoch sec; seqNo:1458; depth 0.04 2021-10-10T15:48:17Z- handleDvl() - RDI_Pathfinder msg: 1633880895.01 epoch sec; seqNo:676 2021-10-10T15:48:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.82 , 90.93 , 0.00 , 82.38 2021-10-10T15:48:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.31 , -0.04 2021-10-10T15:48:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880895.03 epoch sec; seqNo:1459; 4061567.98 north; 594782.20 east 2021-10-10T15:48:18Z- AHRS_M2 msg: 1633880895.36 epoch sec; seqNo:1426 2021-10-10T15:48:18Z- AHRS_M2 msg: 0.04 phi; 0.10 theta; 1.61 psi 2021-10-10T15:48:18Z- handleDepth()-Depth_Keller msg: 1633880895372 epoch sec; seqNo:1459; depth 0.05 2021-10-10T15:48:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880895.39 epoch sec; seqNo:1460; 4061567.60 north; 594782.20 east 2021-10-10T15:48:18Z- AHRS_M2 msg: 1633880895.77 epoch sec; seqNo:1427 2021-10-10T15:48:18Z- AHRS_M2 msg: 0.04 phi; 0.00 theta; 1.61 psi 2021-10-10T15:48:18Z- handleDepth()-Depth_Keller msg: 1633880895786 epoch sec; seqNo:1460; depth 0.06 2021-10-10T15:48:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:18Z- handleDvl() - RDI_Pathfinder msg: 1633880895.79 epoch sec; seqNo:677 2021-10-10T15:48:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.31 , -0.04 2021-10-10T15:48:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880895.80 epoch sec; seqNo:1461; 4061567.62 north; 594783.42 east 2021-10-10T15:48:19Z- AHRS_M2 msg: 1633880896.17 epoch sec; seqNo:1428 2021-10-10T15:48:19Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.57 psi 2021-10-10T15:48:19Z- handleDepth()-Depth_Keller msg: 1633880896177 epoch sec; seqNo:1461; depth 0.06 2021-10-10T15:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880896.19 epoch sec; seqNo:1462; 4061567.62 north; 594783.42 east 2021-10-10T15:48:19Z- AHRS_M2 msg: 1633880896.58 epoch sec; seqNo:1429 2021-10-10T15:48:19Z- AHRS_M2 msg: -0.14 phi; 0.03 theta; 1.60 psi 2021-10-10T15:48:19Z- handleDepth()-Depth_Keller msg: 1633880896581 epoch sec; seqNo:1462; depth 0.06 2021-10-10T15:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880896.59 epoch sec; seqNo:1463; 4061567.24 north; 594783.43 east 2021-10-10T15:48:19Z- AHRS_M2 msg: 1633880896.98 epoch sec; seqNo:1430 2021-10-10T15:48:19Z- AHRS_M2 msg: -0.16 phi; 0.05 theta; 1.66 psi 2021-10-10T15:48:19Z- handleDepth()-Depth_Keller msg: 1633880896992 epoch sec; seqNo:1463; depth 0.06 2021-10-10T15:48:19Z- handleDvl() - RDI_Pathfinder msg: 1633880897.01 epoch sec; seqNo:678 2021-10-10T15:48:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.20 , 85.98 , 92.09 , 78.64 2021-10-10T15:48:19Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.00 , -1.16 2021-10-10T15:48:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880897.03 epoch sec; seqNo:1464; 4061567.62 north; 594783.42 east 2021-10-10T15:48:20Z- LcmTrn::handleMessages() - handling 41 messages took 0.82 ms and 124 calls... 2021-10-10T15:48:20Z- waiting for 1633880895.16, time is 1633880897.03 2021-10-10T15:48:20Z- LcmTrn::updateTrn() equating pose 1633880897.03 and meas times 1633880897.03 2021-10-10T15:48:20Z- LcmTrn::updateTrn() >>>> pose time 1633880897.03, meas time 1633880897.03 <<<< 2021-10-10T15:48:20Z- TerrainNav::Measurement type 1 from time = 1633880897.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:48:20Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594783.42, 0.06) 2021-10-10T15:48:20Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:20Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:20Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:20Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:20Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:20Z- AHRS_M2 msg: 1633880897.38 epoch sec; seqNo:1431 2021-10-10T15:48:20Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 1.68 psi 2021-10-10T15:48:20Z- handleDepth()-Depth_Keller msg: 1633880897388 epoch sec; seqNo:1464; depth 0.05 2021-10-10T15:48:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880897.41 epoch sec; seqNo:1465; 4061567.62 north; 594783.42 east 2021-10-10T15:48:20Z- AHRS_M2 msg: 1633880897.79 epoch sec; seqNo:1432 2021-10-10T15:48:20Z- AHRS_M2 msg: -0.02 phi; -0.12 theta; 1.65 psi 2021-10-10T15:48:20Z- handleDepth()-Depth_Keller msg: 1633880897792 epoch sec; seqNo:1465; depth 0.09 2021-10-10T15:48:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880897.80 epoch sec; seqNo:1466; 4061567.62 north; 594783.42 east 2021-10-10T15:48:21Z- AHRS_M2 msg: 1633880898.19 epoch sec; seqNo:1433 2021-10-10T15:48:21Z- AHRS_M2 msg: 0.01 phi; -0.13 theta; 1.59 psi 2021-10-10T15:48:21Z- handleDepth()-Depth_Keller msg: 1633880898203 epoch sec; seqNo:1466; depth 0.12 2021-10-10T15:48:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:21Z- handleDvl() - RDI_Pathfinder msg: 1633880898.21 epoch sec; seqNo:679 2021-10-10T15:48:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.00 , -1.16 2021-10-10T15:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880898.21 epoch sec; seqNo:1467; 4061567.60 north; 594782.20 east 2021-10-10T15:48:21Z- AHRS_M2 msg: 1633880898.60 epoch sec; seqNo:1434 2021-10-10T15:48:21Z- AHRS_M2 msg: 0.02 phi; -0.11 theta; 1.59 psi 2021-10-10T15:48:21Z- handleDepth()-Depth_Keller msg: 1633880898603 epoch sec; seqNo:1467; depth 0.08 2021-10-10T15:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880898.61 epoch sec; seqNo:1468; 4061567.60 north; 594782.20 east 2021-10-10T15:48:21Z- AHRS_M2 msg: 1633880899.00 epoch sec; seqNo:1435 2021-10-10T15:48:21Z- AHRS_M2 msg: 0.08 phi; -0.14 theta; 1.59 psi 2021-10-10T15:48:21Z- handleDepth()-Depth_Keller msg: 1633880899013 epoch sec; seqNo:1468; depth 0.04 2021-10-10T15:48:22Z- handleDvl() - RDI_Pathfinder msg: 1633880899.04 epoch sec; seqNo:680 2021-10-10T15:48:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.42 , 84.75 , 84.75 , 78.71 2021-10-10T15:48:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.81 , -0.50 , 0.58 2021-10-10T15:48:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880899.05 epoch sec; seqNo:1469; 4061567.60 north; 594782.20 east 2021-10-10T15:48:22Z- AHRS_M2 msg: 1633880899.40 epoch sec; seqNo:1436 2021-10-10T15:48:22Z- AHRS_M2 msg: 0.16 phi; -0.12 theta; 1.52 psi 2021-10-10T15:48:22Z- handleDepth()-Depth_Keller msg: 1633880899412 epoch sec; seqNo:1469; depth 0.04 2021-10-10T15:48:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:22Z- handleDvl() - RDI_Pathfinder msg: 1633880899.41 epoch sec; seqNo:681 2021-10-10T15:48:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.81 , -0.50 , 0.58 2021-10-10T15:48:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880899.45 epoch sec; seqNo:1470; 4061567.98 north; 594782.20 east 2021-10-10T15:48:22Z- AHRS_M2 msg: 1633880899.81 epoch sec; seqNo:1437 2021-10-10T15:48:22Z- AHRS_M2 msg: 0.18 phi; -0.01 theta; 1.48 psi 2021-10-10T15:48:22Z- handleDepth()-Depth_Keller msg: 1633880899813 epoch sec; seqNo:1470; depth 0.03 2021-10-10T15:48:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880899.82 epoch sec; seqNo:1471; 4061567.97 north; 594780.98 east 2021-10-10T15:48:23Z- AHRS_M2 msg: 1633880900.21 epoch sec; seqNo:1438 2021-10-10T15:48:23Z- AHRS_M2 msg: 0.12 phi; 0.10 theta; 1.52 psi 2021-10-10T15:48:23Z- handleDepth()-Depth_Keller msg: 1633880900219 epoch sec; seqNo:1471; depth 0.04 2021-10-10T15:48:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880900.23 epoch sec; seqNo:1472; 4061568.35 north; 594780.98 east 2021-10-10T15:48:23Z- AHRS_M2 msg: 1633880900.62 epoch sec; seqNo:1439 2021-10-10T15:48:23Z- AHRS_M2 msg: 0.00 phi; 0.09 theta; 1.56 psi 2021-10-10T15:48:23Z- handleDepth()-Depth_Keller msg: 1633880900629 epoch sec; seqNo:1472; depth 0.04 2021-10-10T15:48:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:23Z- handleDvl() - RDI_Pathfinder msg: 1633880900.63 epoch sec; seqNo:682 2021-10-10T15:48:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.81 , -0.50 , 0.58 2021-10-10T15:48:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880900.64 epoch sec; seqNo:1473; 4061568.72 north; 594780.97 east 2021-10-10T15:48:24Z- AHRS_M2 msg: 1633880901.02 epoch sec; seqNo:1440 2021-10-10T15:48:24Z- AHRS_M2 msg: -0.14 phi; -0.00 theta; 1.57 psi 2021-10-10T15:48:24Z- handleDepth()-Depth_Keller msg: 1633880901025 epoch sec; seqNo:1473; depth 0.05 2021-10-10T15:48:24Z- handleDvl() - RDI_Pathfinder msg: 1633880901.05 epoch sec; seqNo:683 2021-10-10T15:48:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.40 , 80.07 , 103.29 , 78.85 2021-10-10T15:48:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.52 , 0.11 2021-10-10T15:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880901.07 epoch sec; seqNo:1474; 4061568.35 north; 594780.98 east 2021-10-10T15:48:24Z- AHRS_M2 msg: 1633880901.43 epoch sec; seqNo:1441 2021-10-10T15:48:24Z- AHRS_M2 msg: -0.26 phi; -0.06 theta; 1.56 psi 2021-10-10T15:48:24Z- handleDepth()-Depth_Keller msg: 1633880901433 epoch sec; seqNo:1474; depth 0.06 2021-10-10T15:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880901.45 epoch sec; seqNo:1475; 4061567.97 north; 594780.98 east 2021-10-10T15:48:24Z- AHRS_M2 msg: 1633880901.83 epoch sec; seqNo:1442 2021-10-10T15:48:24Z- AHRS_M2 msg: -0.26 phi; -0.03 theta; 1.54 psi 2021-10-10T15:48:24Z- handleDepth()-Depth_Keller msg: 1633880901839 epoch sec; seqNo:1475; depth 0.09 2021-10-10T15:48:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:24Z- handleDvl() - RDI_Pathfinder msg: 1633880901.84 epoch sec; seqNo:684 2021-10-10T15:48:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.52 , 0.11 2021-10-10T15:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880901.85 epoch sec; seqNo:1476; 4061567.98 north; 594782.20 east 2021-10-10T15:48:25Z- AHRS_M2 msg: 1633880902.23 epoch sec; seqNo:1443 2021-10-10T15:48:25Z- AHRS_M2 msg: -0.15 phi; -0.05 theta; 1.57 psi 2021-10-10T15:48:25Z- handleDepth()-Depth_Keller msg: 1633880902237 epoch sec; seqNo:1476; depth 0.09 2021-10-10T15:48:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880902.25 epoch sec; seqNo:1477; 4061567.60 north; 594782.20 east 2021-10-10T15:48:25Z- LcmTrn::handleMessages() - handling 45 messages took 0.67 ms and 131 calls... 2021-10-10T15:48:25Z- waiting for 1633880900.03, time is 1633880902.25 2021-10-10T15:48:25Z- LcmTrn::updateTrn() >>>> pose time 1633880902.25, meas time 1633880901.84 <<<< 2021-10-10T15:48:25Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880901.84, ping # 0. 2021-10-10T15:48:25Z- TerrainNav::Measurement type 1 from time = 1633880901.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:48:25Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594782.20, 0.09) 2021-10-10T15:48:25Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:25Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:25Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:25Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:25Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:25Z- AHRS_M2 msg: 1633880902.64 epoch sec; seqNo:1444 2021-10-10T15:48:25Z- AHRS_M2 msg: 0.01 phi; -0.13 theta; 1.58 psi 2021-10-10T15:48:25Z- handleDepth()-Depth_Keller msg: 1633880902643 epoch sec; seqNo:1477; depth 0.10 2021-10-10T15:48:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880902.65 epoch sec; seqNo:1478; 4061567.60 north; 594782.20 east 2021-10-10T15:48:26Z- AHRS_M2 msg: 1633880903.04 epoch sec; seqNo:1445 2021-10-10T15:48:26Z- AHRS_M2 msg: 0.19 phi; -0.15 theta; 1.56 psi 2021-10-10T15:48:26Z- handleDepth()-Depth_Keller msg: 1633880903053 epoch sec; seqNo:1478; depth 0.12 2021-10-10T15:48:26Z- handleDvl() - RDI_Pathfinder msg: 1633880903.08 epoch sec; seqNo:685 2021-10-10T15:48:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.30 , 99.08 , 97.86 , 81.97 2021-10-10T15:48:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , 0.00 , -0.15 2021-10-10T15:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880903.10 epoch sec; seqNo:1479; 4061567.60 north; 594782.20 east 2021-10-10T15:48:26Z- AHRS_M2 msg: 1633880903.46 epoch sec; seqNo:1446 2021-10-10T15:48:26Z- AHRS_M2 msg: 0.18 phi; -0.13 theta; 1.54 psi 2021-10-10T15:48:26Z- handleDepth()-Depth_Keller msg: 1633880903464 epoch sec; seqNo:1479; depth 0.12 2021-10-10T15:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880903.48 epoch sec; seqNo:1480; 4061567.60 north; 594782.20 east 2021-10-10T15:48:26Z- AHRS_M2 msg: 1633880903.85 epoch sec; seqNo:1447 2021-10-10T15:48:26Z- AHRS_M2 msg: 0.08 phi; -0.11 theta; 1.53 psi 2021-10-10T15:48:26Z- handleDepth()-Depth_Keller msg: 1633880903863 epoch sec; seqNo:1480; depth 0.11 2021-10-10T15:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880903.87 epoch sec; seqNo:1481; 4061567.60 north; 594782.20 east 2021-10-10T15:48:27Z- AHRS_M2 msg: 1633880904.25 epoch sec; seqNo:1448 2021-10-10T15:48:27Z- AHRS_M2 msg: -0.06 phi; -0.12 theta; 1.56 psi 2021-10-10T15:48:27Z- handleDepth()-Depth_Keller msg: 1633880904320 epoch sec; seqNo:1481; depth 0.09 2021-10-10T15:48:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:27Z- handleDvl() - RDI_Pathfinder msg: 1633880904.32 epoch sec; seqNo:686 2021-10-10T15:48:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.06 , 0.00 , -0.15 2021-10-10T15:48:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880904.34 epoch sec; seqNo:1482; 4061567.60 north; 594782.20 east 2021-10-10T15:48:27Z- AHRS_M2 msg: 1633880904.66 epoch sec; seqNo:1449 2021-10-10T15:48:27Z- AHRS_M2 msg: -0.13 phi; -0.15 theta; 1.56 psi 2021-10-10T15:48:27Z- handleDepth()-Depth_Keller msg: 1633880904674 epoch sec; seqNo:1482; depth 0.09 2021-10-10T15:48:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880904.73 epoch sec; seqNo:1483; 4061567.60 north; 594782.20 east 2021-10-10T15:48:28Z- AHRS_M2 msg: 1633880905.06 epoch sec; seqNo:1450 2021-10-10T15:48:28Z- AHRS_M2 msg: -0.09 phi; -0.12 theta; 1.54 psi 2021-10-10T15:48:28Z- handleDepth()-Depth_Keller msg: 1633880905067 epoch sec; seqNo:1483; depth 0.09 2021-10-10T15:48:28Z- handleDvl() - RDI_Pathfinder msg: 1633880905.09 epoch sec; seqNo:687 2021-10-10T15:48:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 97.93 , 80.82 , 0.00 , 83.26 2021-10-10T15:48:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.05 , -0.29 2021-10-10T15:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880905.10 epoch sec; seqNo:1484; 4061567.60 north; 594782.20 east 2021-10-10T15:48:28Z- AHRS_M2 msg: 1633880905.47 epoch sec; seqNo:1451 2021-10-10T15:48:28Z- AHRS_M2 msg: -0.03 phi; -0.07 theta; 1.54 psi 2021-10-10T15:48:28Z- handleDepth()-Depth_Keller msg: 1633880905470 epoch sec; seqNo:1484; depth 0.11 2021-10-10T15:48:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:28Z- handleDvl() - RDI_Pathfinder msg: 1633880905.47 epoch sec; seqNo:688 2021-10-10T15:48:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.25 , -0.05 , -0.29 2021-10-10T15:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880905.49 epoch sec; seqNo:1485; 4061567.60 north; 594782.20 east 2021-10-10T15:48:28Z- AHRS_M2 msg: 1633880905.87 epoch sec; seqNo:1452 2021-10-10T15:48:28Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 1.50 psi 2021-10-10T15:48:28Z- handleDepth()-Depth_Keller msg: 1633880905873 epoch sec; seqNo:1485; depth 0.10 2021-10-10T15:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880905.88 epoch sec; seqNo:1486; 4061567.60 north; 594782.20 east 2021-10-10T15:48:29Z- AHRS_M2 msg: 1633880906.27 epoch sec; seqNo:1453 2021-10-10T15:48:29Z- AHRS_M2 msg: 0.02 phi; -0.13 theta; 1.45 psi 2021-10-10T15:48:29Z- handleDepth()-Depth_Keller msg: 1633880906282 epoch sec; seqNo:1486; depth 0.10 2021-10-10T15:48:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880906.30 epoch sec; seqNo:1487; 4061567.60 north; 594782.20 east 2021-10-10T15:48:29Z- AHRS_M2 msg: 1633880906.70 epoch sec; seqNo:1454 2021-10-10T15:48:29Z- AHRS_M2 msg: -0.03 phi; -0.13 theta; 1.44 psi 2021-10-10T15:48:29Z- handleDepth()-Depth_Keller msg: 1633880906719 epoch sec; seqNo:1487; depth 0.09 2021-10-10T15:48:29Z- handleDvl() - RDI_Pathfinder msg: 1633880906.75 epoch sec; seqNo:689 2021-10-10T15:48:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.91 , 85.91 , 90.80 , 76.25 2021-10-10T15:48:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.04 , 0.30 2021-10-10T15:48:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880906.77 epoch sec; seqNo:1488; 4061567.60 north; 594782.20 east 2021-10-10T15:48:30Z- AHRS_M2 msg: 1633880907.08 epoch sec; seqNo:1455 2021-10-10T15:48:30Z- AHRS_M2 msg: -0.10 phi; -0.05 theta; 1.47 psi 2021-10-10T15:48:30Z- handleDepth()-Depth_Keller msg: 1633880907092 epoch sec; seqNo:1488; depth 0.05 2021-10-10T15:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880907.11 epoch sec; seqNo:1489; 4061567.60 north; 594782.20 east 2021-10-10T15:48:30Z- LcmTrn::handleMessages() - handling 41 messages took 0.70 ms and 127 calls... 2021-10-10T15:48:30Z- waiting for 1633880905.25, time is 1633880907.11 2021-10-10T15:48:30Z- LcmTrn::updateTrn() >>>> pose time 1633880907.11, meas time 1633880906.75 <<<< 2021-10-10T15:48:30Z- TerrainNav::Measurement type 1 from time = 1633880906.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:48:30Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594782.20, 0.05) 2021-10-10T15:48:30Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:30Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:30Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:30Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:30Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:30Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:30Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:30Z- AHRS_M2 msg: 1633880907.49 epoch sec; seqNo:1456 2021-10-10T15:48:30Z- AHRS_M2 msg: -0.10 phi; 0.01 theta; 1.46 psi 2021-10-10T15:48:30Z- handleDepth()-Depth_Keller msg: 1633880907492 epoch sec; seqNo:1489; depth 0.02 2021-10-10T15:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880907.50 epoch sec; seqNo:1490; 4061567.60 north; 594782.20 east 2021-10-10T15:48:30Z- AHRS_M2 msg: 1633880907.89 epoch sec; seqNo:1457 2021-10-10T15:48:30Z- AHRS_M2 msg: -0.06 phi; 0.05 theta; 1.44 psi 2021-10-10T15:48:30Z- handleDepth()-Depth_Keller msg: 1633880907895 epoch sec; seqNo:1490; depth 0.02 2021-10-10T15:48:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:30Z- handleDvl() - RDI_Pathfinder msg: 1633880907.90 epoch sec; seqNo:690 2021-10-10T15:48:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.04 , 0.30 2021-10-10T15:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880907.91 epoch sec; seqNo:1491; 4061567.60 north; 594782.20 east 2021-10-10T15:48:31Z- AHRS_M2 msg: 1633880908.29 epoch sec; seqNo:1458 2021-10-10T15:48:31Z- AHRS_M2 msg: -0.01 phi; 0.05 theta; 1.46 psi 2021-10-10T15:48:31Z- handleDepth()-Depth_Keller msg: 1633880908297 epoch sec; seqNo:1491; depth 0.04 2021-10-10T15:48:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880908.31 epoch sec; seqNo:1492; 4061567.60 north; 594782.20 east 2021-10-10T15:48:31Z- AHRS_M2 msg: 1633880908.72 epoch sec; seqNo:1459 2021-10-10T15:48:31Z- AHRS_M2 msg: 0.03 phi; 0.00 theta; 1.45 psi 2021-10-10T15:48:31Z- handleDepth()-Depth_Keller msg: 1633880908738 epoch sec; seqNo:1492; depth 0.06 2021-10-10T15:48:31Z- handleDvl() - RDI_Pathfinder msg: 1633880908.76 epoch sec; seqNo:691 2021-10-10T15:48:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.89 , 89.78 , 97.11 , 78.78 2021-10-10T15:48:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.26 , -0.20 2021-10-10T15:48:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880908.77 epoch sec; seqNo:1493; 4061567.60 north; 594782.20 east 2021-10-10T15:48:32Z- AHRS_M2 msg: 1633880909.10 epoch sec; seqNo:1460 2021-10-10T15:48:32Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 1.41 psi 2021-10-10T15:48:32Z- handleDepth()-Depth_Keller msg: 1633880909109 epoch sec; seqNo:1493; depth 0.09 2021-10-10T15:48:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:32Z- handleDvl() - RDI_Pathfinder msg: 1633880909.11 epoch sec; seqNo:692 2021-10-10T15:48:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.26 , -0.20 2021-10-10T15:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880909.13 epoch sec; seqNo:1494; 4061567.60 north; 594782.20 east 2021-10-10T15:48:32Z- AHRS_M2 msg: 1633880909.50 epoch sec; seqNo:1461 2021-10-10T15:48:32Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 1.40 psi 2021-10-10T15:48:32Z- handleDepth()-Depth_Keller msg: 1633880909508 epoch sec; seqNo:1494; depth 0.11 2021-10-10T15:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880909.53 epoch sec; seqNo:1495; 4061567.98 north; 594782.20 east 2021-10-10T15:48:32Z- AHRS_M2 msg: 1633880909.91 epoch sec; seqNo:1462 2021-10-10T15:48:32Z- AHRS_M2 msg: -0.06 phi; -0.08 theta; 1.40 psi 2021-10-10T15:48:32Z- handleDepth()-Depth_Keller msg: 1633880909915 epoch sec; seqNo:1495; depth 0.10 2021-10-10T15:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880909.92 epoch sec; seqNo:1496; 4061567.97 north; 594780.98 east 2021-10-10T15:48:33Z- AHRS_M2 msg: 1633880910.31 epoch sec; seqNo:1463 2021-10-10T15:48:33Z- AHRS_M2 msg: -0.06 phi; -0.10 theta; 1.39 psi 2021-10-10T15:48:33Z- handleDepth()-Depth_Keller msg: 1633880910320 epoch sec; seqNo:1496; depth 0.09 2021-10-10T15:48:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:33Z- handleDvl() - RDI_Pathfinder msg: 1633880910.32 epoch sec; seqNo:693 2021-10-10T15:48:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , -0.26 , -0.20 2021-10-10T15:48:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880910.33 epoch sec; seqNo:1497; 4061567.97 north; 594780.98 east 2021-10-10T15:48:33Z- AHRS_M2 msg: 1633880910.73 epoch sec; seqNo:1464 2021-10-10T15:48:33Z- AHRS_M2 msg: -0.07 phi; -0.10 theta; 1.37 psi 2021-10-10T15:48:33Z- handleDepth()-Depth_Keller msg: 1633880910740 epoch sec; seqNo:1497; depth 0.08 2021-10-10T15:48:33Z- handleDvl() - RDI_Pathfinder msg: 1633880910.76 epoch sec; seqNo:694 2021-10-10T15:48:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:48:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880910.79 epoch sec; seqNo:1498; 4061568.35 north; 594780.98 east 2021-10-10T15:48:34Z- AHRS_M2 msg: 1633880911.12 epoch sec; seqNo:1465 2021-10-10T15:48:34Z- AHRS_M2 msg: -0.07 phi; -0.02 theta; 1.37 psi 2021-10-10T15:48:34Z- handleDepth()-Depth_Keller msg: 1633880911137 epoch sec; seqNo:1498; depth 0.09 2021-10-10T15:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880911.15 epoch sec; seqNo:1499; 4061568.35 north; 594780.98 east 2021-10-10T15:48:34Z- AHRS_M2 msg: 1633880911.52 epoch sec; seqNo:1466 2021-10-10T15:48:34Z- AHRS_M2 msg: -0.06 phi; 0.03 theta; 1.38 psi 2021-10-10T15:48:34Z- handleDepth()-Depth_Keller msg: 1633880911529 epoch sec; seqNo:1499; depth 0.10 2021-10-10T15:48:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:34Z- handleDvl() - RDI_Pathfinder msg: 1633880911.53 epoch sec; seqNo:695 2021-10-10T15:48:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:34Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880911.54 epoch sec; seqNo:1500; 4061568.35 north; 594780.98 east 2021-10-10T15:48:34Z- AHRS_M2 msg: 1633880911.93 epoch sec; seqNo:1467 2021-10-10T15:48:34Z- AHRS_M2 msg: -0.07 phi; 0.00 theta; 1.41 psi 2021-10-10T15:48:34Z- handleDepth()-Depth_Keller msg: 1633880911933 epoch sec; seqNo:1500; depth 0.08 2021-10-10T15:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880911.94 epoch sec; seqNo:1501; 4061568.35 north; 594780.98 east 2021-10-10T15:48:35Z- AHRS_M2 msg: 1633880912.33 epoch sec; seqNo:1468 2021-10-10T15:48:35Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.44 psi 2021-10-10T15:48:35Z- handleDepth()-Depth_Keller msg: 1633880912338 epoch sec; seqNo:1501; depth 0.05 2021-10-10T15:48:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880912.35 epoch sec; seqNo:1502; 4061568.72 north; 594780.97 east 2021-10-10T15:48:35Z- LcmTrn::handleMessages() - handling 45 messages took 0.63 ms and 132 calls... 2021-10-10T15:48:35Z- waiting for 1633880910.11, time is 1633880912.35 2021-10-10T15:48:35Z- LcmTrn::updateTrn() >>>> pose time 1633880912.35, meas time 1633880911.53 <<<< 2021-10-10T15:48:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880911.53, ping # 0. 2021-10-10T15:48:35Z- TerrainNav::Measurement type 1 from time = 1633880911.53 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:48:35Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594780.97, 0.05) 2021-10-10T15:48:35Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:35Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:35Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:35Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:35Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:35Z- AHRS_M2 msg: 1633880912.74 epoch sec; seqNo:1469 2021-10-10T15:48:35Z- AHRS_M2 msg: 0.04 phi; -0.05 theta; 1.43 psi 2021-10-10T15:48:35Z- handleDepth()-Depth_Keller msg: 1633880912757 epoch sec; seqNo:1502; depth 0.04 2021-10-10T15:48:35Z- handleDvl() - RDI_Pathfinder msg: 1633880912.78 epoch sec; seqNo:696 2021-10-10T15:48:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.39 , 89.51 , 94.40 , 75.43 2021-10-10T15:48:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.20 , -0.30 2021-10-10T15:48:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880912.79 epoch sec; seqNo:1503; 4061568.72 north; 594780.97 east 2021-10-10T15:48:36Z- AHRS_M2 msg: 1633880913.14 epoch sec; seqNo:1470 2021-10-10T15:48:36Z- AHRS_M2 msg: 0.08 phi; -0.08 theta; 1.37 psi 2021-10-10T15:48:36Z- handleDepth()-Depth_Keller msg: 1633880913145 epoch sec; seqNo:1503; depth 0.05 2021-10-10T15:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880913.16 epoch sec; seqNo:1504; 4061568.72 north; 594780.97 east 2021-10-10T15:48:36Z- AHRS_M2 msg: 1633880913.55 epoch sec; seqNo:1471 2021-10-10T15:48:36Z- AHRS_M2 msg: 0.01 phi; -0.06 theta; 1.34 psi 2021-10-10T15:48:36Z- handleDepth()-Depth_Keller msg: 1633880913552 epoch sec; seqNo:1504; depth 0.09 2021-10-10T15:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880913.56 epoch sec; seqNo:1505; 4061568.72 north; 594780.97 east 2021-10-10T15:48:36Z- AHRS_M2 msg: 1633880913.95 epoch sec; seqNo:1472 2021-10-10T15:48:36Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.37 psi 2021-10-10T15:48:36Z- handleDepth()-Depth_Keller msg: 1633880913960 epoch sec; seqNo:1505; depth 0.08 2021-10-10T15:48:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:36Z- handleDvl() - RDI_Pathfinder msg: 1633880913.96 epoch sec; seqNo:697 2021-10-10T15:48:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.20 , -0.30 2021-10-10T15:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880913.98 epoch sec; seqNo:1506; 4061568.72 north; 594780.97 east 2021-10-10T15:48:37Z- AHRS_M2 msg: 1633880914.35 epoch sec; seqNo:1473 2021-10-10T15:48:37Z- AHRS_M2 msg: 0.00 phi; -0.10 theta; 1.36 psi 2021-10-10T15:48:37Z- handleDepth()-Depth_Keller msg: 1633880914357 epoch sec; seqNo:1506; depth 0.09 2021-10-10T15:48:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880914.37 epoch sec; seqNo:1507; 4061568.72 north; 594780.97 east 2021-10-10T15:48:37Z- AHRS_M2 msg: 1633880914.76 epoch sec; seqNo:1474 2021-10-10T15:48:37Z- AHRS_M2 msg: 0.02 phi; -0.12 theta; 1.33 psi 2021-10-10T15:48:37Z- handleDepth()-Depth_Keller msg: 1633880914766 epoch sec; seqNo:1507; depth 0.10 2021-10-10T15:48:37Z- handleDvl() - RDI_Pathfinder msg: 1633880914.80 epoch sec; seqNo:698 2021-10-10T15:48:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.26 , 87.26 , 0.00 , 77.06 2021-10-10T15:48:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , 0.10 , 0.77 2021-10-10T15:48:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880914.81 epoch sec; seqNo:1508; 4061568.72 north; 594780.97 east 2021-10-10T15:48:38Z- AHRS_M2 msg: 1633880915.16 epoch sec; seqNo:1475 2021-10-10T15:48:38Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 1.29 psi 2021-10-10T15:48:38Z- handleDepth()-Depth_Keller msg: 1633880915172 epoch sec; seqNo:1508; depth 0.08 2021-10-10T15:48:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:38Z- handleDvl() - RDI_Pathfinder msg: 1633880915.17 epoch sec; seqNo:699 2021-10-10T15:48:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , 0.10 , 0.77 2021-10-10T15:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880915.19 epoch sec; seqNo:1509; 4061568.71 north; 594779.75 east 2021-10-10T15:48:38Z- AHRS_M2 msg: 1633880915.56 epoch sec; seqNo:1476 2021-10-10T15:48:38Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.27 psi 2021-10-10T15:48:38Z- handleDepth()-Depth_Keller msg: 1633880915577 epoch sec; seqNo:1509; depth 0.04 2021-10-10T15:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880915.59 epoch sec; seqNo:1510; 4061568.71 north; 594779.75 east 2021-10-10T15:48:38Z- AHRS_M2 msg: 1633880915.97 epoch sec; seqNo:1477 2021-10-10T15:48:38Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 1.30 psi 2021-10-10T15:48:38Z- handleDepth()-Depth_Keller msg: 1633880915973 epoch sec; seqNo:1510; depth 0.03 2021-10-10T15:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880915.98 epoch sec; seqNo:1511; 4061568.33 north; 594779.76 east 2021-10-10T15:48:39Z- AHRS_M2 msg: 1633880916.37 epoch sec; seqNo:1478 2021-10-10T15:48:39Z- AHRS_M2 msg: 0.12 phi; 0.02 theta; 1.33 psi 2021-10-10T15:48:39Z- handleDepth()-Depth_Keller msg: 1633880916383 epoch sec; seqNo:1511; depth 0.04 2021-10-10T15:48:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:39Z- handleDvl() - RDI_Pathfinder msg: 1633880916.39 epoch sec; seqNo:700 2021-10-10T15:48:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , 0.10 , 0.77 2021-10-10T15:48:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880916.39 epoch sec; seqNo:1512; 4061568.33 north; 594779.76 east 2021-10-10T15:48:39Z- AHRS_M2 msg: 1633880916.78 epoch sec; seqNo:1479 2021-10-10T15:48:39Z- AHRS_M2 msg: 0.11 phi; 0.03 theta; 1.32 psi 2021-10-10T15:48:39Z- handleDepth()-Depth_Keller msg: 1633880916788 epoch sec; seqNo:1512; depth 0.04 2021-10-10T15:48:39Z- handleDvl() - RDI_Pathfinder msg: 1633880916.81 epoch sec; seqNo:701 2021-10-10T15:48:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.62 , 84.96 , 98.40 , 81.29 2021-10-10T15:48:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , 0.06 , 0.10 2021-10-10T15:48:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880916.82 epoch sec; seqNo:1513; 4061568.33 north; 594779.76 east 2021-10-10T15:48:40Z- AHRS_M2 msg: 1633880917.18 epoch sec; seqNo:1480 2021-10-10T15:48:40Z- AHRS_M2 msg: 0.02 phi; -0.00 theta; 1.27 psi 2021-10-10T15:48:40Z- handleDepth()-Depth_Keller msg: 1633880917197 epoch sec; seqNo:1513; depth 0.05 2021-10-10T15:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880917.21 epoch sec; seqNo:1514; 4061568.33 north; 594779.76 east 2021-10-10T15:48:40Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T15:48:40Z- waiting for 1633880915.35, time is 1633880917.21 2021-10-10T15:48:40Z- LcmTrn::updateTrn() >>>> pose time 1633880917.21, meas time 1633880916.81 <<<< 2021-10-10T15:48:40Z- TerrainNav::Measurement type 1 from time = 1633880916.81 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:48:40Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594779.76, 0.05) 2021-10-10T15:48:40Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:40Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:40Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:40Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:40Z- AHRS_M2 msg: 1633880917.58 epoch sec; seqNo:1481 2021-10-10T15:48:40Z- AHRS_M2 msg: -0.11 phi; -0.04 theta; 1.26 psi 2021-10-10T15:48:40Z- handleDepth()-Depth_Keller msg: 1633880917596 epoch sec; seqNo:1514; depth 0.05 2021-10-10T15:48:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:40Z- handleDvl() - RDI_Pathfinder msg: 1633880917.60 epoch sec; seqNo:702 2021-10-10T15:48:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.36 , 0.06 , 0.10 2021-10-10T15:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880917.61 epoch sec; seqNo:1515; 4061568.33 north; 594779.76 east 2021-10-10T15:48:40Z- AHRS_M2 msg: 1633880917.99 epoch sec; seqNo:1482 2021-10-10T15:48:40Z- AHRS_M2 msg: -0.17 phi; -0.02 theta; 1.24 psi 2021-10-10T15:48:40Z- handleDepth()-Depth_Keller msg: 1633880917993 epoch sec; seqNo:1515; depth 0.05 2021-10-10T15:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880918.00 epoch sec; seqNo:1516; 4061568.35 north; 594780.98 east 2021-10-10T15:48:41Z- AHRS_M2 msg: 1633880918.39 epoch sec; seqNo:1483 2021-10-10T15:48:41Z- AHRS_M2 msg: -0.16 phi; -0.01 theta; 1.25 psi 2021-10-10T15:48:41Z- handleDepth()-Depth_Keller msg: 1633880918398 epoch sec; seqNo:1516; depth 0.05 2021-10-10T15:48:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880918.41 epoch sec; seqNo:1517; 4061568.72 north; 594780.97 east 2021-10-10T15:48:41Z- AHRS_M2 msg: 1633880918.80 epoch sec; seqNo:1484 2021-10-10T15:48:41Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 1.29 psi 2021-10-10T15:48:41Z- handleDepth()-Depth_Keller msg: 1633880918803 epoch sec; seqNo:1517; depth 0.05 2021-10-10T15:48:41Z- handleDvl() - RDI_Pathfinder msg: 1633880918.83 epoch sec; seqNo:703 2021-10-10T15:48:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.48 , 101.66 , 95.55 , 84.55 2021-10-10T15:48:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , 0.16 , -0.16 2021-10-10T15:48:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880918.85 epoch sec; seqNo:1518; 4061568.35 north; 594780.98 east 2021-10-10T15:48:42Z- AHRS_M2 msg: 1633880919.20 epoch sec; seqNo:1485 2021-10-10T15:48:42Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 1.29 psi 2021-10-10T15:48:42Z- handleDepth()-Depth_Keller msg: 1633880919205 epoch sec; seqNo:1518; depth 0.07 2021-10-10T15:48:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880919.22 epoch sec; seqNo:1519; 4061568.35 north; 594780.98 east 2021-10-10T15:48:42Z- AHRS_M2 msg: 1633880919.61 epoch sec; seqNo:1486 2021-10-10T15:48:42Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 1.27 psi 2021-10-10T15:48:42Z- handleDepth()-Depth_Keller msg: 1633880919611 epoch sec; seqNo:1519; depth 0.09 2021-10-10T15:48:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880919.62 epoch sec; seqNo:1520; 4061568.35 north; 594780.98 east 2021-10-10T15:48:42Z- AHRS_M2 msg: 1633880920.01 epoch sec; seqNo:1487 2021-10-10T15:48:42Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.28 psi 2021-10-10T15:48:43Z- handleDepth()-Depth_Keller msg: 1633880920020 epoch sec; seqNo:1520; depth 0.07 2021-10-10T15:48:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:43Z- handleDvl() - RDI_Pathfinder msg: 1633880920.02 epoch sec; seqNo:704 2021-10-10T15:48:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , 0.16 , -0.16 2021-10-10T15:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880920.04 epoch sec; seqNo:1521; 4061568.35 north; 594780.98 east 2021-10-10T15:48:43Z- AHRS_M2 msg: 1633880920.42 epoch sec; seqNo:1488 2021-10-10T15:48:43Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 1.28 psi 2021-10-10T15:48:43Z- handleDepth()-Depth_Keller msg: 1633880920431 epoch sec; seqNo:1521; depth 0.04 2021-10-10T15:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880920.44 epoch sec; seqNo:1522; 4061568.35 north; 594780.98 east 2021-10-10T15:48:43Z- AHRS_M2 msg: 1633880920.82 epoch sec; seqNo:1489 2021-10-10T15:48:43Z- AHRS_M2 msg: -0.03 phi; -0.08 theta; 1.29 psi 2021-10-10T15:48:43Z- handleDepth()-Depth_Keller msg: 1633880920827 epoch sec; seqNo:1522; depth 0.06 2021-10-10T15:48:43Z- handleDvl() - RDI_Pathfinder msg: 1633880920.85 epoch sec; seqNo:705 2021-10-10T15:48:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.94 , 89.30 , 94.19 , 75.02 2021-10-10T15:48:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.37 , -0.31 2021-10-10T15:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880920.87 epoch sec; seqNo:1523; 4061568.35 north; 594780.98 east 2021-10-10T15:48:44Z- AHRS_M2 msg: 1633880921.22 epoch sec; seqNo:1490 2021-10-10T15:48:44Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 1.26 psi 2021-10-10T15:48:44Z- handleDepth()-Depth_Keller msg: 1633880921229 epoch sec; seqNo:1523; depth 0.07 2021-10-10T15:48:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:44Z- handleDvl() - RDI_Pathfinder msg: 1633880921.23 epoch sec; seqNo:706 2021-10-10T15:48:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.37 , -0.31 2021-10-10T15:48:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880921.25 epoch sec; seqNo:1524; 4061568.33 north; 594779.76 east 2021-10-10T15:48:44Z- AHRS_M2 msg: 1633880921.63 epoch sec; seqNo:1491 2021-10-10T15:48:44Z- AHRS_M2 msg: -0.01 phi; -0.02 theta; 1.27 psi 2021-10-10T15:48:44Z- handleDepth()-Depth_Keller msg: 1633880921636 epoch sec; seqNo:1524; depth 0.06 2021-10-10T15:48:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880921.64 epoch sec; seqNo:1525; 4061568.71 north; 594779.75 east 2021-10-10T15:48:45Z- AHRS_M2 msg: 1633880922.03 epoch sec; seqNo:1492 2021-10-10T15:48:45Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 1.25 psi 2021-10-10T15:48:45Z- handleDepth()-Depth_Keller msg: 1633880922041 epoch sec; seqNo:1525; depth 0.06 2021-10-10T15:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880922.05 epoch sec; seqNo:1526; 4061568.71 north; 594779.75 east 2021-10-10T15:48:45Z- AHRS_M2 msg: 1633880922.43 epoch sec; seqNo:1493 2021-10-10T15:48:45Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 1.21 psi 2021-10-10T15:48:45Z- LcmTrn::handleMessages() - handling 42 messages took 0.67 ms and 128 calls... 2021-10-10T15:48:45Z- waiting for 1633880920.21, time is 1633880922.43 2021-10-10T15:48:45Z- LcmTrn::updateTrn() >>>> pose time 1633880922.43, meas time 1633880921.23 <<<< 2021-10-10T15:48:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880921.23, ping # 0. 2021-10-10T15:48:45Z- TerrainNav::Measurement type 1 from time = 1633880921.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:48:45Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594779.75, 0.06) 2021-10-10T15:48:45Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:45Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:45Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:45Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:45Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:45Z- handleDepth()-Depth_Keller msg: 1633880922458 epoch sec; seqNo:1526; depth 0.07 2021-10-10T15:48:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:45Z- handleDvl() - RDI_Pathfinder msg: 1633880922.46 epoch sec; seqNo:707 2021-10-10T15:48:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.37 , -0.31 2021-10-10T15:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880922.49 epoch sec; seqNo:1527; 4061568.71 north; 594779.75 east 2021-10-10T15:48:45Z- AHRS_M2 msg: 1633880922.84 epoch sec; seqNo:1494 2021-10-10T15:48:45Z- AHRS_M2 msg: 0.02 phi; -0.10 theta; 1.18 psi 2021-10-10T15:48:45Z- handleDepth()-Depth_Keller msg: 1633880922841 epoch sec; seqNo:1527; depth 0.05 2021-10-10T15:48:45Z- handleDvl() - RDI_Pathfinder msg: 1633880922.86 epoch sec; seqNo:708 2021-10-10T15:48:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.11 , 87.33 , 92.22 , 75.83 2021-10-10T15:48:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.26 , 0.66 2021-10-10T15:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880922.89 epoch sec; seqNo:1528; 4061568.71 north; 594779.75 east 2021-10-10T15:48:46Z- AHRS_M2 msg: 1633880923.24 epoch sec; seqNo:1495 2021-10-10T15:48:46Z- AHRS_M2 msg: 0.06 phi; -0.11 theta; 1.15 psi 2021-10-10T15:48:46Z- handleDepth()-Depth_Keller msg: 1633880923247 epoch sec; seqNo:1528; depth 0.05 2021-10-10T15:48:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880923.26 epoch sec; seqNo:1529; 4061568.71 north; 594779.75 east 2021-10-10T15:48:46Z- AHRS_M2 msg: 1633880923.64 epoch sec; seqNo:1496 2021-10-10T15:48:46Z- AHRS_M2 msg: 0.08 phi; 0.00 theta; 1.13 psi 2021-10-10T15:48:46Z- handleDepth()-Depth_Keller msg: 1633880923651 epoch sec; seqNo:1529; depth 0.05 2021-10-10T15:48:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:46Z- handleDvl() - RDI_Pathfinder msg: 1633880923.65 epoch sec; seqNo:709 2021-10-10T15:48:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.26 , 0.66 2021-10-10T15:48:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880923.68 epoch sec; seqNo:1530; 4061568.71 north; 594779.75 east 2021-10-10T15:48:47Z- AHRS_M2 msg: 1633880924.05 epoch sec; seqNo:1497 2021-10-10T15:48:47Z- AHRS_M2 msg: 0.01 phi; 0.10 theta; 1.11 psi 2021-10-10T15:48:47Z- handleDepth()-Depth_Keller msg: 1633880924053 epoch sec; seqNo:1530; depth 0.07 2021-10-10T15:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880924.06 epoch sec; seqNo:1531; 4061569.08 north; 594778.53 east 2021-10-10T15:48:47Z- AHRS_M2 msg: 1633880924.45 epoch sec; seqNo:1498 2021-10-10T15:48:47Z- AHRS_M2 msg: -0.09 phi; 0.10 theta; 1.14 psi 2021-10-10T15:48:47Z- handleDepth()-Depth_Keller msg: 1633880924460 epoch sec; seqNo:1531; depth 0.04 2021-10-10T15:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880924.47 epoch sec; seqNo:1532; 4061569.08 north; 594778.53 east 2021-10-10T15:48:47Z- AHRS_M2 msg: 1633880924.86 epoch sec; seqNo:1499 2021-10-10T15:48:47Z- AHRS_M2 msg: -0.16 phi; 0.03 theta; 1.20 psi 2021-10-10T15:48:47Z- handleDepth()-Depth_Keller msg: 1633880924864 epoch sec; seqNo:1532; depth 0.03 2021-10-10T15:48:47Z- handleDvl() - RDI_Pathfinder msg: 1633880924.94 epoch sec; seqNo:710 2021-10-10T15:48:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.93 , 83.60 , 98.27 , 78.71 2021-10-10T15:48:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , 0.74 , -0.00 2021-10-10T15:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880924.96 epoch sec; seqNo:1533; 4061568.71 north; 594779.75 east 2021-10-10T15:48:48Z- AHRS_M2 msg: 1633880925.26 epoch sec; seqNo:1500 2021-10-10T15:48:48Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 1.21 psi 2021-10-10T15:48:48Z- handleDepth()-Depth_Keller msg: 1633880925265 epoch sec; seqNo:1533; depth 0.03 2021-10-10T15:48:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880925.29 epoch sec; seqNo:1534; 4061568.71 north; 594779.75 east 2021-10-10T15:48:48Z- AHRS_M2 msg: 1633880925.66 epoch sec; seqNo:1501 2021-10-10T15:48:48Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 1.20 psi 2021-10-10T15:48:48Z- handleDepth()-Depth_Keller msg: 1633880925669 epoch sec; seqNo:1534; depth 0.04 2021-10-10T15:48:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880925.68 epoch sec; seqNo:1535; 4061568.33 north; 594779.76 east 2021-10-10T15:48:49Z- AHRS_M2 msg: 1633880926.07 epoch sec; seqNo:1502 2021-10-10T15:48:49Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 1.19 psi 2021-10-10T15:48:49Z- handleDepth()-Depth_Keller msg: 1633880926074 epoch sec; seqNo:1535; depth 0.07 2021-10-10T15:48:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:49Z- handleDvl() - RDI_Pathfinder msg: 1633880926.08 epoch sec; seqNo:711 2021-10-10T15:48:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , 0.74 , -0.00 2021-10-10T15:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880926.09 epoch sec; seqNo:1536; 4061568.33 north; 594779.76 east 2021-10-10T15:48:49Z- AHRS_M2 msg: 1633880926.47 epoch sec; seqNo:1503 2021-10-10T15:48:49Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 1.19 psi 2021-10-10T15:48:49Z- handleDepth()-Depth_Keller msg: 1633880926479 epoch sec; seqNo:1536; depth 0.07 2021-10-10T15:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880926.49 epoch sec; seqNo:1537; 4061567.97 north; 594780.98 east 2021-10-10T15:48:49Z- AHRS_M2 msg: 1633880926.88 epoch sec; seqNo:1504 2021-10-10T15:48:49Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 1.19 psi 2021-10-10T15:48:49Z- handleDepth()-Depth_Keller msg: 1633880926884 epoch sec; seqNo:1537; depth 0.05 2021-10-10T15:48:49Z- handleDvl() - RDI_Pathfinder msg: 1633880926.93 epoch sec; seqNo:712 2021-10-10T15:48:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.42 , 96.84 , 93.17 , 87.06 2021-10-10T15:48:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.49 , -0.00 2021-10-10T15:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880926.97 epoch sec; seqNo:1538; 4061568.33 north; 594779.76 east 2021-10-10T15:48:50Z- AHRS_M2 msg: 1633880927.28 epoch sec; seqNo:1505 2021-10-10T15:48:50Z- AHRS_M2 msg: 0.17 phi; -0.07 theta; 1.18 psi 2021-10-10T15:48:50Z- handleDepth()-Depth_Keller msg: 1633880927288 epoch sec; seqNo:1538; depth 0.09 2021-10-10T15:48:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:50Z- handleDvl() - RDI_Pathfinder msg: 1633880927.29 epoch sec; seqNo:713 2021-10-10T15:48:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.49 , -0.00 2021-10-10T15:48:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880927.33 epoch sec; seqNo:1539; 4061568.33 north; 594779.76 east 2021-10-10T15:48:50Z- LcmTrn::handleMessages() - handling 45 messages took 0.79 ms and 129 calls... 2021-10-10T15:48:50Z- waiting for 1633880925.43, time is 1633880927.33 2021-10-10T15:48:50Z- LcmTrn::updateTrn() equating pose 1633880927.33 and meas times 1633880927.33 2021-10-10T15:48:50Z- LcmTrn::updateTrn() >>>> pose time 1633880927.33, meas time 1633880927.33 <<<< 2021-10-10T15:48:50Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880927.33, ping # 0. 2021-10-10T15:48:50Z- TerrainNav::Measurement type 1 from time = 1633880927.33 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:48:50Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594779.76, 0.09) 2021-10-10T15:48:50Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:50Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:50Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:50Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:50Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:50Z- AHRS_M2 msg: 1633880927.68 epoch sec; seqNo:1506 2021-10-10T15:48:50Z- AHRS_M2 msg: 0.22 phi; -0.04 theta; 1.16 psi 2021-10-10T15:48:50Z- handleDepth()-Depth_Keller msg: 1633880927692 epoch sec; seqNo:1539; depth 0.09 2021-10-10T15:48:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880927.71 epoch sec; seqNo:1540; 4061568.33 north; 594779.76 east 2021-10-10T15:48:51Z- AHRS_M2 msg: 1633880928.09 epoch sec; seqNo:1507 2021-10-10T15:48:51Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 1.15 psi 2021-10-10T15:48:51Z- handleDepth()-Depth_Keller msg: 1633880928094 epoch sec; seqNo:1540; depth 0.07 2021-10-10T15:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880928.12 epoch sec; seqNo:1541; 4061568.71 north; 594779.75 east 2021-10-10T15:48:51Z- AHRS_M2 msg: 1633880928.49 epoch sec; seqNo:1508 2021-10-10T15:48:51Z- AHRS_M2 msg: 0.02 phi; 0.01 theta; 1.13 psi 2021-10-10T15:48:51Z- handleDepth()-Depth_Keller msg: 1633880928499 epoch sec; seqNo:1541; depth 0.06 2021-10-10T15:48:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:51Z- handleDvl() - RDI_Pathfinder msg: 1633880928.50 epoch sec; seqNo:714 2021-10-10T15:48:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.49 , -0.00 2021-10-10T15:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880928.56 epoch sec; seqNo:1542; 4061568.71 north; 594779.75 east 2021-10-10T15:48:51Z- AHRS_M2 msg: 1633880928.90 epoch sec; seqNo:1509 2021-10-10T15:48:51Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 1.11 psi 2021-10-10T15:48:51Z- handleDepth()-Depth_Keller msg: 1633880928904 epoch sec; seqNo:1542; depth 0.05 2021-10-10T15:48:51Z- handleDvl() - RDI_Pathfinder msg: 1633880928.95 epoch sec; seqNo:715 2021-10-10T15:48:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.84 , 75.43 , 98.06 , 82.17 2021-10-10T15:48:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.29 , 0.26 2021-10-10T15:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880928.97 epoch sec; seqNo:1543; 4061569.09 north; 594779.75 east 2021-10-10T15:48:52Z- AHRS_M2 msg: 1633880929.30 epoch sec; seqNo:1510 2021-10-10T15:48:52Z- AHRS_M2 msg: -0.16 phi; -0.09 theta; 1.13 psi 2021-10-10T15:48:52Z- handleDepth()-Depth_Keller msg: 1633880929308 epoch sec; seqNo:1543; depth 0.03 2021-10-10T15:48:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880929.33 epoch sec; seqNo:1544; 4061569.09 north; 594779.75 east 2021-10-10T15:48:52Z- AHRS_M2 msg: 1633880929.71 epoch sec; seqNo:1511 2021-10-10T15:48:52Z- AHRS_M2 msg: -0.13 phi; -0.03 theta; 1.15 psi 2021-10-10T15:48:52Z- handleDepth()-Depth_Keller msg: 1633880929712 epoch sec; seqNo:1544; depth 0.04 2021-10-10T15:48:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:52Z- handleDvl() - RDI_Pathfinder msg: 1633880929.71 epoch sec; seqNo:716 2021-10-10T15:48:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.29 , 0.26 2021-10-10T15:48:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880929.72 epoch sec; seqNo:1545; 4061569.09 north; 594779.75 east 2021-10-10T15:48:53Z- handleDepth()-Depth_Keller msg: 1633880930124 epoch sec; seqNo:1545; depth 0.05 2021-10-10T15:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880930.15 epoch sec; seqNo:1546; 4061569.09 north; 594779.75 east 2021-10-10T15:48:53Z- AHRS_M2 msg: 1633880930.51 epoch sec; seqNo:1512 2021-10-10T15:48:53Z- AHRS_M2 msg: 0.02 phi; 0.00 theta; 1.11 psi 2021-10-10T15:48:53Z- handleDepth()-Depth_Keller msg: 1633880930520 epoch sec; seqNo:1546; depth 0.06 2021-10-10T15:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880930.53 epoch sec; seqNo:1547; 4061569.09 north; 594779.75 east 2021-10-10T15:48:53Z- AHRS_M2 msg: 1633880930.92 epoch sec; seqNo:1513 2021-10-10T15:48:53Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.14 psi 2021-10-10T15:48:53Z- handleDepth()-Depth_Keller msg: 1633880930938 epoch sec; seqNo:1547; depth 0.07 2021-10-10T15:48:53Z- handleDvl() - RDI_Pathfinder msg: 1633880930.96 epoch sec; seqNo:717 2021-10-10T15:48:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.39 , 98.06 , 98.06 , 0.00 2021-10-10T15:48:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.08 , 0.31 2021-10-10T15:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880930.97 epoch sec; seqNo:1548; 4061569.09 north; 594779.75 east 2021-10-10T15:48:54Z- AHRS_M2 msg: 1633880931.32 epoch sec; seqNo:1514 2021-10-10T15:48:54Z- AHRS_M2 msg: -0.02 phi; -0.07 theta; 1.15 psi 2021-10-10T15:48:54Z- handleDepth()-Depth_Keller msg: 1633880931325 epoch sec; seqNo:1548; depth 0.05 2021-10-10T15:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880931.34 epoch sec; seqNo:1549; 4061569.09 north; 594779.75 east 2021-10-10T15:48:54Z- AHRS_M2 msg: 1633880931.72 epoch sec; seqNo:1515 2021-10-10T15:48:54Z- AHRS_M2 msg: -0.09 phi; -0.09 theta; 1.12 psi 2021-10-10T15:48:54Z- handleDepth()-Depth_Keller msg: 1633880931730 epoch sec; seqNo:1549; depth 0.05 2021-10-10T15:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880931.74 epoch sec; seqNo:1550; 4061569.09 north; 594779.75 east 2021-10-10T15:48:55Z- AHRS_M2 msg: 1633880932.13 epoch sec; seqNo:1516 2021-10-10T15:48:55Z- AHRS_M2 msg: -0.15 phi; -0.06 theta; 1.09 psi 2021-10-10T15:48:55Z- handleDepth()-Depth_Keller msg: 1633880932139 epoch sec; seqNo:1550; depth 0.03 2021-10-10T15:48:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:55Z- handleDvl() - RDI_Pathfinder msg: 1633880932.14 epoch sec; seqNo:718 2021-10-10T15:48:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.08 , 0.31 2021-10-10T15:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880932.16 epoch sec; seqNo:1551; 4061569.09 north; 594779.75 east 2021-10-10T15:48:55Z- LcmTrn::handleMessages() - handling 40 messages took 0.82 ms and 123 calls... 2021-10-10T15:48:55Z- waiting for 1633880930.33, time is 1633880932.16 2021-10-10T15:48:55Z- LcmTrn::updateTrn() equating pose 1633880932.16 and meas times 1633880932.16 2021-10-10T15:48:55Z- LcmTrn::updateTrn() >>>> pose time 1633880932.16, meas time 1633880932.16 <<<< 2021-10-10T15:48:55Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880932.16, ping # 0. 2021-10-10T15:48:55Z- TerrainNav::Measurement type 1 from time = 1633880932.16 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:48:55Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594779.75, 0.03) 2021-10-10T15:48:55Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:48:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:48:55Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:48:55Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:48:55Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:48:55Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:48:55Z- AHRS_M2 msg: 1633880932.53 epoch sec; seqNo:1517 2021-10-10T15:48:55Z- AHRS_M2 msg: -0.16 phi; 0.03 theta; 1.09 psi 2021-10-10T15:48:55Z- handleDepth()-Depth_Keller msg: 1633880932543 epoch sec; seqNo:1551; depth 0.05 2021-10-10T15:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880932.56 epoch sec; seqNo:1552; 4061569.09 north; 594779.75 east 2021-10-10T15:48:55Z- AHRS_M2 msg: 1633880932.94 epoch sec; seqNo:1518 2021-10-10T15:48:55Z- AHRS_M2 msg: -0.09 phi; 0.10 theta; 1.12 psi 2021-10-10T15:48:55Z- handleDepth()-Depth_Keller msg: 1633880932945 epoch sec; seqNo:1552; depth 0.03 2021-10-10T15:48:55Z- handleDvl() - RDI_Pathfinder msg: 1633880932.98 epoch sec; seqNo:719 2021-10-10T15:48:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.06 , 96.36 , 89.57 , 0.00 2021-10-10T15:48:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.05 , 0.12 2021-10-10T15:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880932.99 epoch sec; seqNo:1553; 4061569.09 north; 594779.75 east 2021-10-10T15:48:56Z- AHRS_M2 msg: 1633880933.34 epoch sec; seqNo:1519 2021-10-10T15:48:56Z- AHRS_M2 msg: -0.03 phi; 0.06 theta; 1.11 psi 2021-10-10T15:48:56Z- handleDepth()-Depth_Keller msg: 1633880933345 epoch sec; seqNo:1553; depth 0.01 2021-10-10T15:48:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:56Z- handleDvl() - RDI_Pathfinder msg: 1633880933.35 epoch sec; seqNo:720 2021-10-10T15:48:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.05 , 0.12 2021-10-10T15:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880933.36 epoch sec; seqNo:1554; 4061569.09 north; 594779.75 east 2021-10-10T15:48:56Z- AHRS_M2 msg: 1633880933.74 epoch sec; seqNo:1520 2021-10-10T15:48:56Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 1.11 psi 2021-10-10T15:48:56Z- handleDepth()-Depth_Keller msg: 1633880933756 epoch sec; seqNo:1554; depth 0.05 2021-10-10T15:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880933.77 epoch sec; seqNo:1555; 4061569.09 north; 594779.75 east 2021-10-10T15:48:57Z- AHRS_M2 msg: 1633880934.15 epoch sec; seqNo:1521 2021-10-10T15:48:57Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.13 psi 2021-10-10T15:48:57Z- handleDepth()-Depth_Keller msg: 1633880934165 epoch sec; seqNo:1555; depth 0.07 2021-10-10T15:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880934.18 epoch sec; seqNo:1556; 4061569.09 north; 594779.75 east 2021-10-10T15:48:57Z- AHRS_M2 msg: 1633880934.55 epoch sec; seqNo:1522 2021-10-10T15:48:57Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 1.13 psi 2021-10-10T15:48:57Z- handleDepth()-Depth_Keller msg: 1633880934563 epoch sec; seqNo:1556; depth 0.08 2021-10-10T15:48:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:57Z- handleDvl() - RDI_Pathfinder msg: 1633880934.57 epoch sec; seqNo:721 2021-10-10T15:48:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.25 , 0.05 , 0.12 2021-10-10T15:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880934.57 epoch sec; seqNo:1557; 4061569.09 north; 594779.75 east 2021-10-10T15:48:57Z- AHRS_M2 msg: 1633880934.96 epoch sec; seqNo:1523 2021-10-10T15:48:57Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 1.13 psi 2021-10-10T15:48:57Z- handleDepth()-Depth_Keller msg: 1633880934971 epoch sec; seqNo:1557; depth 0.06 2021-10-10T15:48:57Z- handleDvl() - RDI_Pathfinder msg: 1633880934.99 epoch sec; seqNo:722 2021-10-10T15:48:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.51 , 83.39 , 93.18 , 75.02 2021-10-10T15:48:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , 0.03 , -0.39 2021-10-10T15:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880935.02 epoch sec; seqNo:1558; 4061569.09 north; 594779.75 east 2021-10-10T15:48:58Z- AHRS_M2 msg: 1633880935.36 epoch sec; seqNo:1524 2021-10-10T15:48:58Z- AHRS_M2 msg: -0.12 phi; -0.09 theta; 1.14 psi 2021-10-10T15:48:58Z- handleDepth()-Depth_Keller msg: 1633880935366 epoch sec; seqNo:1558; depth 0.09 2021-10-10T15:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880935.38 epoch sec; seqNo:1559; 4061569.09 north; 594779.75 east 2021-10-10T15:48:58Z- AHRS_M2 msg: 1633880935.76 epoch sec; seqNo:1525 2021-10-10T15:48:58Z- AHRS_M2 msg: -0.08 phi; -0.12 theta; 1.13 psi 2021-10-10T15:48:58Z- handleDepth()-Depth_Keller msg: 1633880935782 epoch sec; seqNo:1559; depth 0.11 2021-10-10T15:48:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:48:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:48:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:48:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:48:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:48:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:48:58Z- handleDvl() - RDI_Pathfinder msg: 1633880935.79 epoch sec; seqNo:723 2021-10-10T15:48:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:48:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , 0.03 , -0.39 2021-10-10T15:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880935.79 epoch sec; seqNo:1560; 4061569.09 north; 594779.75 east 2021-10-10T15:48:59Z- AHRS_M2 msg: 1633880936.17 epoch sec; seqNo:1526 2021-10-10T15:48:59Z- AHRS_M2 msg: -0.03 phi; -0.11 theta; 1.13 psi 2021-10-10T15:48:59Z- handleDepth()-Depth_Keller msg: 1633880936173 epoch sec; seqNo:1560; depth 0.12 2021-10-10T15:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880936.18 epoch sec; seqNo:1561; 4061569.09 north; 594779.75 east 2021-10-10T15:48:59Z- AHRS_M2 msg: 1633880936.57 epoch sec; seqNo:1527 2021-10-10T15:48:59Z- AHRS_M2 msg: -0.04 phi; -0.09 theta; 1.10 psi 2021-10-10T15:48:59Z- handleDepth()-Depth_Keller msg: 1633880936577 epoch sec; seqNo:1561; depth 0.12 2021-10-10T15:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880936.59 epoch sec; seqNo:1562; 4061568.71 north; 594779.75 east 2021-10-10T15:48:59Z- AHRS_M2 msg: 1633880936.98 epoch sec; seqNo:1528 2021-10-10T15:48:59Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 1.06 psi 2021-10-10T15:48:59Z- handleDepth()-Depth_Keller msg: 1633880936994 epoch sec; seqNo:1562; depth 0.11 2021-10-10T15:49:00Z- handleDvl() - RDI_Pathfinder msg: 1633880937.02 epoch sec; seqNo:724 2021-10-10T15:49:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.82 , 88.49 , 87.27 , 87.27 2021-10-10T15:49:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , 0.04 , 0.32 2021-10-10T15:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880937.04 epoch sec; seqNo:1563; 4061568.71 north; 594779.75 east 2021-10-10T15:49:00Z- AHRS_M2 msg: 1633880937.38 epoch sec; seqNo:1529 2021-10-10T15:49:00Z- AHRS_M2 msg: -0.08 phi; -0.09 theta; 1.07 psi 2021-10-10T15:49:00Z- handleDepth()-Depth_Keller msg: 1633880937384 epoch sec; seqNo:1563; depth 0.09 2021-10-10T15:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880937.42 epoch sec; seqNo:1564; 4061568.71 north; 594779.75 east 2021-10-10T15:49:00Z- LcmTrn::handleMessages() - handling 45 messages took 0.75 ms and 129 calls... 2021-10-10T15:49:00Z- waiting for 1633880935.16, time is 1633880937.42 2021-10-10T15:49:00Z- LcmTrn::updateTrn() >>>> pose time 1633880937.42, meas time 1633880937.02 <<<< 2021-10-10T15:49:00Z- TerrainNav::Measurement type 1 from time = 1633880937.02 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:49:00Z- TerrainNav::motionUpdate() - currEstimate = (4061569, 594779.75, 0.09) 2021-10-10T15:49:00Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:00Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:00Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:00Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:00Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:00Z- AHRS_M2 msg: 1633880937.78 epoch sec; seqNo:1530 2021-10-10T15:49:00Z- AHRS_M2 msg: -0.04 phi; -0.08 theta; 1.07 psi 2021-10-10T15:49:00Z- handleDepth()-Depth_Keller msg: 1633880937794 epoch sec; seqNo:1564; depth 0.08 2021-10-10T15:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880937.80 epoch sec; seqNo:1565; 4061568.71 north; 594779.75 east 2021-10-10T15:49:01Z- AHRS_M2 msg: 1633880938.19 epoch sec; seqNo:1531 2021-10-10T15:49:01Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 1.01 psi 2021-10-10T15:49:01Z- handleDepth()-Depth_Keller msg: 1633880938205 epoch sec; seqNo:1565; depth 0.09 2021-10-10T15:49:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:01Z- handleDvl() - RDI_Pathfinder msg: 1633880938.21 epoch sec; seqNo:725 2021-10-10T15:49:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , 0.04 , 0.32 2021-10-10T15:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880938.24 epoch sec; seqNo:1566; 4061568.71 north; 594779.75 east 2021-10-10T15:49:01Z- AHRS_M2 msg: 1633880938.60 epoch sec; seqNo:1532 2021-10-10T15:49:01Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.02 psi 2021-10-10T15:49:01Z- handleDepth()-Depth_Keller msg: 1633880938601 epoch sec; seqNo:1566; depth 0.09 2021-10-10T15:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880938.61 epoch sec; seqNo:1567; 4061568.71 north; 594779.75 east 2021-10-10T15:49:01Z- AHRS_M2 msg: 1633880939.00 epoch sec; seqNo:1533 2021-10-10T15:49:01Z- AHRS_M2 msg: -0.13 phi; -0.01 theta; 1.05 psi 2021-10-10T15:49:01Z- handleDepth()-Depth_Keller msg: 1633880939001 epoch sec; seqNo:1567; depth 0.08 2021-10-10T15:49:02Z- handleDvl() - RDI_Pathfinder msg: 1633880939.03 epoch sec; seqNo:726 2021-10-10T15:49:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.57 , 84.69 , 90.80 , 84.69 2021-10-10T15:49:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.38 , 0.46 , -0.22 2021-10-10T15:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880939.04 epoch sec; seqNo:1568; 4061568.71 north; 594779.75 east 2021-10-10T15:49:02Z- AHRS_M2 msg: 1633880939.40 epoch sec; seqNo:1534 2021-10-10T15:49:02Z- AHRS_M2 msg: -0.16 phi; 0.02 theta; 1.07 psi 2021-10-10T15:49:02Z- handleDepth()-Depth_Keller msg: 1633880939405 epoch sec; seqNo:1568; depth 0.06 2021-10-10T15:49:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:02Z- handleDvl() - RDI_Pathfinder msg: 1633880939.41 epoch sec; seqNo:727 2021-10-10T15:49:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.38 , 0.46 , -0.22 2021-10-10T15:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880939.42 epoch sec; seqNo:1569; 4061568.71 north; 594779.75 east 2021-10-10T15:49:02Z- AHRS_M2 msg: 1633880939.81 epoch sec; seqNo:1535 2021-10-10T15:49:02Z- AHRS_M2 msg: -0.12 phi; 0.00 theta; 1.08 psi 2021-10-10T15:49:02Z- handleDepth()-Depth_Keller msg: 1633880939811 epoch sec; seqNo:1569; depth 0.05 2021-10-10T15:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880939.82 epoch sec; seqNo:1570; 4061568.33 north; 594779.76 east 2021-10-10T15:49:03Z- AHRS_M2 msg: 1633880940.21 epoch sec; seqNo:1536 2021-10-10T15:49:03Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.09 psi 2021-10-10T15:49:03Z- handleDepth()-Depth_Keller msg: 1633880940216 epoch sec; seqNo:1570; depth 0.04 2021-10-10T15:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880940.22 epoch sec; seqNo:1571; 4061568.33 north; 594779.76 east 2021-10-10T15:49:03Z- AHRS_M2 msg: 1633880940.61 epoch sec; seqNo:1537 2021-10-10T15:49:03Z- AHRS_M2 msg: -0.04 phi; 0.00 theta; 1.09 psi 2021-10-10T15:49:03Z- handleDepth()-Depth_Keller msg: 1633880940616 epoch sec; seqNo:1571; depth 0.06 2021-10-10T15:49:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:03Z- handleDvl() - RDI_Pathfinder msg: 1633880940.62 epoch sec; seqNo:728 2021-10-10T15:49:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.38 , 0.46 , -0.22 2021-10-10T15:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880940.63 epoch sec; seqNo:1572; 4061568.35 north; 594780.98 east 2021-10-10T15:49:04Z- AHRS_M2 msg: 1633880941.02 epoch sec; seqNo:1538 2021-10-10T15:49:04Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 1.09 psi 2021-10-10T15:49:04Z- handleDepth()-Depth_Keller msg: 1633880941027 epoch sec; seqNo:1572; depth 0.07 2021-10-10T15:49:04Z- handleDvl() - RDI_Pathfinder msg: 1633880941.05 epoch sec; seqNo:729 2021-10-10T15:49:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.24 , 94.39 , 95.61 , 79.11 2021-10-10T15:49:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.57 , -0.37 , -0.63 2021-10-10T15:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880941.06 epoch sec; seqNo:1573; 4061568.33 north; 594779.76 east 2021-10-10T15:49:04Z- AHRS_M2 msg: 1633880941.42 epoch sec; seqNo:1539 2021-10-10T15:49:04Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 1.10 psi 2021-10-10T15:49:04Z- handleDepth()-Depth_Keller msg: 1633880941426 epoch sec; seqNo:1573; depth 0.07 2021-10-10T15:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880941.45 epoch sec; seqNo:1574; 4061568.33 north; 594779.76 east 2021-10-10T15:49:04Z- AHRS_M2 msg: 1633880941.83 epoch sec; seqNo:1540 2021-10-10T15:49:04Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 1.06 psi 2021-10-10T15:49:04Z- handleDepth()-Depth_Keller msg: 1633880941831 epoch sec; seqNo:1574; depth 0.08 2021-10-10T15:49:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:04Z- handleDvl() - RDI_Pathfinder msg: 1633880941.84 epoch sec; seqNo:730 2021-10-10T15:49:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.57 , -0.37 , -0.63 2021-10-10T15:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880941.85 epoch sec; seqNo:1575; 4061568.33 north; 594779.76 east 2021-10-10T15:49:05Z- AHRS_M2 msg: 1633880942.23 epoch sec; seqNo:1541 2021-10-10T15:49:05Z- AHRS_M2 msg: 0.00 phi; -0.15 theta; 1.02 psi 2021-10-10T15:49:05Z- handleDepth()-Depth_Keller msg: 1633880942236 epoch sec; seqNo:1575; depth 0.08 2021-10-10T15:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880942.24 epoch sec; seqNo:1576; 4061568.33 north; 594779.76 east 2021-10-10T15:49:05Z- LcmTrn::handleMessages() - handling 42 messages took 0.62 ms and 129 calls... 2021-10-10T15:49:05Z- waiting for 1633880940.42, time is 1633880942.24 2021-10-10T15:49:05Z- LcmTrn::updateTrn() >>>> pose time 1633880942.24, meas time 1633880941.84 <<<< 2021-10-10T15:49:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880941.84, ping # 0. 2021-10-10T15:49:05Z- TerrainNav::Measurement type 1 from time = 1633880941.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:49:05Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594779.76, 0.08) 2021-10-10T15:49:05Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:05Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:05Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:05Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:05Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:05Z- AHRS_M2 msg: 1633880942.63 epoch sec; seqNo:1542 2021-10-10T15:49:05Z- AHRS_M2 msg: 0.01 phi; -0.14 theta; 1.00 psi 2021-10-10T15:49:05Z- handleDepth()-Depth_Keller msg: 1633880942638 epoch sec; seqNo:1576; depth 0.10 2021-10-10T15:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880942.65 epoch sec; seqNo:1577; 4061568.32 north; 594778.53 east 2021-10-10T15:49:06Z- AHRS_M2 msg: 1633880943.04 epoch sec; seqNo:1543 2021-10-10T15:49:06Z- AHRS_M2 msg: 0.04 phi; -0.12 theta; 0.99 psi 2021-10-10T15:49:06Z- handleDepth()-Depth_Keller msg: 1633880943049 epoch sec; seqNo:1577; depth 0.06 2021-10-10T15:49:06Z- handleDvl() - RDI_Pathfinder msg: 1633880943.07 epoch sec; seqNo:731 2021-10-10T15:49:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 85.98 , 87.20 , 85.98 2021-10-10T15:49:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.68 , 0.77 2021-10-10T15:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880943.08 epoch sec; seqNo:1578; 4061568.32 north; 594778.53 east 2021-10-10T15:49:06Z- AHRS_M2 msg: 1633880943.44 epoch sec; seqNo:1544 2021-10-10T15:49:06Z- AHRS_M2 msg: 0.08 phi; -0.12 theta; 0.96 psi 2021-10-10T15:49:06Z- handleDepth()-Depth_Keller msg: 1633880943448 epoch sec; seqNo:1578; depth 0.05 2021-10-10T15:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880943.47 epoch sec; seqNo:1579; 4061568.70 north; 594778.53 east 2021-10-10T15:49:06Z- AHRS_M2 msg: 1633880943.84 epoch sec; seqNo:1545 2021-10-10T15:49:06Z- AHRS_M2 msg: 0.08 phi; -0.10 theta; 0.94 psi 2021-10-10T15:49:06Z- handleDepth()-Depth_Keller msg: 1633880943852 epoch sec; seqNo:1579; depth 0.06 2021-10-10T15:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880943.86 epoch sec; seqNo:1580; 4061568.68 north; 594777.31 east 2021-10-10T15:49:07Z- AHRS_M2 msg: 1633880944.26 epoch sec; seqNo:1546 2021-10-10T15:49:07Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 0.95 psi 2021-10-10T15:49:07Z- handleDepth()-Depth_Keller msg: 1633880944261 epoch sec; seqNo:1580; depth 0.06 2021-10-10T15:49:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:07Z- handleDvl() - RDI_Pathfinder msg: 1633880944.26 epoch sec; seqNo:732 2021-10-10T15:49:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , -0.68 , 0.77 2021-10-10T15:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880944.27 epoch sec; seqNo:1581; 4061568.68 north; 594777.31 east 2021-10-10T15:49:07Z- AHRS_M2 msg: 1633880944.66 epoch sec; seqNo:1547 2021-10-10T15:49:07Z- AHRS_M2 msg: -0.12 phi; 0.03 theta; 0.95 psi 2021-10-10T15:49:07Z- handleDepth()-Depth_Keller msg: 1633880944664 epoch sec; seqNo:1581; depth 0.04 2021-10-10T15:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880944.72 epoch sec; seqNo:1582; 4061568.68 north; 594777.31 east 2021-10-10T15:49:08Z- handleDepth()-Depth_Keller msg: 1633880945076 epoch sec; seqNo:1582; depth 0.00 2021-10-10T15:49:08Z- handleDvl() - RDI_Pathfinder msg: 1633880945.10 epoch sec; seqNo:733 2021-10-10T15:49:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.87 , 84.75 , 84.75 , 87.20 2021-10-10T15:49:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , 0.94 , 0.60 2021-10-10T15:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880945.11 epoch sec; seqNo:1583; 4061568.31 north; 594777.31 east 2021-10-10T15:49:08Z- AHRS_M2 msg: 1633880945.46 epoch sec; seqNo:1548 2021-10-10T15:49:08Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 1.02 psi 2021-10-10T15:49:08Z- handleDepth()-Depth_Keller msg: 1633880945470 epoch sec; seqNo:1583; depth 0.03 2021-10-10T15:49:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:08Z- handleDvl() - RDI_Pathfinder msg: 1633880945.47 epoch sec; seqNo:734 2021-10-10T15:49:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , 0.94 , 0.60 2021-10-10T15:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880945.49 epoch sec; seqNo:1584; 4061568.31 north; 594777.31 east 2021-10-10T15:49:08Z- AHRS_M2 msg: 1633880945.86 epoch sec; seqNo:1549 2021-10-10T15:49:08Z- AHRS_M2 msg: -0.00 phi; 0.03 theta; 1.01 psi 2021-10-10T15:49:08Z- handleDepth()-Depth_Keller msg: 1633880945880 epoch sec; seqNo:1584; depth 0.07 2021-10-10T15:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880945.89 epoch sec; seqNo:1585; 4061567.94 north; 594778.54 east 2021-10-10T15:49:09Z- AHRS_M2 msg: 1633880946.27 epoch sec; seqNo:1550 2021-10-10T15:49:09Z- AHRS_M2 msg: -0.01 phi; 0.03 theta; 1.00 psi 2021-10-10T15:49:09Z- handleDepth()-Depth_Keller msg: 1633880946276 epoch sec; seqNo:1585; depth 0.07 2021-10-10T15:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880946.29 epoch sec; seqNo:1586; 4061567.94 north; 594778.54 east 2021-10-10T15:49:09Z- AHRS_M2 msg: 1633880946.70 epoch sec; seqNo:1551 2021-10-10T15:49:09Z- AHRS_M2 msg: -0.04 phi; -0.02 theta; 1.02 psi 2021-10-10T15:49:09Z- handleDepth()-Depth_Keller msg: 1633880946724 epoch sec; seqNo:1586; depth 0.08 2021-10-10T15:49:09Z- handleDvl() - RDI_Pathfinder msg: 1633880946.75 epoch sec; seqNo:735 2021-10-10T15:49:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880946.79 epoch sec; seqNo:1587; 4061567.56 north; 594778.54 east 2021-10-10T15:49:10Z- AHRS_M2 msg: 1633880947.08 epoch sec; seqNo:1552 2021-10-10T15:49:10Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 1.02 psi 2021-10-10T15:49:10Z- handleDepth()-Depth_Keller msg: 1633880947082 epoch sec; seqNo:1587; depth 0.08 2021-10-10T15:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880947.10 epoch sec; seqNo:1588; 4061567.57 north; 594779.76 east 2021-10-10T15:49:10Z- AHRS_M2 msg: 1633880947.49 epoch sec; seqNo:1553 2021-10-10T15:49:10Z- AHRS_M2 msg: -0.17 phi; -0.02 theta; 1.03 psi 2021-10-10T15:49:10Z- handleDepth()-Depth_Keller msg: 1633880947493 epoch sec; seqNo:1588; depth 0.08 2021-10-10T15:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880947.50 epoch sec; seqNo:1589; 4061567.20 north; 594779.77 east 2021-10-10T15:49:10Z- LcmTrn::handleMessages() - handling 43 messages took 0.70 ms and 129 calls... 2021-10-10T15:49:10Z- waiting for 1633880945.24, time is 1633880947.50 2021-10-10T15:49:10Z- LcmTrn::updateTrn() >>>> pose time 1633880947.50, meas time 1633880946.75 <<<< 2021-10-10T15:49:10Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880946.75, ping # 0. 2021-10-10T15:49:10Z- TerrainNav::Measurement type 1 from time = 1633880946.75 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:49:10Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594779.77, 0.08) 2021-10-10T15:49:10Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:10Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:10Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:10Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:10Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:10Z- AHRS_M2 msg: 1633880947.88 epoch sec; seqNo:1554 2021-10-10T15:49:10Z- AHRS_M2 msg: -0.17 phi; -0.05 theta; 1.05 psi 2021-10-10T15:49:10Z- handleDepth()-Depth_Keller msg: 1633880947895 epoch sec; seqNo:1589; depth 0.07 2021-10-10T15:49:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:10Z- handleDvl() - RDI_Pathfinder msg: 1633880947.90 epoch sec; seqNo:736 2021-10-10T15:49:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880947.91 epoch sec; seqNo:1590; 4061566.82 north; 594779.77 east 2021-10-10T15:49:11Z- AHRS_M2 msg: 1633880948.29 epoch sec; seqNo:1555 2021-10-10T15:49:11Z- AHRS_M2 msg: -0.11 phi; -0.04 theta; 1.07 psi 2021-10-10T15:49:11Z- handleDepth()-Depth_Keller msg: 1633880948293 epoch sec; seqNo:1590; depth 0.08 2021-10-10T15:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880948.30 epoch sec; seqNo:1591; 4061566.83 north; 594780.99 east 2021-10-10T15:49:11Z- AHRS_M2 msg: 1633880948.72 epoch sec; seqNo:1556 2021-10-10T15:49:11Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 1.08 psi 2021-10-10T15:49:11Z- handleDepth()-Depth_Keller msg: 1633880948737 epoch sec; seqNo:1591; depth 0.07 2021-10-10T15:49:11Z- handleDvl() - RDI_Pathfinder msg: 1633880948.76 epoch sec; seqNo:737 2021-10-10T15:49:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.96 , 96.91 , 90.79 , 87.13 2021-10-10T15:49:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , -0.74 , -0.30 2021-10-10T15:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880948.77 epoch sec; seqNo:1592; 4061566.82 north; 594779.77 east 2021-10-10T15:49:12Z- AHRS_M2 msg: 1633880949.10 epoch sec; seqNo:1557 2021-10-10T15:49:12Z- AHRS_M2 msg: 0.04 phi; -0.08 theta; 1.08 psi 2021-10-10T15:49:12Z- handleDepth()-Depth_Keller msg: 1633880949101 epoch sec; seqNo:1592; depth 0.08 2021-10-10T15:49:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:12Z- handleDvl() - RDI_Pathfinder msg: 1633880949.10 epoch sec; seqNo:738 2021-10-10T15:49:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , -0.74 , -0.30 2021-10-10T15:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880949.12 epoch sec; seqNo:1593; 4061567.20 north; 594779.77 east 2021-10-10T15:49:12Z- AHRS_M2 msg: 1633880949.50 epoch sec; seqNo:1558 2021-10-10T15:49:12Z- AHRS_M2 msg: 0.10 phi; -0.10 theta; 1.07 psi 2021-10-10T15:49:12Z- handleDepth()-Depth_Keller msg: 1633880949511 epoch sec; seqNo:1593; depth 0.07 2021-10-10T15:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880949.52 epoch sec; seqNo:1594; 4061567.20 north; 594779.77 east 2021-10-10T15:49:12Z- AHRS_M2 msg: 1633880949.93 epoch sec; seqNo:1559 2021-10-10T15:49:12Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 1.06 psi 2021-10-10T15:49:12Z- handleDepth()-Depth_Keller msg: 1633880949931 epoch sec; seqNo:1594; depth 0.07 2021-10-10T15:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880949.94 epoch sec; seqNo:1595; 4061567.57 north; 594779.76 east 2021-10-10T15:49:13Z- AHRS_M2 msg: 1633880950.31 epoch sec; seqNo:1560 2021-10-10T15:49:13Z- AHRS_M2 msg: 0.16 phi; -0.02 theta; 1.05 psi 2021-10-10T15:49:13Z- handleDepth()-Depth_Keller msg: 1633880950313 epoch sec; seqNo:1595; depth 0.05 2021-10-10T15:49:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:13Z- handleDvl() - RDI_Pathfinder msg: 1633880950.32 epoch sec; seqNo:739 2021-10-10T15:49:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.34 , -0.74 , -0.30 2021-10-10T15:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880950.32 epoch sec; seqNo:1596; 4061567.57 north; 594779.76 east 2021-10-10T15:49:13Z- AHRS_M2 msg: 1633880950.73 epoch sec; seqNo:1561 2021-10-10T15:49:13Z- AHRS_M2 msg: 0.13 phi; -0.10 theta; 1.02 psi 2021-10-10T15:49:13Z- handleDepth()-Depth_Keller msg: 1633880950737 epoch sec; seqNo:1596; depth 0.08 2021-10-10T15:49:13Z- handleDvl() - RDI_Pathfinder msg: 1633880950.76 epoch sec; seqNo:740 2021-10-10T15:49:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.46 , 81.02 , 90.79 , 75.42 2021-10-10T15:49:13Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.48 , 0.85 2021-10-10T15:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880950.78 epoch sec; seqNo:1597; 4061567.94 north; 594778.54 east 2021-10-10T15:49:14Z- AHRS_M2 msg: 1633880951.12 epoch sec; seqNo:1562 2021-10-10T15:49:14Z- AHRS_M2 msg: 0.04 phi; -0.13 theta; 1.02 psi 2021-10-10T15:49:14Z- handleDepth()-Depth_Keller msg: 1633880951122 epoch sec; seqNo:1597; depth 0.06 2021-10-10T15:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880951.14 epoch sec; seqNo:1598; 4061567.94 north; 594778.54 east 2021-10-10T15:49:14Z- AHRS_M2 msg: 1633880951.52 epoch sec; seqNo:1563 2021-10-10T15:49:14Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 1.01 psi 2021-10-10T15:49:14Z- handleDepth()-Depth_Keller msg: 1633880951526 epoch sec; seqNo:1598; depth 0.04 2021-10-10T15:49:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:14Z- handleDvl() - RDI_Pathfinder msg: 1633880951.54 epoch sec; seqNo:741 2021-10-10T15:49:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.48 , 0.85 2021-10-10T15:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880951.54 epoch sec; seqNo:1599; 4061567.94 north; 594778.54 east 2021-10-10T15:49:14Z- AHRS_M2 msg: 1633880951.92 epoch sec; seqNo:1564 2021-10-10T15:49:14Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 0.99 psi 2021-10-10T15:49:14Z- handleDepth()-Depth_Keller msg: 1633880951929 epoch sec; seqNo:1599; depth 0.03 2021-10-10T15:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880951.94 epoch sec; seqNo:1600; 4061567.94 north; 594778.54 east 2021-10-10T15:49:15Z- AHRS_M2 msg: 1633880952.33 epoch sec; seqNo:1565 2021-10-10T15:49:15Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 1.00 psi 2021-10-10T15:49:15Z- handleDepth()-Depth_Keller msg: 1633880952335 epoch sec; seqNo:1600; depth 0.04 2021-10-10T15:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880952.35 epoch sec; seqNo:1601; 4061567.94 north; 594778.54 east 2021-10-10T15:49:15Z- LcmTrn::handleMessages() - handling 42 messages took 0.64 ms and 129 calls... 2021-10-10T15:49:15Z- waiting for 1633880950.50, time is 1633880952.35 2021-10-10T15:49:15Z- LcmTrn::updateTrn() >>>> pose time 1633880952.35, meas time 1633880951.54 <<<< 2021-10-10T15:49:15Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880951.54, ping # 0. 2021-10-10T15:49:15Z- TerrainNav::Measurement type 1 from time = 1633880951.54 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:49:15Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594778.54, 0.04) 2021-10-10T15:49:15Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:15Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:15Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:15Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:15Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:15Z- AHRS_M2 msg: 1633880952.74 epoch sec; seqNo:1566 2021-10-10T15:49:15Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 0.98 psi 2021-10-10T15:49:15Z- handleDepth()-Depth_Keller msg: 1633880952751 epoch sec; seqNo:1601; depth 0.04 2021-10-10T15:49:15Z- handleDvl() - RDI_Pathfinder msg: 1633880952.77 epoch sec; seqNo:742 2021-10-10T15:49:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.07 , 97.05 , 95.82 , 84.82 2021-10-10T15:49:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , 0.64 , 0.03 2021-10-10T15:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880952.80 epoch sec; seqNo:1602; 4061567.94 north; 594778.54 east 2021-10-10T15:49:16Z- AHRS_M2 msg: 1633880953.14 epoch sec; seqNo:1567 2021-10-10T15:49:16Z- AHRS_M2 msg: -0.09 phi; 0.00 theta; 0.98 psi 2021-10-10T15:49:16Z- handleDepth()-Depth_Keller msg: 1633880953150 epoch sec; seqNo:1602; depth 0.03 2021-10-10T15:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880953.16 epoch sec; seqNo:1603; 4061567.56 north; 594778.54 east 2021-10-10T15:49:16Z- AHRS_M2 msg: 1633880953.54 epoch sec; seqNo:1568 2021-10-10T15:49:16Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 1.04 psi 2021-10-10T15:49:16Z- handleDepth()-Depth_Keller msg: 1633880953545 epoch sec; seqNo:1603; depth 0.04 2021-10-10T15:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880953.55 epoch sec; seqNo:1604; 4061567.56 north; 594778.54 east 2021-10-10T15:49:16Z- AHRS_M2 msg: 1633880953.94 epoch sec; seqNo:1569 2021-10-10T15:49:16Z- AHRS_M2 msg: -0.04 phi; 0.04 theta; 1.05 psi 2021-10-10T15:49:16Z- handleDepth()-Depth_Keller msg: 1633880953949 epoch sec; seqNo:1604; depth 0.06 2021-10-10T15:49:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:16Z- handleDvl() - RDI_Pathfinder msg: 1633880953.96 epoch sec; seqNo:743 2021-10-10T15:49:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , 0.64 , 0.03 2021-10-10T15:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880953.99 epoch sec; seqNo:1605; 4061567.18 north; 594778.55 east 2021-10-10T15:49:17Z- AHRS_M2 msg: 1633880954.35 epoch sec; seqNo:1570 2021-10-10T15:49:17Z- AHRS_M2 msg: -0.07 phi; 0.03 theta; 1.05 psi 2021-10-10T15:49:17Z- handleDepth()-Depth_Keller msg: 1633880954357 epoch sec; seqNo:1605; depth 0.07 2021-10-10T15:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880954.37 epoch sec; seqNo:1606; 4061567.20 north; 594779.77 east 2021-10-10T15:49:17Z- AHRS_M2 msg: 1633880954.75 epoch sec; seqNo:1571 2021-10-10T15:49:17Z- AHRS_M2 msg: -0.09 phi; -0.01 theta; 1.08 psi 2021-10-10T15:49:17Z- handleDepth()-Depth_Keller msg: 1633880954768 epoch sec; seqNo:1606; depth 0.05 2021-10-10T15:49:17Z- handleDvl() - RDI_Pathfinder msg: 1633880954.79 epoch sec; seqNo:744 2021-10-10T15:49:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.77 , 0.00 , 96.77 , 77.48 2021-10-10T15:49:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , -0.07 , -0.55 2021-10-10T15:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880954.80 epoch sec; seqNo:1607; 4061567.18 north; 594778.55 east 2021-10-10T15:49:18Z- AHRS_M2 msg: 1633880955.16 epoch sec; seqNo:1572 2021-10-10T15:49:18Z- AHRS_M2 msg: 0.01 phi; -0.10 theta; 1.08 psi 2021-10-10T15:49:18Z- handleDepth()-Depth_Keller msg: 1633880955167 epoch sec; seqNo:1607; depth 0.04 2021-10-10T15:49:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:18Z- handleDvl() - RDI_Pathfinder msg: 1633880955.17 epoch sec; seqNo:745 2021-10-10T15:49:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , -0.07 , -0.55 2021-10-10T15:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880955.19 epoch sec; seqNo:1608; 4061567.18 north; 594778.55 east 2021-10-10T15:49:18Z- AHRS_M2 msg: 1633880955.56 epoch sec; seqNo:1573 2021-10-10T15:49:18Z- AHRS_M2 msg: 0.05 phi; -0.05 theta; 1.07 psi 2021-10-10T15:49:18Z- handleDepth()-Depth_Keller msg: 1633880955569 epoch sec; seqNo:1608; depth 0.09 2021-10-10T15:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880955.58 epoch sec; seqNo:1609; 4061567.18 north; 594778.55 east 2021-10-10T15:49:18Z- AHRS_M2 msg: 1633880955.96 epoch sec; seqNo:1574 2021-10-10T15:49:18Z- AHRS_M2 msg: 0.06 phi; 0.02 theta; 1.05 psi 2021-10-10T15:49:18Z- handleDepth()-Depth_Keller msg: 1633880955969 epoch sec; seqNo:1609; depth 0.09 2021-10-10T15:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880955.98 epoch sec; seqNo:1610; 4061567.18 north; 594778.55 east 2021-10-10T15:49:19Z- AHRS_M2 msg: 1633880956.37 epoch sec; seqNo:1575 2021-10-10T15:49:19Z- AHRS_M2 msg: 0.04 phi; 0.01 theta; 1.06 psi 2021-10-10T15:49:19Z- handleDepth()-Depth_Keller msg: 1633880956379 epoch sec; seqNo:1610; depth 0.08 2021-10-10T15:49:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:19Z- handleDvl() - RDI_Pathfinder msg: 1633880956.38 epoch sec; seqNo:746 2021-10-10T15:49:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:19Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , -0.07 , -0.55 2021-10-10T15:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880956.39 epoch sec; seqNo:1611; 4061567.18 north; 594778.55 east 2021-10-10T15:49:19Z- AHRS_M2 msg: 1633880956.77 epoch sec; seqNo:1576 2021-10-10T15:49:19Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.06 psi 2021-10-10T15:49:19Z- handleDepth()-Depth_Keller msg: 1633880956784 epoch sec; seqNo:1611; depth 0.06 2021-10-10T15:49:19Z- handleDvl() - RDI_Pathfinder msg: 1633880956.81 epoch sec; seqNo:747 2021-10-10T15:49:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.35 , 83.46 , 93.24 , 75.42 2021-10-10T15:49:19Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , -0.35 , 0.35 2021-10-10T15:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880956.83 epoch sec; seqNo:1612; 4061567.18 north; 594778.55 east 2021-10-10T15:49:20Z- AHRS_M2 msg: 1633880957.18 epoch sec; seqNo:1577 2021-10-10T15:49:20Z- AHRS_M2 msg: -0.00 phi; -0.03 theta; 1.05 psi 2021-10-10T15:49:20Z- handleDepth()-Depth_Keller msg: 1633880957184 epoch sec; seqNo:1612; depth 0.09 2021-10-10T15:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880957.20 epoch sec; seqNo:1613; 4061567.18 north; 594778.55 east 2021-10-10T15:49:20Z- AHRS_M2 msg: 1633880957.58 epoch sec; seqNo:1578 2021-10-10T15:49:20Z- AHRS_M2 msg: -0.01 phi; 0.01 theta; 1.05 psi 2021-10-10T15:49:20Z- handleDepth()-Depth_Keller msg: 1633880957591 epoch sec; seqNo:1613; depth 0.07 2021-10-10T15:49:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:20Z- handleDvl() - RDI_Pathfinder msg: 1633880957.59 epoch sec; seqNo:748 2021-10-10T15:49:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:20Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , -0.35 , 0.35 2021-10-10T15:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880957.60 epoch sec; seqNo:1614; 4061567.56 north; 594778.54 east 2021-10-10T15:49:20Z- LcmTrn::handleMessages() - handling 46 messages took 0.80 ms and 130 calls... 2021-10-10T15:49:20Z- waiting for 1633880955.35, time is 1633880957.60 2021-10-10T15:49:20Z- LcmTrn::updateTrn() equating pose 1633880957.60 and meas times 1633880957.60 2021-10-10T15:49:20Z- LcmTrn::updateTrn() >>>> pose time 1633880957.60, meas time 1633880957.60 <<<< 2021-10-10T15:49:20Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880957.60, ping # 0. 2021-10-10T15:49:20Z- TerrainNav::Measurement type 1 from time = 1633880957.60 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:49:20Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594778.54, 0.07) 2021-10-10T15:49:20Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:20Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:20Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:20Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:20Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:20Z- AHRS_M2 msg: 1633880957.98 epoch sec; seqNo:1579 2021-10-10T15:49:20Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 1.04 psi 2021-10-10T15:49:20Z- handleDepth()-Depth_Keller msg: 1633880957994 epoch sec; seqNo:1614; depth 0.05 2021-10-10T15:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880958.00 epoch sec; seqNo:1615; 4061567.56 north; 594778.54 east 2021-10-10T15:49:21Z- AHRS_M2 msg: 1633880958.39 epoch sec; seqNo:1580 2021-10-10T15:49:21Z- AHRS_M2 msg: 0.02 phi; -0.06 theta; 1.05 psi 2021-10-10T15:49:21Z- handleDepth()-Depth_Keller msg: 1633880958394 epoch sec; seqNo:1615; depth 0.07 2021-10-10T15:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880958.40 epoch sec; seqNo:1616; 4061567.56 north; 594778.54 east 2021-10-10T15:49:21Z- AHRS_M2 msg: 1633880958.79 epoch sec; seqNo:1581 2021-10-10T15:49:21Z- AHRS_M2 msg: -0.06 phi; -0.06 theta; 1.04 psi 2021-10-10T15:49:21Z- handleDepth()-Depth_Keller msg: 1633880958797 epoch sec; seqNo:1616; depth 0.05 2021-10-10T15:49:21Z- handleDvl() - RDI_Pathfinder msg: 1633880958.82 epoch sec; seqNo:749 2021-10-10T15:49:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.27 , 84.82 , 94.60 , 82.38 2021-10-10T15:49:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.10 , 0.44 2021-10-10T15:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880958.84 epoch sec; seqNo:1617; 4061567.56 north; 594778.54 east 2021-10-10T15:49:22Z- AHRS_M2 msg: 1633880959.20 epoch sec; seqNo:1582 2021-10-10T15:49:22Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 0.99 psi 2021-10-10T15:49:22Z- handleDepth()-Depth_Keller msg: 1633880959201 epoch sec; seqNo:1617; depth 0.03 2021-10-10T15:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880959.22 epoch sec; seqNo:1618; 4061567.56 north; 594778.54 east 2021-10-10T15:49:22Z- AHRS_M2 msg: 1633880959.60 epoch sec; seqNo:1583 2021-10-10T15:49:22Z- AHRS_M2 msg: -0.07 phi; 0.01 theta; 1.00 psi 2021-10-10T15:49:22Z- handleDepth()-Depth_Keller msg: 1633880959607 epoch sec; seqNo:1618; depth 0.03 2021-10-10T15:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880959.62 epoch sec; seqNo:1619; 4061567.56 north; 594778.54 east 2021-10-10T15:49:22Z- AHRS_M2 msg: 1633880960.00 epoch sec; seqNo:1584 2021-10-10T15:49:22Z- AHRS_M2 msg: 0.01 phi; 0.05 theta; 1.03 psi 2021-10-10T15:49:22Z- handleDepth()-Depth_Keller msg: 1633880960012 epoch sec; seqNo:1619; depth 0.03 2021-10-10T15:49:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:22Z- handleDvl() - RDI_Pathfinder msg: 1633880960.01 epoch sec; seqNo:750 2021-10-10T15:49:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.10 , 0.44 2021-10-10T15:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880960.04 epoch sec; seqNo:1620; 4061567.56 north; 594778.54 east 2021-10-10T15:49:23Z- AHRS_M2 msg: 1633880960.41 epoch sec; seqNo:1585 2021-10-10T15:49:23Z- AHRS_M2 msg: -0.02 phi; 0.05 theta; 1.04 psi 2021-10-10T15:49:23Z- handleDepth()-Depth_Keller msg: 1633880960413 epoch sec; seqNo:1620; depth 0.05 2021-10-10T15:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880960.42 epoch sec; seqNo:1621; 4061567.56 north; 594778.54 east 2021-10-10T15:49:23Z- AHRS_M2 msg: 1633880960.81 epoch sec; seqNo:1586 2021-10-10T15:49:23Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 1.05 psi 2021-10-10T15:49:23Z- handleDepth()-Depth_Keller msg: 1633880960817 epoch sec; seqNo:1621; depth 0.04 2021-10-10T15:49:23Z- handleDvl() - RDI_Pathfinder msg: 1633880960.84 epoch sec; seqNo:751 2021-10-10T15:49:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.13 , 88.35 , 96.91 , 76.25 2021-10-10T15:49:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , 0.43 , 0.02 2021-10-10T15:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880960.87 epoch sec; seqNo:1622; 4061567.56 north; 594778.54 east 2021-10-10T15:49:24Z- AHRS_M2 msg: 1633880961.22 epoch sec; seqNo:1587 2021-10-10T15:49:24Z- AHRS_M2 msg: -0.13 phi; -0.06 theta; 1.03 psi 2021-10-10T15:49:24Z- handleDepth()-Depth_Keller msg: 1633880961222 epoch sec; seqNo:1622; depth 0.04 2021-10-10T15:49:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:24Z- handleDvl() - RDI_Pathfinder msg: 1633880961.22 epoch sec; seqNo:752 2021-10-10T15:49:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , 0.43 , 0.02 2021-10-10T15:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880961.24 epoch sec; seqNo:1623; 4061567.56 north; 594778.54 east 2021-10-10T15:49:24Z- AHRS_M2 msg: 1633880961.62 epoch sec; seqNo:1588 2021-10-10T15:49:24Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.01 psi 2021-10-10T15:49:24Z- handleDepth()-Depth_Keller msg: 1633880961624 epoch sec; seqNo:1623; depth 0.06 2021-10-10T15:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880961.64 epoch sec; seqNo:1624; 4061567.18 north; 594778.55 east 2021-10-10T15:49:25Z- AHRS_M2 msg: 1633880962.02 epoch sec; seqNo:1589 2021-10-10T15:49:25Z- AHRS_M2 msg: 0.03 phi; 0.01 theta; 1.02 psi 2021-10-10T15:49:25Z- handleDepth()-Depth_Keller msg: 1633880962032 epoch sec; seqNo:1624; depth 0.06 2021-10-10T15:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880962.07 epoch sec; seqNo:1625; 4061567.18 north; 594778.55 east 2021-10-10T15:49:25Z- AHRS_M2 msg: 1633880962.43 epoch sec; seqNo:1590 2021-10-10T15:49:25Z- AHRS_M2 msg: 0.07 phi; -0.07 theta; 1.03 psi 2021-10-10T15:49:25Z- handleDepth()-Depth_Keller msg: 1633880962447 epoch sec; seqNo:1625; depth 0.07 2021-10-10T15:49:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:25Z- handleDvl() - RDI_Pathfinder msg: 1633880962.45 epoch sec; seqNo:753 2021-10-10T15:49:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , 0.43 , 0.02 2021-10-10T15:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880962.48 epoch sec; seqNo:1626; 4061567.18 north; 594778.55 east 2021-10-10T15:49:25Z- LcmTrn::handleMessages() - handling 41 messages took 0.68 ms and 127 calls... 2021-10-10T15:49:25Z- waiting for 1633880960.60, time is 1633880962.48 2021-10-10T15:49:25Z- LcmTrn::updateTrn() equating pose 1633880962.48 and meas times 1633880962.48 2021-10-10T15:49:25Z- LcmTrn::updateTrn() >>>> pose time 1633880962.48, meas time 1633880962.48 <<<< 2021-10-10T15:49:25Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880962.48, ping # 0. 2021-10-10T15:49:25Z- TerrainNav::Measurement type 1 from time = 1633880962.48 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:49:25Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594778.55, 0.07) 2021-10-10T15:49:25Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:25Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:25Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:25Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:25Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:25Z- AHRS_M2 msg: 1633880962.83 epoch sec; seqNo:1591 2021-10-10T15:49:25Z- AHRS_M2 msg: 0.05 phi; -0.13 theta; 1.00 psi 2021-10-10T15:49:25Z- handleDepth()-Depth_Keller msg: 1633880962840 epoch sec; seqNo:1626; depth 0.06 2021-10-10T15:49:25Z- handleDvl() - RDI_Pathfinder msg: 1633880962.87 epoch sec; seqNo:754 2021-10-10T15:49:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.35 , 87.13 , 98.13 , 82.24 2021-10-10T15:49:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , 0.06 , -0.06 2021-10-10T15:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880962.91 epoch sec; seqNo:1627; 4061566.80 north; 594778.55 east 2021-10-10T15:49:26Z- AHRS_M2 msg: 1633880963.24 epoch sec; seqNo:1592 2021-10-10T15:49:26Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 0.98 psi 2021-10-10T15:49:26Z- handleDepth()-Depth_Keller msg: 1633880963248 epoch sec; seqNo:1627; depth 0.08 2021-10-10T15:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880963.28 epoch sec; seqNo:1628; 4061566.80 north; 594778.55 east 2021-10-10T15:49:26Z- AHRS_M2 msg: 1633880963.64 epoch sec; seqNo:1593 2021-10-10T15:49:26Z- AHRS_M2 msg: -0.08 phi; 0.06 theta; 0.99 psi 2021-10-10T15:49:26Z- handleDepth()-Depth_Keller msg: 1633880963647 epoch sec; seqNo:1628; depth 0.05 2021-10-10T15:49:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:26Z- handleDvl() - RDI_Pathfinder msg: 1633880963.65 epoch sec; seqNo:755 2021-10-10T15:49:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , 0.06 , -0.06 2021-10-10T15:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880963.68 epoch sec; seqNo:1629; 4061566.80 north; 594778.55 east 2021-10-10T15:49:27Z- AHRS_M2 msg: 1633880964.05 epoch sec; seqNo:1594 2021-10-10T15:49:27Z- AHRS_M2 msg: -0.08 phi; 0.09 theta; 1.00 psi 2021-10-10T15:49:27Z- handleDepth()-Depth_Keller msg: 1633880964052 epoch sec; seqNo:1629; depth 0.04 2021-10-10T15:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880964.07 epoch sec; seqNo:1630; 4061566.80 north; 594778.55 east 2021-10-10T15:49:27Z- AHRS_M2 msg: 1633880964.45 epoch sec; seqNo:1595 2021-10-10T15:49:27Z- AHRS_M2 msg: -0.06 phi; 0.01 theta; 1.00 psi 2021-10-10T15:49:27Z- handleDepth()-Depth_Keller msg: 1633880964463 epoch sec; seqNo:1630; depth 0.05 2021-10-10T15:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880964.48 epoch sec; seqNo:1631; 4061566.80 north; 594778.55 east 2021-10-10T15:49:27Z- AHRS_M2 msg: 1633880964.85 epoch sec; seqNo:1596 2021-10-10T15:49:27Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.00 psi 2021-10-10T15:49:27Z- handleDepth()-Depth_Keller msg: 1633880964860 epoch sec; seqNo:1631; depth 0.07 2021-10-10T15:49:27Z- handleDvl() - RDI_Pathfinder msg: 1633880964.90 epoch sec; seqNo:756 2021-10-10T15:49:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.11 , 93.10 , 96.77 , 75.42 2021-10-10T15:49:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.05 , -0.14 2021-10-10T15:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880965.00 epoch sec; seqNo:1632; 4061566.80 north; 594778.55 east 2021-10-10T15:49:28Z- AHRS_M2 msg: 1633880965.26 epoch sec; seqNo:1597 2021-10-10T15:49:28Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 1.01 psi 2021-10-10T15:49:28Z- handleDepth()-Depth_Keller msg: 1633880965264 epoch sec; seqNo:1632; depth 0.07 2021-10-10T15:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880965.28 epoch sec; seqNo:1633; 4061566.80 north; 594778.55 east 2021-10-10T15:49:28Z- AHRS_M2 msg: 1633880965.66 epoch sec; seqNo:1598 2021-10-10T15:49:28Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 1.00 psi 2021-10-10T15:49:28Z- handleDepth()-Depth_Keller msg: 1633880965668 epoch sec; seqNo:1633; depth 0.07 2021-10-10T15:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880965.69 epoch sec; seqNo:1634; 4061566.80 north; 594778.55 east 2021-10-10T15:49:29Z- AHRS_M2 msg: 1633880966.06 epoch sec; seqNo:1599 2021-10-10T15:49:29Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 0.98 psi 2021-10-10T15:49:29Z- handleDepth()-Depth_Keller msg: 1633880966084 epoch sec; seqNo:1634; depth 0.08 2021-10-10T15:49:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:29Z- handleDvl() - RDI_Pathfinder msg: 1633880966.09 epoch sec; seqNo:757 2021-10-10T15:49:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.05 , -0.14 2021-10-10T15:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880966.10 epoch sec; seqNo:1635; 4061566.80 north; 594778.55 east 2021-10-10T15:49:29Z- AHRS_M2 msg: 1633880966.47 epoch sec; seqNo:1600 2021-10-10T15:49:29Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 0.97 psi 2021-10-10T15:49:29Z- handleDepth()-Depth_Keller msg: 1633880966474 epoch sec; seqNo:1635; depth 0.08 2021-10-10T15:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880966.48 epoch sec; seqNo:1636; 4061566.80 north; 594778.55 east 2021-10-10T15:49:29Z- AHRS_M2 msg: 1633880966.87 epoch sec; seqNo:1601 2021-10-10T15:49:29Z- AHRS_M2 msg: -0.05 phi; -0.07 theta; 0.98 psi 2021-10-10T15:49:29Z- handleDepth()-Depth_Keller msg: 1633880966877 epoch sec; seqNo:1636; depth 0.07 2021-10-10T15:49:29Z- handleDvl() - RDI_Pathfinder msg: 1633880966.90 epoch sec; seqNo:758 2021-10-10T15:49:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.11 , 87.20 , 87.20 , 83.53 2021-10-10T15:49:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.06 , 0.61 2021-10-10T15:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880966.93 epoch sec; seqNo:1637; 4061566.80 north; 594778.55 east 2021-10-10T15:49:30Z- AHRS_M2 msg: 1633880967.28 epoch sec; seqNo:1602 2021-10-10T15:49:30Z- AHRS_M2 msg: -0.06 phi; -0.06 theta; 1.03 psi 2021-10-10T15:49:30Z- handleDepth()-Depth_Keller msg: 1633880967282 epoch sec; seqNo:1637; depth 0.06 2021-10-10T15:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880967.30 epoch sec; seqNo:1638; 4061566.80 north; 594778.55 east 2021-10-10T15:49:30Z- AHRS_M2 msg: 1633880967.68 epoch sec; seqNo:1603 2021-10-10T15:49:30Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 1.04 psi 2021-10-10T15:49:30Z- handleDepth()-Depth_Keller msg: 1633880967697 epoch sec; seqNo:1638; depth 0.06 2021-10-10T15:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880967.71 epoch sec; seqNo:1639; 4061566.80 north; 594778.55 east 2021-10-10T15:49:30Z- LcmTrn::handleMessages() - handling 44 messages took 0.77 ms and 128 calls... 2021-10-10T15:49:30Z- waiting for 1633880965.48, time is 1633880967.71 2021-10-10T15:49:30Z- LcmTrn::updateTrn() >>>> pose time 1633880967.71, meas time 1633880966.90 <<<< 2021-10-10T15:49:30Z- TerrainNav::Measurement type 1 from time = 1633880966.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:49:30Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594778.55, 0.06) 2021-10-10T15:49:30Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:30Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:30Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:30Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:30Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:30Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:30Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:31Z- AHRS_M2 msg: 1633880968.09 epoch sec; seqNo:1604 2021-10-10T15:49:31Z- AHRS_M2 msg: -0.03 phi; -0.08 theta; 1.00 psi 2021-10-10T15:49:31Z- handleDepth()-Depth_Keller msg: 1633880968094 epoch sec; seqNo:1639; depth 0.05 2021-10-10T15:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880968.10 epoch sec; seqNo:1640; 4061566.80 north; 594778.55 east 2021-10-10T15:49:31Z- AHRS_M2 msg: 1633880968.49 epoch sec; seqNo:1605 2021-10-10T15:49:31Z- AHRS_M2 msg: 0.00 phi; -0.13 theta; 0.97 psi 2021-10-10T15:49:31Z- handleDepth()-Depth_Keller msg: 1633880968500 epoch sec; seqNo:1640; depth 0.05 2021-10-10T15:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880968.51 epoch sec; seqNo:1641; 4061566.41 north; 594777.34 east 2021-10-10T15:49:31Z- AHRS_M2 msg: 1633880968.89 epoch sec; seqNo:1606 2021-10-10T15:49:31Z- AHRS_M2 msg: 0.06 phi; -0.07 theta; 0.98 psi 2021-10-10T15:49:31Z- handleDepth()-Depth_Keller msg: 1633880968898 epoch sec; seqNo:1641; depth 0.06 2021-10-10T15:49:31Z- handleDvl() - RDI_Pathfinder msg: 1633880968.92 epoch sec; seqNo:759 2021-10-10T15:49:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.48 , 89.85 , 87.40 , 84.96 2021-10-10T15:49:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.14 , 0.05 2021-10-10T15:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880968.96 epoch sec; seqNo:1642; 4061566.41 north; 594777.34 east 2021-10-10T15:49:32Z- AHRS_M2 msg: 1633880969.30 epoch sec; seqNo:1607 2021-10-10T15:49:32Z- AHRS_M2 msg: 0.09 phi; 0.04 theta; 1.01 psi 2021-10-10T15:49:32Z- handleDepth()-Depth_Keller msg: 1633880969301 epoch sec; seqNo:1642; depth 0.07 2021-10-10T15:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880969.32 epoch sec; seqNo:1643; 4061566.41 north; 594777.34 east 2021-10-10T15:49:32Z- AHRS_M2 msg: 1633880969.70 epoch sec; seqNo:1608 2021-10-10T15:49:32Z- AHRS_M2 msg: 0.05 phi; 0.06 theta; 1.04 psi 2021-10-10T15:49:32Z- handleDepth()-Depth_Keller msg: 1633880969732 epoch sec; seqNo:1643; depth 0.06 2021-10-10T15:49:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:32Z- handleDvl() - RDI_Pathfinder msg: 1633880969.73 epoch sec; seqNo:760 2021-10-10T15:49:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , -0.14 , 0.05 2021-10-10T15:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880969.75 epoch sec; seqNo:1644; 4061566.79 north; 594777.33 east 2021-10-10T15:49:33Z- AHRS_M2 msg: 1633880970.11 epoch sec; seqNo:1609 2021-10-10T15:49:33Z- AHRS_M2 msg: -0.03 phi; -0.00 theta; 1.06 psi 2021-10-10T15:49:33Z- handleDepth()-Depth_Keller msg: 1633880970109 epoch sec; seqNo:1644; depth 0.05 2021-10-10T15:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880970.12 epoch sec; seqNo:1645; 4061566.79 north; 594777.33 east 2021-10-10T15:49:33Z- AHRS_M2 msg: 1633880970.51 epoch sec; seqNo:1610 2021-10-10T15:49:33Z- AHRS_M2 msg: -0.06 phi; -0.03 theta; 1.04 psi 2021-10-10T15:49:33Z- handleDepth()-Depth_Keller msg: 1633880970518 epoch sec; seqNo:1645; depth 0.05 2021-10-10T15:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880970.53 epoch sec; seqNo:1646; 4061566.79 north; 594777.33 east 2021-10-10T15:49:33Z- AHRS_M2 msg: 1633880970.91 epoch sec; seqNo:1611 2021-10-10T15:49:33Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 0.99 psi 2021-10-10T15:49:33Z- handleDepth()-Depth_Keller msg: 1633880970929 epoch sec; seqNo:1646; depth 0.09 2021-10-10T15:49:33Z- handleDvl() - RDI_Pathfinder msg: 1633880970.95 epoch sec; seqNo:761 2021-10-10T15:49:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.89 , 88.56 , 98.34 , 81.22 2021-10-10T15:49:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.18 , -0.26 2021-10-10T15:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880970.97 epoch sec; seqNo:1647; 4061566.79 north; 594777.33 east 2021-10-10T15:49:34Z- AHRS_M2 msg: 1633880971.32 epoch sec; seqNo:1612 2021-10-10T15:49:34Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 0.97 psi 2021-10-10T15:49:34Z- handleDepth()-Depth_Keller msg: 1633880971321 epoch sec; seqNo:1647; depth 0.06 2021-10-10T15:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880971.34 epoch sec; seqNo:1648; 4061566.41 north; 594777.34 east 2021-10-10T15:49:34Z- AHRS_M2 msg: 1633880971.72 epoch sec; seqNo:1613 2021-10-10T15:49:34Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.00 psi 2021-10-10T15:49:34Z- handleDepth()-Depth_Keller msg: 1633880971725 epoch sec; seqNo:1648; depth 0.05 2021-10-10T15:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880971.73 epoch sec; seqNo:1649; 4061566.41 north; 594777.34 east 2021-10-10T15:49:35Z- AHRS_M2 msg: 1633880972.14 epoch sec; seqNo:1614 2021-10-10T15:49:35Z- AHRS_M2 msg: 0.06 phi; -0.12 theta; 1.00 psi 2021-10-10T15:49:35Z- handleDepth()-Depth_Keller msg: 1633880972142 epoch sec; seqNo:1649; depth 0.07 2021-10-10T15:49:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:35Z- handleDvl() - RDI_Pathfinder msg: 1633880972.14 epoch sec; seqNo:762 2021-10-10T15:49:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.37 , -0.18 , -0.26 2021-10-10T15:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880972.15 epoch sec; seqNo:1650; 4061566.41 north; 594777.34 east 2021-10-10T15:49:35Z- AHRS_M2 msg: 1633880972.54 epoch sec; seqNo:1615 2021-10-10T15:49:35Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 1.00 psi 2021-10-10T15:49:35Z- handleDepth()-Depth_Keller msg: 1633880972540 epoch sec; seqNo:1650; depth 0.07 2021-10-10T15:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880972.56 epoch sec; seqNo:1651; 4061566.40 north; 594776.11 east 2021-10-10T15:49:35Z- LcmTrn::handleMessages() - handling 40 messages took 0.69 ms and 125 calls... 2021-10-10T15:49:35Z- waiting for 1633880970.71, time is 1633880972.56 2021-10-10T15:49:35Z- LcmTrn::updateTrn() >>>> pose time 1633880972.56, meas time 1633880972.14 <<<< 2021-10-10T15:49:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880972.14, ping # 0. 2021-10-10T15:49:35Z- TerrainNav::Measurement type 1 from time = 1633880972.14 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:49:35Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594776.11, 0.07) 2021-10-10T15:49:35Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:35Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:35Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:35Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:35Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:35Z- AHRS_M2 msg: 1633880972.94 epoch sec; seqNo:1616 2021-10-10T15:49:35Z- AHRS_M2 msg: -0.00 phi; 0.03 theta; 1.01 psi 2021-10-10T15:49:35Z- handleDepth()-Depth_Keller msg: 1633880972941 epoch sec; seqNo:1651; depth 0.05 2021-10-10T15:49:35Z- handleDvl() - RDI_Pathfinder msg: 1633880972.97 epoch sec; seqNo:763 2021-10-10T15:49:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 88.21 , 82.10 , 89.44 2021-10-10T15:49:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , 0.01 , -0.24 2021-10-10T15:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880972.98 epoch sec; seqNo:1652; 4061566.40 north; 594776.11 east 2021-10-10T15:49:36Z- AHRS_M2 msg: 1633880973.34 epoch sec; seqNo:1617 2021-10-10T15:49:36Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 1.02 psi 2021-10-10T15:49:36Z- handleDepth()-Depth_Keller msg: 1633880973341 epoch sec; seqNo:1652; depth 0.04 2021-10-10T15:49:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:36Z- handleDvl() - RDI_Pathfinder msg: 1633880973.34 epoch sec; seqNo:764 2021-10-10T15:49:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , 0.01 , -0.24 2021-10-10T15:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880973.36 epoch sec; seqNo:1653; 4061566.40 north; 594776.11 east 2021-10-10T15:49:36Z- AHRS_M2 msg: 1633880973.74 epoch sec; seqNo:1618 2021-10-10T15:49:36Z- AHRS_M2 msg: -0.07 phi; 0.00 theta; 0.99 psi 2021-10-10T15:49:36Z- handleDepth()-Depth_Keller msg: 1633880973752 epoch sec; seqNo:1653; depth 0.05 2021-10-10T15:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880973.76 epoch sec; seqNo:1654; 4061566.40 north; 594776.11 east 2021-10-10T15:49:37Z- AHRS_M2 msg: 1633880974.14 epoch sec; seqNo:1619 2021-10-10T15:49:37Z- AHRS_M2 msg: -0.08 phi; -0.00 theta; 0.97 psi 2021-10-10T15:49:37Z- handleDepth()-Depth_Keller msg: 1633880974149 epoch sec; seqNo:1654; depth 0.05 2021-10-10T15:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880974.16 epoch sec; seqNo:1655; 4061566.40 north; 594776.11 east 2021-10-10T15:49:37Z- AHRS_M2 msg: 1633880974.55 epoch sec; seqNo:1620 2021-10-10T15:49:37Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 0.97 psi 2021-10-10T15:49:37Z- handleDepth()-Depth_Keller msg: 1633880974560 epoch sec; seqNo:1655; depth 0.04 2021-10-10T15:49:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:37Z- handleDvl() - RDI_Pathfinder msg: 1633880974.56 epoch sec; seqNo:765 2021-10-10T15:49:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.31 , 0.01 , -0.24 2021-10-10T15:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880974.59 epoch sec; seqNo:1656; 4061566.02 north; 594776.12 east 2021-10-10T15:49:37Z- AHRS_M2 msg: 1633880974.96 epoch sec; seqNo:1621 2021-10-10T15:49:37Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 0.95 psi 2021-10-10T15:49:37Z- handleDepth()-Depth_Keller msg: 1633880974963 epoch sec; seqNo:1656; depth 0.05 2021-10-10T15:49:37Z- handleDvl() - RDI_Pathfinder msg: 1633880974.98 epoch sec; seqNo:766 2021-10-10T15:49:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.30 , 92.09 , 95.75 , 79.53 2021-10-10T15:49:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.37 , -0.18 2021-10-10T15:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880975.01 epoch sec; seqNo:1657; 4061566.40 north; 594776.11 east 2021-10-10T15:49:38Z- AHRS_M2 msg: 1633880975.36 epoch sec; seqNo:1622 2021-10-10T15:49:38Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 0.95 psi 2021-10-10T15:49:38Z- handleDepth()-Depth_Keller msg: 1633880975369 epoch sec; seqNo:1657; depth 0.05 2021-10-10T15:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880975.38 epoch sec; seqNo:1658; 4061566.40 north; 594776.11 east 2021-10-10T15:49:38Z- AHRS_M2 msg: 1633880975.76 epoch sec; seqNo:1623 2021-10-10T15:49:38Z- AHRS_M2 msg: -0.06 phi; -0.04 theta; 0.97 psi 2021-10-10T15:49:38Z- handleDepth()-Depth_Keller msg: 1633880975771 epoch sec; seqNo:1658; depth 0.06 2021-10-10T15:49:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:38Z- handleDvl() - RDI_Pathfinder msg: 1633880975.77 epoch sec; seqNo:767 2021-10-10T15:49:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , -0.37 , -0.18 2021-10-10T15:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880975.79 epoch sec; seqNo:1659; 4061566.40 north; 594776.11 east 2021-10-10T15:49:39Z- AHRS_M2 msg: 1633880976.16 epoch sec; seqNo:1624 2021-10-10T15:49:39Z- AHRS_M2 msg: -0.04 phi; 0.00 theta; 0.97 psi 2021-10-10T15:49:39Z- handleDepth()-Depth_Keller msg: 1633880976169 epoch sec; seqNo:1659; depth 0.06 2021-10-10T15:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880976.18 epoch sec; seqNo:1660; 4061566.40 north; 594776.11 east 2021-10-10T15:49:39Z- AHRS_M2 msg: 1633880976.57 epoch sec; seqNo:1625 2021-10-10T15:49:39Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 0.98 psi 2021-10-10T15:49:39Z- handleDepth()-Depth_Keller msg: 1633880976579 epoch sec; seqNo:1660; depth 0.05 2021-10-10T15:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880976.59 epoch sec; seqNo:1661; 4061566.76 north; 594774.89 east 2021-10-10T15:49:39Z- AHRS_M2 msg: 1633880976.97 epoch sec; seqNo:1626 2021-10-10T15:49:39Z- AHRS_M2 msg: -0.04 phi; -0.02 theta; 0.99 psi 2021-10-10T15:49:39Z- handleDepth()-Depth_Keller msg: 1633880976988 epoch sec; seqNo:1661; depth 0.05 2021-10-10T15:49:39Z- handleDvl() - RDI_Pathfinder msg: 1633880977.01 epoch sec; seqNo:768 2021-10-10T15:49:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.48 , 90.87 , 89.64 , 84.75 2021-10-10T15:49:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.04 , -0.19 2021-10-10T15:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880977.02 epoch sec; seqNo:1662; 4061566.76 north; 594774.89 east 2021-10-10T15:49:40Z- AHRS_M2 msg: 1633880977.38 epoch sec; seqNo:1627 2021-10-10T15:49:40Z- AHRS_M2 msg: -0.02 phi; -0.00 theta; 0.97 psi 2021-10-10T15:49:40Z- handleDepth()-Depth_Keller msg: 1633880977381 epoch sec; seqNo:1662; depth 0.06 2021-10-10T15:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880977.41 epoch sec; seqNo:1663; 4061566.76 north; 594774.89 east 2021-10-10T15:49:40Z- AHRS_M2 msg: 1633880977.78 epoch sec; seqNo:1628 2021-10-10T15:49:40Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 0.94 psi 2021-10-10T15:49:40Z- LcmTrn::handleMessages() - handling 43 messages took 0.66 ms and 129 calls... 2021-10-10T15:49:40Z- waiting for 1633880975.56, time is 1633880977.78 2021-10-10T15:49:40Z- LcmTrn::updateTrn() >>>> pose time 1633880977.78, meas time 1633880977.01 <<<< 2021-10-10T15:49:40Z- TerrainNav::Measurement type 1 from time = 1633880977.01 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:49:40Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594774.89, 0.06) 2021-10-10T15:49:40Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:40Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:40Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:40Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:40Z- handleDepth()-Depth_Keller msg: 1633880977785 epoch sec; seqNo:1663; depth 0.05 2021-10-10T15:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880977.79 epoch sec; seqNo:1664; 4061566.76 north; 594774.89 east 2021-10-10T15:49:41Z- AHRS_M2 msg: 1633880978.18 epoch sec; seqNo:1629 2021-10-10T15:49:41Z- AHRS_M2 msg: 0.00 phi; -0.10 theta; 0.91 psi 2021-10-10T15:49:41Z- handleDepth()-Depth_Keller msg: 1633880978196 epoch sec; seqNo:1664; depth 0.07 2021-10-10T15:49:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:41Z- handleDvl() - RDI_Pathfinder msg: 1633880978.20 epoch sec; seqNo:769 2021-10-10T15:49:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.04 , -0.19 2021-10-10T15:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880978.21 epoch sec; seqNo:1665; 4061566.76 north; 594774.89 east 2021-10-10T15:49:41Z- AHRS_M2 msg: 1633880978.59 epoch sec; seqNo:1630 2021-10-10T15:49:41Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 0.88 psi 2021-10-10T15:49:41Z- handleDepth()-Depth_Keller msg: 1633880978595 epoch sec; seqNo:1665; depth 0.06 2021-10-10T15:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880978.61 epoch sec; seqNo:1666; 4061566.38 north; 594774.89 east 2021-10-10T15:49:41Z- AHRS_M2 msg: 1633880978.99 epoch sec; seqNo:1631 2021-10-10T15:49:41Z- AHRS_M2 msg: -0.05 phi; 0.00 theta; 0.88 psi 2021-10-10T15:49:41Z- handleDepth()-Depth_Keller msg: 1633880978997 epoch sec; seqNo:1666; depth 0.05 2021-10-10T15:49:42Z- handleDvl() - RDI_Pathfinder msg: 1633880979.02 epoch sec; seqNo:770 2021-10-10T15:49:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.60 , 87.27 , 84.82 , 0.00 2021-10-10T15:49:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.24 , 0.26 2021-10-10T15:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880979.04 epoch sec; seqNo:1667; 4061566.38 north; 594774.89 east 2021-10-10T15:49:42Z- AHRS_M2 msg: 1633880979.40 epoch sec; seqNo:1632 2021-10-10T15:49:42Z- AHRS_M2 msg: -0.11 phi; -0.03 theta; 0.90 psi 2021-10-10T15:49:42Z- handleDepth()-Depth_Keller msg: 1633880979403 epoch sec; seqNo:1667; depth 0.05 2021-10-10T15:49:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:42Z- handleDvl() - RDI_Pathfinder msg: 1633880979.41 epoch sec; seqNo:771 2021-10-10T15:49:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.24 , 0.26 2021-10-10T15:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880979.42 epoch sec; seqNo:1668; 4061566.38 north; 594774.89 east 2021-10-10T15:49:42Z- AHRS_M2 msg: 1633880979.80 epoch sec; seqNo:1633 2021-10-10T15:49:42Z- AHRS_M2 msg: -0.13 phi; -0.04 theta; 0.91 psi 2021-10-10T15:49:42Z- handleDepth()-Depth_Keller msg: 1633880979806 epoch sec; seqNo:1668; depth 0.03 2021-10-10T15:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880979.82 epoch sec; seqNo:1669; 4061566.38 north; 594774.89 east 2021-10-10T15:49:43Z- AHRS_M2 msg: 1633880980.21 epoch sec; seqNo:1634 2021-10-10T15:49:43Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 0.91 psi 2021-10-10T15:49:43Z- handleDepth()-Depth_Keller msg: 1633880980224 epoch sec; seqNo:1669; depth 0.04 2021-10-10T15:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880980.23 epoch sec; seqNo:1670; 4061566.38 north; 594774.89 east 2021-10-10T15:49:43Z- AHRS_M2 msg: 1633880980.61 epoch sec; seqNo:1635 2021-10-10T15:49:43Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 0.90 psi 2021-10-10T15:49:43Z- handleDepth()-Depth_Keller msg: 1633880980616 epoch sec; seqNo:1670; depth 0.05 2021-10-10T15:49:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:43Z- handleDvl() - RDI_Pathfinder msg: 1633880980.62 epoch sec; seqNo:772 2021-10-10T15:49:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.46 , -0.24 , 0.26 2021-10-10T15:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880980.64 epoch sec; seqNo:1671; 4061566.37 north; 594773.67 east 2021-10-10T15:49:44Z- AHRS_M2 msg: 1633880981.01 epoch sec; seqNo:1636 2021-10-10T15:49:44Z- AHRS_M2 msg: 0.03 phi; 0.01 theta; 0.90 psi 2021-10-10T15:49:44Z- handleDepth()-Depth_Keller msg: 1633880981024 epoch sec; seqNo:1671; depth 0.08 2021-10-10T15:49:44Z- handleDvl() - RDI_Pathfinder msg: 1633880981.04 epoch sec; seqNo:773 2021-10-10T15:49:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.43 , 95.82 , 90.93 , 86.04 2021-10-10T15:49:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , -0.00 , -0.05 2021-10-10T15:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880981.06 epoch sec; seqNo:1672; 4061566.37 north; 594773.67 east 2021-10-10T15:49:44Z- AHRS_M2 msg: 1633880981.42 epoch sec; seqNo:1637 2021-10-10T15:49:44Z- AHRS_M2 msg: 0.03 phi; 0.03 theta; 0.93 psi 2021-10-10T15:49:44Z- handleDepth()-Depth_Keller msg: 1633880981424 epoch sec; seqNo:1672; depth 0.08 2021-10-10T15:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880981.44 epoch sec; seqNo:1673; 4061566.38 north; 594774.89 east 2021-10-10T15:49:44Z- AHRS_M2 msg: 1633880981.82 epoch sec; seqNo:1638 2021-10-10T15:49:44Z- AHRS_M2 msg: -0.02 phi; -0.00 theta; 0.95 psi 2021-10-10T15:49:44Z- handleDepth()-Depth_Keller msg: 1633880981833 epoch sec; seqNo:1673; depth 0.04 2021-10-10T15:49:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:44Z- handleDvl() - RDI_Pathfinder msg: 1633880981.84 epoch sec; seqNo:774 2021-10-10T15:49:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , -0.00 , -0.05 2021-10-10T15:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880981.84 epoch sec; seqNo:1674; 4061566.38 north; 594774.89 east 2021-10-10T15:49:45Z- AHRS_M2 msg: 1633880982.22 epoch sec; seqNo:1639 2021-10-10T15:49:45Z- AHRS_M2 msg: -0.06 phi; -0.07 theta; 0.95 psi 2021-10-10T15:49:45Z- handleDepth()-Depth_Keller msg: 1633880982229 epoch sec; seqNo:1674; depth 0.04 2021-10-10T15:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880982.24 epoch sec; seqNo:1675; 4061566.38 north; 594774.89 east 2021-10-10T15:49:45Z- AHRS_M2 msg: 1633880982.63 epoch sec; seqNo:1640 2021-10-10T15:49:45Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 0.95 psi 2021-10-10T15:49:45Z- handleDepth()-Depth_Keller msg: 1633880982636 epoch sec; seqNo:1675; depth 0.07 2021-10-10T15:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880982.65 epoch sec; seqNo:1676; 4061566.38 north; 594774.89 east 2021-10-10T15:49:45Z- LcmTrn::handleMessages() - handling 44 messages took 0.62 ms and 131 calls... 2021-10-10T15:49:45Z- waiting for 1633880980.78, time is 1633880982.65 2021-10-10T15:49:45Z- LcmTrn::updateTrn() >>>> pose time 1633880982.65, meas time 1633880981.84 <<<< 2021-10-10T15:49:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880981.84, ping # 0. 2021-10-10T15:49:45Z- TerrainNav::Measurement type 1 from time = 1633880981.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:49:45Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594774.89, 0.07) 2021-10-10T15:49:45Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:45Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:45Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:45Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:45Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:46Z- AHRS_M2 msg: 1633880983.03 epoch sec; seqNo:1641 2021-10-10T15:49:46Z- AHRS_M2 msg: -0.08 phi; 0.07 theta; 0.94 psi 2021-10-10T15:49:46Z- handleDepth()-Depth_Keller msg: 1633880983038 epoch sec; seqNo:1676; depth 0.05 2021-10-10T15:49:46Z- handleDvl() - RDI_Pathfinder msg: 1633880983.06 epoch sec; seqNo:775 2021-10-10T15:49:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.46 , 89.57 , 88.35 , 0.00 2021-10-10T15:49:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.06 , -0.20 2021-10-10T15:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880983.07 epoch sec; seqNo:1677; 4061566.38 north; 594774.89 east 2021-10-10T15:49:46Z- AHRS_M2 msg: 1633880983.44 epoch sec; seqNo:1642 2021-10-10T15:49:46Z- AHRS_M2 msg: -0.02 phi; 0.06 theta; 0.95 psi 2021-10-10T15:49:46Z- handleDepth()-Depth_Keller msg: 1633880983444 epoch sec; seqNo:1677; depth 0.07 2021-10-10T15:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880983.47 epoch sec; seqNo:1678; 4061566.37 north; 594773.67 east 2021-10-10T15:49:46Z- AHRS_M2 msg: 1633880983.84 epoch sec; seqNo:1643 2021-10-10T15:49:46Z- AHRS_M2 msg: -0.00 phi; -0.04 theta; 0.97 psi 2021-10-10T15:49:46Z- handleDepth()-Depth_Keller msg: 1633880983845 epoch sec; seqNo:1678; depth 0.09 2021-10-10T15:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880983.85 epoch sec; seqNo:1679; 4061566.37 north; 594773.67 east 2021-10-10T15:49:47Z- AHRS_M2 msg: 1633880984.24 epoch sec; seqNo:1644 2021-10-10T15:49:47Z- AHRS_M2 msg: 0.00 phi; -0.05 theta; 0.98 psi 2021-10-10T15:49:47Z- handleDepth()-Depth_Keller msg: 1633880984249 epoch sec; seqNo:1679; depth 0.11 2021-10-10T15:49:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:47Z- handleDvl() - RDI_Pathfinder msg: 1633880984.25 epoch sec; seqNo:776 2021-10-10T15:49:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , -0.06 , -0.20 2021-10-10T15:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880984.26 epoch sec; seqNo:1680; 4061566.37 north; 594773.67 east 2021-10-10T15:49:47Z- AHRS_M2 msg: 1633880984.65 epoch sec; seqNo:1645 2021-10-10T15:49:47Z- AHRS_M2 msg: -0.04 phi; -0.00 theta; 0.97 psi 2021-10-10T15:49:47Z- handleDepth()-Depth_Keller msg: 1633880984662 epoch sec; seqNo:1680; depth 0.07 2021-10-10T15:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880984.69 epoch sec; seqNo:1681; 4061566.37 north; 594773.67 east 2021-10-10T15:49:48Z- AHRS_M2 msg: 1633880985.05 epoch sec; seqNo:1646 2021-10-10T15:49:48Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 0.94 psi 2021-10-10T15:49:48Z- handleDepth()-Depth_Keller msg: 1633880985065 epoch sec; seqNo:1681; depth 0.07 2021-10-10T15:49:48Z- handleDvl() - RDI_Pathfinder msg: 1633880985.09 epoch sec; seqNo:777 2021-10-10T15:49:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.53 , 87.13 , 87.13 , 85.91 2021-10-10T15:49:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -0.00 , 0.01 2021-10-10T15:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880985.10 epoch sec; seqNo:1682; 4061565.99 north; 594773.68 east 2021-10-10T15:49:48Z- AHRS_M2 msg: 1633880985.46 epoch sec; seqNo:1647 2021-10-10T15:49:48Z- AHRS_M2 msg: -0.14 phi; -0.05 theta; 0.90 psi 2021-10-10T15:49:48Z- handleDepth()-Depth_Keller msg: 1633880985467 epoch sec; seqNo:1682; depth 0.04 2021-10-10T15:49:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:48Z- handleDvl() - RDI_Pathfinder msg: 1633880985.47 epoch sec; seqNo:778 2021-10-10T15:49:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -0.00 , 0.01 2021-10-10T15:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880985.52 epoch sec; seqNo:1683; 4061565.99 north; 594773.68 east 2021-10-10T15:49:48Z- AHRS_M2 msg: 1633880985.86 epoch sec; seqNo:1648 2021-10-10T15:49:48Z- AHRS_M2 msg: -0.12 phi; -0.01 theta; 0.89 psi 2021-10-10T15:49:48Z- handleDepth()-Depth_Keller msg: 1633880985868 epoch sec; seqNo:1683; depth 0.02 2021-10-10T15:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880985.88 epoch sec; seqNo:1684; 4061565.99 north; 594773.68 east 2021-10-10T15:49:49Z- AHRS_M2 msg: 1633880986.27 epoch sec; seqNo:1649 2021-10-10T15:49:49Z- AHRS_M2 msg: -0.05 phi; 0.02 theta; 0.92 psi 2021-10-10T15:49:49Z- handleDepth()-Depth_Keller msg: 1633880986276 epoch sec; seqNo:1684; depth 0.02 2021-10-10T15:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880986.29 epoch sec; seqNo:1685; 4061565.61 north; 594773.68 east 2021-10-10T15:49:49Z- AHRS_M2 msg: 1633880986.70 epoch sec; seqNo:1650 2021-10-10T15:49:49Z- AHRS_M2 msg: 0.00 phi; 0.04 theta; 0.94 psi 2021-10-10T15:49:49Z- handleDepth()-Depth_Keller msg: 1633880986713 epoch sec; seqNo:1685; depth 0.05 2021-10-10T15:49:49Z- handleDvl() - RDI_Pathfinder msg: 1633880986.76 epoch sec; seqNo:779 2021-10-10T15:49:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.00 , 98.33 , 98.33 , 83.67 2021-10-10T15:49:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.28 , 0.45 , -0.03 2021-10-10T15:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880986.77 epoch sec; seqNo:1686; 4061565.61 north; 594773.68 east 2021-10-10T15:49:50Z- AHRS_M2 msg: 1633880987.07 epoch sec; seqNo:1651 2021-10-10T15:49:50Z- AHRS_M2 msg: 0.02 phi; 0.04 theta; 0.95 psi 2021-10-10T15:49:50Z- handleDepth()-Depth_Keller msg: 1633880987084 epoch sec; seqNo:1686; depth 0.06 2021-10-10T15:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880987.11 epoch sec; seqNo:1687; 4061565.61 north; 594773.68 east 2021-10-10T15:49:50Z- AHRS_M2 msg: 1633880987.48 epoch sec; seqNo:1652 2021-10-10T15:49:50Z- AHRS_M2 msg: -0.01 phi; 0.02 theta; 0.96 psi 2021-10-10T15:49:50Z- handleDepth()-Depth_Keller msg: 1633880987487 epoch sec; seqNo:1687; depth 0.06 2021-10-10T15:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880987.50 epoch sec; seqNo:1688; 4061565.61 north; 594773.68 east 2021-10-10T15:49:50Z- LcmTrn::handleMessages() - handling 41 messages took 0.64 ms and 128 calls... 2021-10-10T15:49:50Z- waiting for 1633880985.65, time is 1633880987.50 2021-10-10T15:49:50Z- LcmTrn::updateTrn() >>>> pose time 1633880987.50, meas time 1633880986.76 <<<< 2021-10-10T15:49:50Z- TerrainNav::Measurement type 1 from time = 1633880986.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:49:50Z- TerrainNav::motionUpdate() - currEstimate = (4061566, 594773.68, 0.06) 2021-10-10T15:49:50Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:50Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:50Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:50Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:50Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:50Z- AHRS_M2 msg: 1633880987.88 epoch sec; seqNo:1653 2021-10-10T15:49:50Z- AHRS_M2 msg: -0.06 phi; -0.03 theta; 0.96 psi 2021-10-10T15:49:50Z- handleDepth()-Depth_Keller msg: 1633880987886 epoch sec; seqNo:1688; depth 0.07 2021-10-10T15:49:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:50Z- handleDvl() - RDI_Pathfinder msg: 1633880987.89 epoch sec; seqNo:780 2021-10-10T15:49:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.28 , 0.45 , -0.03 2021-10-10T15:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880987.90 epoch sec; seqNo:1689; 4061565.61 north; 594773.68 east 2021-10-10T15:49:51Z- AHRS_M2 msg: 1633880988.28 epoch sec; seqNo:1654 2021-10-10T15:49:51Z- AHRS_M2 msg: -0.07 phi; -0.07 theta; 0.96 psi 2021-10-10T15:49:51Z- handleDepth()-Depth_Keller msg: 1633880988292 epoch sec; seqNo:1689; depth 0.10 2021-10-10T15:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880988.31 epoch sec; seqNo:1690; 4061565.23 north; 594773.69 east 2021-10-10T15:49:51Z- AHRS_M2 msg: 1633880988.73 epoch sec; seqNo:1655 2021-10-10T15:49:51Z- AHRS_M2 msg: -0.04 phi; -0.04 theta; 0.97 psi 2021-10-10T15:49:51Z- handleDepth()-Depth_Keller msg: 1633880988734 epoch sec; seqNo:1690; depth 0.09 2021-10-10T15:49:51Z- handleDvl() - RDI_Pathfinder msg: 1633880988.75 epoch sec; seqNo:781 2021-10-10T15:49:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.25 , 92.97 , 88.08 , 0.00 2021-10-10T15:49:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.38 , -0.11 2021-10-10T15:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880988.78 epoch sec; seqNo:1691; 4061565.23 north; 594773.69 east 2021-10-10T15:49:52Z- handleDepth()-Depth_Keller msg: 1633880989115 epoch sec; seqNo:1691; depth 0.11 2021-10-10T15:49:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:52Z- handleDvl() - RDI_Pathfinder msg: 1633880989.12 epoch sec; seqNo:782 2021-10-10T15:49:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.38 , -0.11 2021-10-10T15:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880989.14 epoch sec; seqNo:1692; 4061565.23 north; 594773.69 east 2021-10-10T15:49:52Z- AHRS_M2 msg: 1633880989.50 epoch sec; seqNo:1656 2021-10-10T15:49:52Z- AHRS_M2 msg: -0.01 phi; -0.11 theta; 0.98 psi 2021-10-10T15:49:52Z- handleDepth()-Depth_Keller msg: 1633880989510 epoch sec; seqNo:1692; depth 0.10 2021-10-10T15:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880989.52 epoch sec; seqNo:1693; 4061565.61 north; 594773.68 east 2021-10-10T15:49:52Z- AHRS_M2 msg: 1633880989.90 epoch sec; seqNo:1657 2021-10-10T15:49:52Z- AHRS_M2 msg: -0.01 phi; -0.14 theta; 0.97 psi 2021-10-10T15:49:52Z- handleDepth()-Depth_Keller msg: 1633880989909 epoch sec; seqNo:1693; depth 0.08 2021-10-10T15:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880989.95 epoch sec; seqNo:1694; 4061565.61 north; 594773.68 east 2021-10-10T15:49:53Z- AHRS_M2 msg: 1633880990.31 epoch sec; seqNo:1658 2021-10-10T15:49:53Z- AHRS_M2 msg: 0.00 phi; -0.09 theta; 0.96 psi 2021-10-10T15:49:53Z- handleDepth()-Depth_Keller msg: 1633880990315 epoch sec; seqNo:1694; depth 0.10 2021-10-10T15:49:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:53Z- handleDvl() - RDI_Pathfinder msg: 1633880990.32 epoch sec; seqNo:783 2021-10-10T15:49:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.38 , -0.11 2021-10-10T15:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880990.33 epoch sec; seqNo:1695; 4061565.61 north; 594773.68 east 2021-10-10T15:49:53Z- AHRS_M2 msg: 1633880990.74 epoch sec; seqNo:1659 2021-10-10T15:49:53Z- AHRS_M2 msg: 0.02 phi; -0.05 theta; 0.96 psi 2021-10-10T15:49:53Z- handleDepth()-Depth_Keller msg: 1633880990743 epoch sec; seqNo:1695; depth 0.10 2021-10-10T15:49:53Z- handleDvl() - RDI_Pathfinder msg: 1633880990.77 epoch sec; seqNo:784 2021-10-10T15:49:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.30 , 88.49 , 81.15 , 90.93 2021-10-10T15:49:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.07 , 0.04 2021-10-10T15:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880990.78 epoch sec; seqNo:1696; 4061565.60 north; 594772.46 east 2021-10-10T15:49:54Z- AHRS_M2 msg: 1633880991.11 epoch sec; seqNo:1660 2021-10-10T15:49:54Z- AHRS_M2 msg: 0.03 phi; -0.06 theta; 0.99 psi 2021-10-10T15:49:54Z- handleDepth()-Depth_Keller msg: 1633880991125 epoch sec; seqNo:1696; depth 0.07 2021-10-10T15:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880991.14 epoch sec; seqNo:1697; 4061565.60 north; 594772.46 east 2021-10-10T15:49:54Z- AHRS_M2 msg: 1633880991.52 epoch sec; seqNo:1661 2021-10-10T15:49:54Z- AHRS_M2 msg: 0.08 phi; -0.04 theta; 1.00 psi 2021-10-10T15:49:54Z- handleDepth()-Depth_Keller msg: 1633880991527 epoch sec; seqNo:1697; depth 0.08 2021-10-10T15:49:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:54Z- handleDvl() - RDI_Pathfinder msg: 1633880991.53 epoch sec; seqNo:785 2021-10-10T15:49:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , -0.07 , 0.04 2021-10-10T15:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880991.55 epoch sec; seqNo:1698; 4061565.60 north; 594772.46 east 2021-10-10T15:49:54Z- AHRS_M2 msg: 1633880991.92 epoch sec; seqNo:1662 2021-10-10T15:49:54Z- AHRS_M2 msg: 0.07 phi; -0.03 theta; 1.00 psi 2021-10-10T15:49:54Z- handleDepth()-Depth_Keller msg: 1633880991925 epoch sec; seqNo:1698; depth 0.08 2021-10-10T15:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880991.93 epoch sec; seqNo:1699; 4061565.60 north; 594772.46 east 2021-10-10T15:49:55Z- AHRS_M2 msg: 1633880992.33 epoch sec; seqNo:1663 2021-10-10T15:49:55Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 0.99 psi 2021-10-10T15:49:55Z- handleDepth()-Depth_Keller msg: 1633880992331 epoch sec; seqNo:1699; depth 0.05 2021-10-10T15:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880992.34 epoch sec; seqNo:1700; 4061565.60 north; 594772.46 east 2021-10-10T15:49:55Z- AHRS_M2 msg: 1633880992.74 epoch sec; seqNo:1664 2021-10-10T15:49:55Z- AHRS_M2 msg: -0.09 phi; -0.01 theta; 1.00 psi 2021-10-10T15:49:55Z- handleDepth()-Depth_Keller msg: 1633880992749 epoch sec; seqNo:1700; depth 0.06 2021-10-10T15:49:55Z- handleDvl() - RDI_Pathfinder msg: 1633880992.77 epoch sec; seqNo:786 2021-10-10T15:49:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.00 , 79.12 , 87.33 , 78.30 2021-10-10T15:49:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , 0.04 , 0.22 2021-10-10T15:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880992.78 epoch sec; seqNo:1701; 4061565.22 north; 594772.47 east 2021-10-10T15:49:55Z- LcmTrn::handleMessages() - handling 45 messages took 0.78 ms and 129 calls... 2021-10-10T15:49:55Z- waiting for 1633880990.50, time is 1633880992.78 2021-10-10T15:49:55Z- LcmTrn::updateTrn() equating pose 1633880992.78 and meas times 1633880992.78 2021-10-10T15:49:55Z- LcmTrn::updateTrn() >>>> pose time 1633880992.78, meas time 1633880992.78 <<<< 2021-10-10T15:49:55Z- TerrainNav::Measurement type 1 from time = 1633880992.78 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:49:55Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594772.47, 0.06) 2021-10-10T15:49:55Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:49:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:49:55Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:49:55Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:49:55Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:49:55Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:49:56Z- AHRS_M2 msg: 1633880993.13 epoch sec; seqNo:1665 2021-10-10T15:49:56Z- AHRS_M2 msg: -0.11 phi; 0.05 theta; 1.00 psi 2021-10-10T15:49:56Z- handleDepth()-Depth_Keller msg: 1633880993137 epoch sec; seqNo:1701; depth 0.03 2021-10-10T15:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880993.15 epoch sec; seqNo:1702; 4061565.22 north; 594772.47 east 2021-10-10T15:49:56Z- AHRS_M2 msg: 1633880993.54 epoch sec; seqNo:1666 2021-10-10T15:49:56Z- AHRS_M2 msg: -0.08 phi; -0.01 theta; 0.99 psi 2021-10-10T15:49:56Z- handleDepth()-Depth_Keller msg: 1633880993541 epoch sec; seqNo:1702; depth 0.04 2021-10-10T15:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880993.55 epoch sec; seqNo:1703; 4061565.22 north; 594772.47 east 2021-10-10T15:49:56Z- AHRS_M2 msg: 1633880993.94 epoch sec; seqNo:1667 2021-10-10T15:49:56Z- AHRS_M2 msg: -0.05 phi; -0.04 theta; 0.98 psi 2021-10-10T15:49:56Z- handleDepth()-Depth_Keller msg: 1633880993946 epoch sec; seqNo:1703; depth 0.06 2021-10-10T15:49:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:56Z- handleDvl() - RDI_Pathfinder msg: 1633880993.95 epoch sec; seqNo:787 2021-10-10T15:49:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , 0.04 , 0.22 2021-10-10T15:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880993.96 epoch sec; seqNo:1704; 4061565.22 north; 594772.47 east 2021-10-10T15:49:57Z- AHRS_M2 msg: 1633880994.34 epoch sec; seqNo:1668 2021-10-10T15:49:57Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 0.98 psi 2021-10-10T15:49:57Z- handleDepth()-Depth_Keller msg: 1633880994352 epoch sec; seqNo:1704; depth 0.09 2021-10-10T15:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880994.37 epoch sec; seqNo:1705; 4061564.84 north; 594772.47 east 2021-10-10T15:49:57Z- AHRS_M2 msg: 1633880994.75 epoch sec; seqNo:1669 2021-10-10T15:49:57Z- AHRS_M2 msg: -0.04 phi; 0.04 theta; 1.00 psi 2021-10-10T15:49:57Z- handleDepth()-Depth_Keller msg: 1633880994753 epoch sec; seqNo:1705; depth 0.07 2021-10-10T15:49:57Z- handleDvl() - RDI_Pathfinder msg: 1633880994.77 epoch sec; seqNo:788 2021-10-10T15:49:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.88 , 89.84 , 84.96 , 84.96 2021-10-10T15:49:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.17 , -0.34 2021-10-10T15:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880994.80 epoch sec; seqNo:1706; 4061564.84 north; 594772.47 east 2021-10-10T15:49:58Z- AHRS_M2 msg: 1633880995.15 epoch sec; seqNo:1670 2021-10-10T15:49:58Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.04 psi 2021-10-10T15:49:58Z- handleDepth()-Depth_Keller msg: 1633880995163 epoch sec; seqNo:1706; depth 0.06 2021-10-10T15:49:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:58Z- handleDvl() - RDI_Pathfinder msg: 1633880995.18 epoch sec; seqNo:789 2021-10-10T15:49:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.17 , -0.34 2021-10-10T15:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880995.22 epoch sec; seqNo:1707; 4061564.84 north; 594772.47 east 2021-10-10T15:49:58Z- AHRS_M2 msg: 1633880995.56 epoch sec; seqNo:1671 2021-10-10T15:49:58Z- AHRS_M2 msg: 0.04 phi; 0.02 theta; 1.05 psi 2021-10-10T15:49:58Z- handleDepth()-Depth_Keller msg: 1633880995562 epoch sec; seqNo:1707; depth 0.07 2021-10-10T15:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880995.58 epoch sec; seqNo:1708; 4061558.48 north; 594779.86 east 2021-10-10T15:49:58Z- AHRS_M2 msg: 1633880995.96 epoch sec; seqNo:1672 2021-10-10T15:49:58Z- AHRS_M2 msg: 0.04 phi; 0.01 theta; 1.06 psi 2021-10-10T15:49:58Z- handleDepth()-Depth_Keller msg: 1633880995968 epoch sec; seqNo:1708; depth 0.06 2021-10-10T15:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880996.00 epoch sec; seqNo:1709; 4061558.50 north; 594781.08 east 2021-10-10T15:49:59Z- AHRS_M2 msg: 1633880996.51 epoch sec; seqNo:1673 2021-10-10T15:49:59Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.06 psi 2021-10-10T15:49:59Z- handleDepth()-Depth_Keller msg: 1633880996521 epoch sec; seqNo:1709; depth 0.06 2021-10-10T15:49:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:49:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:49:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:49:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:49:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:49:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:49:59Z- handleDvl() - RDI_Pathfinder msg: 1633880996.53 epoch sec; seqNo:790 2021-10-10T15:49:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:49:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.17 , -0.34 2021-10-10T15:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880996.54 epoch sec; seqNo:1710; 4061558.12 north; 594781.09 east 2021-10-10T15:49:59Z- AHRS_M2 msg: 1633880996.91 epoch sec; seqNo:1674 2021-10-10T15:49:59Z- AHRS_M2 msg: 0.01 phi; -0.11 theta; 1.03 psi 2021-10-10T15:49:59Z- handleDepth()-Depth_Keller msg: 1633880996920 epoch sec; seqNo:1710; depth 0.06 2021-10-10T15:49:59Z- handleDvl() - RDI_Pathfinder msg: 1633880996.98 epoch sec; seqNo:791 2021-10-10T15:49:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.33 , 83.67 , 98.34 , 72.97 2021-10-10T15:49:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.70 , -0.65 , -0.15 2021-10-10T15:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880997.01 epoch sec; seqNo:1711; 4061558.48 north; 594779.86 east 2021-10-10T15:50:00Z- AHRS_M2 msg: 1633880997.32 epoch sec; seqNo:1675 2021-10-10T15:50:00Z- AHRS_M2 msg: -0.03 phi; -0.12 theta; 0.99 psi 2021-10-10T15:50:00Z- handleDepth()-Depth_Keller msg: 1633880997324 epoch sec; seqNo:1711; depth 0.05 2021-10-10T15:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880997.36 epoch sec; seqNo:1712; 4061558.48 north; 594779.86 east 2021-10-10T15:50:00Z- AHRS_M2 msg: 1633880997.72 epoch sec; seqNo:1676 2021-10-10T15:50:00Z- AHRS_M2 msg: -0.05 phi; -0.04 theta; 0.99 psi 2021-10-10T15:50:00Z- handleDepth()-Depth_Keller msg: 1633880997728 epoch sec; seqNo:1712; depth 0.06 2021-10-10T15:50:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:00Z- handleDvl() - RDI_Pathfinder msg: 1633880997.73 epoch sec; seqNo:792 2021-10-10T15:50:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.70 , -0.65 , -0.15 2021-10-10T15:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880997.74 epoch sec; seqNo:1713; 4061558.48 north; 594779.86 east 2021-10-10T15:50:00Z- LcmTrn::handleMessages() - handling 42 messages took 0.76 ms and 126 calls... 2021-10-10T15:50:00Z- waiting for 1633880995.78, time is 1633880997.74 2021-10-10T15:50:00Z- LcmTrn::updateTrn() equating pose 1633880997.74 and meas times 1633880997.74 2021-10-10T15:50:00Z- LcmTrn::updateTrn() >>>> pose time 1633880997.74, meas time 1633880997.74 <<<< 2021-10-10T15:50:00Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633880997.74, ping # 0. 2021-10-10T15:50:00Z- TerrainNav::Measurement type 1 from time = 1633880997.74 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:50:00Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594779.86, 0.06) 2021-10-10T15:50:00Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:00Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:00Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:00Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:00Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:01Z- AHRS_M2 msg: 1633880998.13 epoch sec; seqNo:1677 2021-10-10T15:50:01Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 1.00 psi 2021-10-10T15:50:01Z- handleDepth()-Depth_Keller msg: 1633880998131 epoch sec; seqNo:1713; depth 0.03 2021-10-10T15:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880998.14 epoch sec; seqNo:1714; 4061558.47 north; 594778.64 east 2021-10-10T15:50:01Z- AHRS_M2 msg: 1633880998.53 epoch sec; seqNo:1678 2021-10-10T15:50:01Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 1.00 psi 2021-10-10T15:50:01Z- handleDepth()-Depth_Keller msg: 1633880998544 epoch sec; seqNo:1714; depth 0.05 2021-10-10T15:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880998.55 epoch sec; seqNo:1715; 4061558.47 north; 594778.64 east 2021-10-10T15:50:01Z- AHRS_M2 msg: 1633880998.93 epoch sec; seqNo:1679 2021-10-10T15:50:01Z- AHRS_M2 msg: 0.01 phi; -0.02 theta; 1.02 psi 2021-10-10T15:50:01Z- handleDepth()-Depth_Keller msg: 1633880998937 epoch sec; seqNo:1715; depth 0.05 2021-10-10T15:50:01Z- handleDvl() - RDI_Pathfinder msg: 1633880998.97 epoch sec; seqNo:793 2021-10-10T15:50:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.60 , 90.93 , 93.38 , 83.60 2021-10-10T15:50:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , 0.11 , 0.38 2021-10-10T15:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880998.98 epoch sec; seqNo:1716; 4061558.47 north; 594778.64 east 2021-10-10T15:50:02Z- AHRS_M2 msg: 1633880999.34 epoch sec; seqNo:1680 2021-10-10T15:50:02Z- AHRS_M2 msg: 0.02 phi; 0.04 theta; 1.06 psi 2021-10-10T15:50:02Z- handleDepth()-Depth_Keller msg: 1633880999344 epoch sec; seqNo:1716; depth 0.07 2021-10-10T15:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880999.36 epoch sec; seqNo:1717; 4061558.47 north; 594778.64 east 2021-10-10T15:50:02Z- AHRS_M2 msg: 1633880999.74 epoch sec; seqNo:1681 2021-10-10T15:50:02Z- AHRS_M2 msg: -0.02 phi; 0.06 theta; 1.06 psi 2021-10-10T15:50:02Z- handleDepth()-Depth_Keller msg: 1633880999747 epoch sec; seqNo:1717; depth 0.04 2021-10-10T15:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633880999.76 epoch sec; seqNo:1718; 4061558.47 north; 594778.64 east 2021-10-10T15:50:03Z- AHRS_M2 msg: 1633881000.14 epoch sec; seqNo:1682 2021-10-10T15:50:03Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.04 psi 2021-10-10T15:50:03Z- handleDepth()-Depth_Keller msg: 1633881000163 epoch sec; seqNo:1718; depth 0.05 2021-10-10T15:50:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:03Z- handleDvl() - RDI_Pathfinder msg: 1633881000.17 epoch sec; seqNo:794 2021-10-10T15:50:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.20 , 0.11 , 0.38 2021-10-10T15:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881000.17 epoch sec; seqNo:1719; 4061558.47 north; 594778.64 east 2021-10-10T15:50:03Z- AHRS_M2 msg: 1633881000.56 epoch sec; seqNo:1683 2021-10-10T15:50:03Z- AHRS_M2 msg: -0.03 phi; -0.08 theta; 1.00 psi 2021-10-10T15:50:03Z- handleDepth()-Depth_Keller msg: 1633881000567 epoch sec; seqNo:1719; depth 0.08 2021-10-10T15:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881000.59 epoch sec; seqNo:1720; 4061558.47 north; 594778.64 east 2021-10-10T15:50:03Z- AHRS_M2 msg: 1633881000.96 epoch sec; seqNo:1684 2021-10-10T15:50:03Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 1.01 psi 2021-10-10T15:50:03Z- handleDepth()-Depth_Keller msg: 1633881000964 epoch sec; seqNo:1720; depth 0.08 2021-10-10T15:50:04Z- handleDvl() - RDI_Pathfinder msg: 1633881001.01 epoch sec; seqNo:795 2021-10-10T15:50:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.62 , 89.51 , 0.00 , 83.39 2021-10-10T15:50:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.17 , 0.00 2021-10-10T15:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881001.04 epoch sec; seqNo:1721; 4061558.47 north; 594778.64 east 2021-10-10T15:50:04Z- AHRS_M2 msg: 1633881001.36 epoch sec; seqNo:1685 2021-10-10T15:50:04Z- AHRS_M2 msg: -0.06 phi; 0.05 theta; 1.01 psi 2021-10-10T15:50:04Z- handleDepth()-Depth_Keller msg: 1633881001364 epoch sec; seqNo:1721; depth 0.04 2021-10-10T15:50:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:04Z- handleDvl() - RDI_Pathfinder msg: 1633881001.37 epoch sec; seqNo:796 2021-10-10T15:50:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.17 , 0.00 2021-10-10T15:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881001.40 epoch sec; seqNo:1722; 4061558.47 north; 594778.64 east 2021-10-10T15:50:04Z- AHRS_M2 msg: 1633881001.76 epoch sec; seqNo:1686 2021-10-10T15:50:04Z- AHRS_M2 msg: 0.02 phi; 0.06 theta; 1.01 psi 2021-10-10T15:50:04Z- handleDepth()-Depth_Keller msg: 1633881001765 epoch sec; seqNo:1722; depth 0.05 2021-10-10T15:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881001.77 epoch sec; seqNo:1723; 4061558.09 north; 594778.65 east 2021-10-10T15:50:05Z- AHRS_M2 msg: 1633881002.16 epoch sec; seqNo:1687 2021-10-10T15:50:05Z- AHRS_M2 msg: 0.05 phi; 0.02 theta; 1.03 psi 2021-10-10T15:50:05Z- handleDepth()-Depth_Keller msg: 1633881002176 epoch sec; seqNo:1723; depth 0.05 2021-10-10T15:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881002.20 epoch sec; seqNo:1724; 4061558.09 north; 594778.65 east 2021-10-10T15:50:05Z- AHRS_M2 msg: 1633881002.57 epoch sec; seqNo:1688 2021-10-10T15:50:05Z- AHRS_M2 msg: 0.03 phi; -0.02 theta; 1.10 psi 2021-10-10T15:50:05Z- handleDepth()-Depth_Keller msg: 1633881002575 epoch sec; seqNo:1724; depth 0.04 2021-10-10T15:50:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:05Z- handleDvl() - RDI_Pathfinder msg: 1633881002.58 epoch sec; seqNo:797 2021-10-10T15:50:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.17 , 0.00 2021-10-10T15:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881002.61 epoch sec; seqNo:1725; 4061558.09 north; 594778.65 east 2021-10-10T15:50:05Z- LcmTrn::handleMessages() - handling 41 messages took 0.73 ms and 126 calls... 2021-10-10T15:50:05Z- waiting for 1633881000.74, time is 1633881002.61 2021-10-10T15:50:05Z- LcmTrn::updateTrn() equating pose 1633881002.61 and meas times 1633881002.61 2021-10-10T15:50:05Z- LcmTrn::updateTrn() >>>> pose time 1633881002.61, meas time 1633881002.61 <<<< 2021-10-10T15:50:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881002.61, ping # 0. 2021-10-10T15:50:05Z- TerrainNav::Measurement type 1 from time = 1633881002.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:50:05Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594778.65, 0.04) 2021-10-10T15:50:05Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:05Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:05Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:05Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:05Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:05Z- AHRS_M2 msg: 1633881002.97 epoch sec; seqNo:1689 2021-10-10T15:50:05Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.09 psi 2021-10-10T15:50:05Z- handleDepth()-Depth_Keller msg: 1633881002980 epoch sec; seqNo:1725; depth 0.07 2021-10-10T15:50:06Z- handleDvl() - RDI_Pathfinder msg: 1633881003.01 epoch sec; seqNo:798 2021-10-10T15:50:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.49 , 84.82 , 98.27 , 74.20 2021-10-10T15:50:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.09 , -0.77 2021-10-10T15:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881003.05 epoch sec; seqNo:1726; 4061558.09 north; 594778.65 east 2021-10-10T15:50:06Z- AHRS_M2 msg: 1633881003.38 epoch sec; seqNo:1690 2021-10-10T15:50:06Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 1.07 psi 2021-10-10T15:50:06Z- handleDepth()-Depth_Keller msg: 1633881003384 epoch sec; seqNo:1726; depth 0.03 2021-10-10T15:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881003.41 epoch sec; seqNo:1727; 4061558.09 north; 594778.65 east 2021-10-10T15:50:06Z- AHRS_M2 msg: 1633881003.78 epoch sec; seqNo:1691 2021-10-10T15:50:06Z- AHRS_M2 msg: -0.26 phi; -0.03 theta; 1.07 psi 2021-10-10T15:50:06Z- handleDepth()-Depth_Keller msg: 1633881003788 epoch sec; seqNo:1727; depth 0.04 2021-10-10T15:50:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:06Z- handleDvl() - RDI_Pathfinder msg: 1633881003.79 epoch sec; seqNo:799 2021-10-10T15:50:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.21 , -0.09 , -0.77 2021-10-10T15:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881003.81 epoch sec; seqNo:1728; 4061558.09 north; 594778.65 east 2021-10-10T15:50:07Z- AHRS_M2 msg: 1633881004.18 epoch sec; seqNo:1692 2021-10-10T15:50:07Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 1.09 psi 2021-10-10T15:50:07Z- handleDepth()-Depth_Keller msg: 1633881004196 epoch sec; seqNo:1728; depth 0.04 2021-10-10T15:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881004.22 epoch sec; seqNo:1729; 4061558.09 north; 594778.65 east 2021-10-10T15:50:07Z- AHRS_M2 msg: 1633881004.59 epoch sec; seqNo:1693 2021-10-10T15:50:07Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.12 psi 2021-10-10T15:50:07Z- handleDepth()-Depth_Keller msg: 1633881004596 epoch sec; seqNo:1729; depth 0.05 2021-10-10T15:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881004.64 epoch sec; seqNo:1730; 4061558.09 north; 594778.65 east 2021-10-10T15:50:07Z- AHRS_M2 msg: 1633881004.99 epoch sec; seqNo:1694 2021-10-10T15:50:07Z- AHRS_M2 msg: 0.05 phi; 0.03 theta; 1.11 psi 2021-10-10T15:50:07Z- handleDepth()-Depth_Keller msg: 1633881005008 epoch sec; seqNo:1730; depth 0.06 2021-10-10T15:50:08Z- handleDvl() - RDI_Pathfinder msg: 1633881005.03 epoch sec; seqNo:800 2021-10-10T15:50:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.74 , 110.42 , 92.09 , 85.98 2021-10-10T15:50:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.70 , -0.06 2021-10-10T15:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881005.05 epoch sec; seqNo:1731; 4061558.46 north; 594777.42 east 2021-10-10T15:50:08Z- AHRS_M2 msg: 1633881005.40 epoch sec; seqNo:1695 2021-10-10T15:50:08Z- AHRS_M2 msg: 0.10 phi; 0.01 theta; 1.09 psi 2021-10-10T15:50:08Z- handleDepth()-Depth_Keller msg: 1633881005401 epoch sec; seqNo:1731; depth 0.06 2021-10-10T15:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881005.43 epoch sec; seqNo:1732; 4061558.46 north; 594777.42 east 2021-10-10T15:50:08Z- AHRS_M2 msg: 1633881005.80 epoch sec; seqNo:1696 2021-10-10T15:50:08Z- AHRS_M2 msg: 0.09 phi; -0.03 theta; 1.09 psi 2021-10-10T15:50:08Z- handleDepth()-Depth_Keller msg: 1633881005805 epoch sec; seqNo:1732; depth 0.05 2021-10-10T15:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881005.82 epoch sec; seqNo:1733; 4061558.83 north; 594777.42 east 2021-10-10T15:50:09Z- AHRS_M2 msg: 1633881006.21 epoch sec; seqNo:1697 2021-10-10T15:50:09Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 1.09 psi 2021-10-10T15:50:09Z- handleDepth()-Depth_Keller msg: 1633881006210 epoch sec; seqNo:1733; depth 0.05 2021-10-10T15:50:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:09Z- handleDvl() - RDI_Pathfinder msg: 1633881006.21 epoch sec; seqNo:801 2021-10-10T15:50:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.40 , -0.70 , -0.06 2021-10-10T15:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881006.22 epoch sec; seqNo:1734; 4061558.83 north; 594777.42 east 2021-10-10T15:50:09Z- AHRS_M2 msg: 1633881006.61 epoch sec; seqNo:1698 2021-10-10T15:50:09Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 1.07 psi 2021-10-10T15:50:09Z- handleDepth()-Depth_Keller msg: 1633881006626 epoch sec; seqNo:1734; depth 0.04 2021-10-10T15:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881006.64 epoch sec; seqNo:1735; 4061558.83 north; 594777.42 east 2021-10-10T15:50:09Z- AHRS_M2 msg: 1633881007.01 epoch sec; seqNo:1699 2021-10-10T15:50:09Z- AHRS_M2 msg: -0.01 phi; -0.01 theta; 1.09 psi 2021-10-10T15:50:10Z- handleDepth()-Depth_Keller msg: 1633881007023 epoch sec; seqNo:1735; depth 0.05 2021-10-10T15:50:10Z- handleDvl() - RDI_Pathfinder msg: 1633881007.05 epoch sec; seqNo:802 2021-10-10T15:50:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.75 , 79.11 , 0.00 , 79.52 2021-10-10T15:50:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.03 , 0.37 2021-10-10T15:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881007.06 epoch sec; seqNo:1736; 4061558.82 north; 594776.20 east 2021-10-10T15:50:10Z- AHRS_M2 msg: 1633881007.42 epoch sec; seqNo:1700 2021-10-10T15:50:10Z- AHRS_M2 msg: -0.06 phi; -0.00 theta; 1.08 psi 2021-10-10T15:50:10Z- handleDepth()-Depth_Keller msg: 1633881007430 epoch sec; seqNo:1736; depth 0.06 2021-10-10T15:50:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:10Z- handleDvl() - RDI_Pathfinder msg: 1633881007.43 epoch sec; seqNo:803 2021-10-10T15:50:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.03 , 0.37 2021-10-10T15:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881007.46 epoch sec; seqNo:1737; 4061558.82 north; 594776.20 east 2021-10-10T15:50:10Z- AHRS_M2 msg: 1633881007.82 epoch sec; seqNo:1701 2021-10-10T15:50:10Z- AHRS_M2 msg: -0.17 phi; -0.04 theta; 1.08 psi 2021-10-10T15:50:10Z- handleDepth()-Depth_Keller msg: 1633881007831 epoch sec; seqNo:1737; depth 0.05 2021-10-10T15:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881007.89 epoch sec; seqNo:1738; 4061558.82 north; 594776.20 east 2021-10-10T15:50:10Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T15:50:10Z- waiting for 1633881005.61, time is 1633881007.89 2021-10-10T15:50:10Z- LcmTrn::updateTrn() >>>> pose time 1633881007.89, meas time 1633881007.43 <<<< 2021-10-10T15:50:10Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881007.43, ping # 0. 2021-10-10T15:50:10Z- TerrainNav::Measurement type 1 from time = 1633881007.43 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:50:10Z- TerrainNav::motionUpdate() - currEstimate = (4061559, 594776.20, 0.05) 2021-10-10T15:50:10Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:10Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:10Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:10Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:10Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:11Z- AHRS_M2 msg: 1633881008.22 epoch sec; seqNo:1702 2021-10-10T15:50:11Z- AHRS_M2 msg: -0.23 phi; -0.04 theta; 1.11 psi 2021-10-10T15:50:11Z- handleDepth()-Depth_Keller msg: 1633881008232 epoch sec; seqNo:1738; depth 0.03 2021-10-10T15:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881008.27 epoch sec; seqNo:1739; 4061558.82 north; 594776.20 east 2021-10-10T15:50:11Z- handleDepth()-Depth_Keller msg: 1633881008652 epoch sec; seqNo:1739; depth 0.06 2021-10-10T15:50:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:11Z- handleDvl() - RDI_Pathfinder msg: 1633881008.65 epoch sec; seqNo:804 2021-10-10T15:50:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.03 , 0.37 2021-10-10T15:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881008.71 epoch sec; seqNo:1740; 4061558.82 north; 594776.20 east 2021-10-10T15:50:12Z- AHRS_M2 msg: 1633881009.03 epoch sec; seqNo:1703 2021-10-10T15:50:12Z- AHRS_M2 msg: -0.13 phi; 0.10 theta; 1.14 psi 2021-10-10T15:50:12Z- handleDepth()-Depth_Keller msg: 1633881009044 epoch sec; seqNo:1740; depth 0.05 2021-10-10T15:50:12Z- handleDvl() - RDI_Pathfinder msg: 1633881009.10 epoch sec; seqNo:805 2021-10-10T15:50:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.97 , 98.47 , 89.92 , 86.25 2021-10-10T15:50:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.39 , -0.03 2021-10-10T15:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881009.16 epoch sec; seqNo:1741; 4061558.44 north; 594776.20 east 2021-10-10T15:50:12Z- AHRS_M2 msg: 1633881009.44 epoch sec; seqNo:1704 2021-10-10T15:50:12Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 1.17 psi 2021-10-10T15:50:12Z- handleDepth()-Depth_Keller msg: 1633881009457 epoch sec; seqNo:1741; depth 0.05 2021-10-10T15:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881009.49 epoch sec; seqNo:1742; 4061558.44 north; 594776.20 east 2021-10-10T15:50:12Z- AHRS_M2 msg: 1633881009.84 epoch sec; seqNo:1705 2021-10-10T15:50:12Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 1.16 psi 2021-10-10T15:50:12Z- handleDepth()-Depth_Keller msg: 1633881009852 epoch sec; seqNo:1742; depth 0.05 2021-10-10T15:50:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:12Z- handleDvl() - RDI_Pathfinder msg: 1633881009.85 epoch sec; seqNo:806 2021-10-10T15:50:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.39 , -0.03 2021-10-10T15:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881009.89 epoch sec; seqNo:1743; 4061558.44 north; 594776.20 east 2021-10-10T15:50:13Z- AHRS_M2 msg: 1633881010.24 epoch sec; seqNo:1706 2021-10-10T15:50:13Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 1.15 psi 2021-10-10T15:50:13Z- handleDepth()-Depth_Keller msg: 1633881010252 epoch sec; seqNo:1743; depth 0.05 2021-10-10T15:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881010.27 epoch sec; seqNo:1744; 4061558.06 north; 594776.21 east 2021-10-10T15:50:13Z- AHRS_M2 msg: 1633881010.65 epoch sec; seqNo:1707 2021-10-10T15:50:13Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 1.16 psi 2021-10-10T15:50:13Z- handleDepth()-Depth_Keller msg: 1633881010677 epoch sec; seqNo:1744; depth 0.05 2021-10-10T15:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881010.74 epoch sec; seqNo:1745; 4061558.08 north; 594777.43 east 2021-10-10T15:50:14Z- AHRS_M2 msg: 1633881011.05 epoch sec; seqNo:1708 2021-10-10T15:50:14Z- AHRS_M2 msg: -0.04 phi; 0.07 theta; 1.18 psi 2021-10-10T15:50:14Z- handleDepth()-Depth_Keller msg: 1633881011057 epoch sec; seqNo:1745; depth 0.06 2021-10-10T15:50:14Z- handleDvl() - RDI_Pathfinder msg: 1633881011.10 epoch sec; seqNo:807 2021-10-10T15:50:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.94 , 89.57 , 85.91 , 84.69 2021-10-10T15:50:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.13 , -0.09 2021-10-10T15:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881011.14 epoch sec; seqNo:1746; 4061558.06 north; 594776.21 east 2021-10-10T15:50:14Z- AHRS_M2 msg: 1633881011.46 epoch sec; seqNo:1709 2021-10-10T15:50:14Z- AHRS_M2 msg: -0.10 phi; 0.03 theta; 1.18 psi 2021-10-10T15:50:14Z- handleDepth()-Depth_Keller msg: 1633881011463 epoch sec; seqNo:1746; depth 0.05 2021-10-10T15:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881011.49 epoch sec; seqNo:1747; 4061558.06 north; 594776.21 east 2021-10-10T15:50:14Z- AHRS_M2 msg: 1633881011.86 epoch sec; seqNo:1710 2021-10-10T15:50:14Z- AHRS_M2 msg: -0.16 phi; -0.03 theta; 1.18 psi 2021-10-10T15:50:14Z- handleDepth()-Depth_Keller msg: 1633881011880 epoch sec; seqNo:1747; depth 0.05 2021-10-10T15:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881011.89 epoch sec; seqNo:1748; 4061558.06 north; 594776.21 east 2021-10-10T15:50:15Z- AHRS_M2 msg: 1633881012.29 epoch sec; seqNo:1711 2021-10-10T15:50:15Z- AHRS_M2 msg: -0.16 phi; -0.04 theta; 1.21 psi 2021-10-10T15:50:15Z- handleDepth()-Depth_Keller msg: 1633881012339 epoch sec; seqNo:1748; depth 0.05 2021-10-10T15:50:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:15Z- handleDvl() - RDI_Pathfinder msg: 1633881012.34 epoch sec; seqNo:808 2021-10-10T15:50:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.13 , -0.09 2021-10-10T15:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881012.37 epoch sec; seqNo:1749; 4061558.06 north; 594776.21 east 2021-10-10T15:50:15Z- AHRS_M2 msg: 1633881012.74 epoch sec; seqNo:1712 2021-10-10T15:50:15Z- AHRS_M2 msg: -0.11 phi; -0.01 theta; 1.19 psi 2021-10-10T15:50:15Z- handleDepth()-Depth_Keller msg: 1633881012763 epoch sec; seqNo:1749; depth 0.06 2021-10-10T15:50:15Z- handleDvl() - RDI_Pathfinder msg: 1633881012.83 epoch sec; seqNo:809 2021-10-10T15:50:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.78 , 97.11 , 89.78 , 83.67 2021-10-10T15:50:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.13 , 0.04 2021-10-10T15:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881012.89 epoch sec; seqNo:1750; 4061558.06 north; 594776.21 east 2021-10-10T15:50:15Z- LcmTrn::handleMessages() - handling 41 messages took 0.85 ms and 124 calls... 2021-10-10T15:50:15Z- waiting for 1633881010.89, time is 1633881012.89 2021-10-10T15:50:15Z- LcmTrn::updateTrn() equating pose 1633881012.89 and meas times 1633881012.89 2021-10-10T15:50:15Z- LcmTrn::updateTrn() >>>> pose time 1633881012.89, meas time 1633881012.89 <<<< 2021-10-10T15:50:15Z- TerrainNav::Measurement type 1 from time = 1633881012.89 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:50:15Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594776.21, 0.06) 2021-10-10T15:50:15Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:15Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:15Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:15Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:15Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:16Z- AHRS_M2 msg: 1633881013.09 epoch sec; seqNo:1713 2021-10-10T15:50:16Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 1.17 psi 2021-10-10T15:50:16Z- handleDepth()-Depth_Keller msg: 1633881013102 epoch sec; seqNo:1750; depth 0.05 2021-10-10T15:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881013.15 epoch sec; seqNo:1751; 4061558.06 north; 594776.21 east 2021-10-10T15:50:16Z- AHRS_M2 msg: 1633881013.49 epoch sec; seqNo:1714 2021-10-10T15:50:16Z- AHRS_M2 msg: 0.03 phi; 0.07 theta; 1.22 psi 2021-10-10T15:50:16Z- handleDepth()-Depth_Keller msg: 1633881013508 epoch sec; seqNo:1751; depth 0.03 2021-10-10T15:50:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:16Z- handleDvl() - RDI_Pathfinder msg: 1633881013.51 epoch sec; seqNo:810 2021-10-10T15:50:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:16Z- handleDvl() - RDI_Pathfinder msg: velocities -0.30 , -0.13 , 0.04 2021-10-10T15:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881013.54 epoch sec; seqNo:1752; 4061558.06 north; 594776.21 east 2021-10-10T15:50:16Z- AHRS_M2 msg: 1633881013.90 epoch sec; seqNo:1715 2021-10-10T15:50:16Z- AHRS_M2 msg: 0.07 phi; 0.06 theta; 1.25 psi 2021-10-10T15:50:16Z- handleDepth()-Depth_Keller msg: 1633881013936 epoch sec; seqNo:1752; depth 0.05 2021-10-10T15:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881013.99 epoch sec; seqNo:1753; 4061558.06 north; 594776.21 east 2021-10-10T15:50:17Z- AHRS_M2 msg: 1633881014.31 epoch sec; seqNo:1716 2021-10-10T15:50:17Z- AHRS_M2 msg: -0.00 phi; -0.00 theta; 1.26 psi 2021-10-10T15:50:17Z- handleDepth()-Depth_Keller msg: 1633881014324 epoch sec; seqNo:1753; depth 0.06 2021-10-10T15:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881014.37 epoch sec; seqNo:1754; 4061558.06 north; 594776.21 east 2021-10-10T15:50:17Z- AHRS_M2 msg: 1633881014.74 epoch sec; seqNo:1717 2021-10-10T15:50:17Z- AHRS_M2 msg: -0.10 phi; -0.05 theta; 1.25 psi 2021-10-10T15:50:17Z- handleDepth()-Depth_Keller msg: 1633881014755 epoch sec; seqNo:1754; depth 0.04 2021-10-10T15:50:17Z- handleDvl() - RDI_Pathfinder msg: 1633881014.83 epoch sec; seqNo:811 2021-10-10T15:50:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.80 , 78.71 , 94.46 , 74.20 2021-10-10T15:50:17Z- handleDvl() - RDI_Pathfinder msg: velocities -0.59 , -0.09 , -0.28 2021-10-10T15:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881014.86 epoch sec; seqNo:1755; 4061558.06 north; 594776.21 east 2021-10-10T15:50:18Z- AHRS_M2 msg: 1633881015.12 epoch sec; seqNo:1718 2021-10-10T15:50:18Z- AHRS_M2 msg: -0.11 phi; -0.07 theta; 1.23 psi 2021-10-10T15:50:18Z- handleDepth()-Depth_Keller msg: 1633881015141 epoch sec; seqNo:1755; depth 0.05 2021-10-10T15:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881015.22 epoch sec; seqNo:1756; 4061558.05 north; 594774.99 east 2021-10-10T15:50:18Z- AHRS_M2 msg: 1633881015.53 epoch sec; seqNo:1719 2021-10-10T15:50:18Z- AHRS_M2 msg: -0.07 phi; -0.07 theta; 1.23 psi 2021-10-10T15:50:18Z- handleDepth()-Depth_Keller msg: 1633881015548 epoch sec; seqNo:1756; depth 0.07 2021-10-10T15:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881015.59 epoch sec; seqNo:1757; 4061558.05 north; 594774.99 east 2021-10-10T15:50:18Z- AHRS_M2 msg: 1633881015.94 epoch sec; seqNo:1720 2021-10-10T15:50:18Z- AHRS_M2 msg: -0.04 phi; -0.07 theta; 1.22 psi 2021-10-10T15:50:18Z- handleDepth()-Depth_Keller msg: 1633881015956 epoch sec; seqNo:1757; depth 0.06 2021-10-10T15:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881015.99 epoch sec; seqNo:1758; 4061558.05 north; 594774.99 east 2021-10-10T15:50:19Z- AHRS_M2 msg: 1633881016.36 epoch sec; seqNo:1721 2021-10-10T15:50:19Z- AHRS_M2 msg: -0.03 phi; -0.02 theta; 1.24 psi 2021-10-10T15:50:19Z- handleDepth()-Depth_Keller msg: 1633881016391 epoch sec; seqNo:1758; depth 0.08 2021-10-10T15:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881016.42 epoch sec; seqNo:1759; 4061558.05 north; 594774.99 east 2021-10-10T15:50:19Z- AHRS_M2 msg: 1633881016.76 epoch sec; seqNo:1722 2021-10-10T15:50:19Z- AHRS_M2 msg: -0.06 phi; -0.03 theta; 1.28 psi 2021-10-10T15:50:19Z- handleDepth()-Depth_Keller msg: 1633881016772 epoch sec; seqNo:1759; depth 0.07 2021-10-10T15:50:19Z- handleDvl() - RDI_Pathfinder msg: 1633881016.82 epoch sec; seqNo:812 2021-10-10T15:50:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.89 , 88.56 , 84.89 , 86.11 2021-10-10T15:50:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.25 , 0.28 2021-10-10T15:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881016.87 epoch sec; seqNo:1760; 4061558.05 north; 594774.99 east 2021-10-10T15:50:20Z- AHRS_M2 msg: 1633881017.17 epoch sec; seqNo:1723 2021-10-10T15:50:20Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 1.30 psi 2021-10-10T15:50:20Z- handleDepth()-Depth_Keller msg: 1633881017183 epoch sec; seqNo:1760; depth 0.05 2021-10-10T15:50:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:20Z- handleDvl() - RDI_Pathfinder msg: 1633881017.19 epoch sec; seqNo:813 2021-10-10T15:50:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.25 , 0.28 2021-10-10T15:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881017.24 epoch sec; seqNo:1761; 4061557.67 north; 594774.99 east 2021-10-10T15:50:20Z- AHRS_M2 msg: 1633881017.57 epoch sec; seqNo:1724 2021-10-10T15:50:20Z- AHRS_M2 msg: -0.00 phi; -0.04 theta; 1.29 psi 2021-10-10T15:50:20Z- handleDepth()-Depth_Keller msg: 1633881017588 epoch sec; seqNo:1761; depth 0.06 2021-10-10T15:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881017.62 epoch sec; seqNo:1762; 4061557.67 north; 594774.99 east 2021-10-10T15:50:20Z- AHRS_M2 msg: 1633881017.98 epoch sec; seqNo:1725 2021-10-10T15:50:20Z- AHRS_M2 msg: 0.00 phi; -0.02 theta; 1.29 psi 2021-10-10T15:50:20Z- handleDepth()-Depth_Keller msg: 1633881018004 epoch sec; seqNo:1762; depth 0.08 2021-10-10T15:50:20Z- LcmTrn::handleMessages() - handling 42 messages took 0.92 ms and 123 calls... 2021-10-10T15:50:20Z- waiting for 1633881015.89, time is 1633881017.98 2021-10-10T15:50:20Z- LcmTrn::updateTrn() >>>> pose time 1633881017.98, meas time 1633881017.19 <<<< 2021-10-10T15:50:20Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881017.19, ping # 0. 2021-10-10T15:50:20Z- TerrainNav::Measurement type 1 from time = 1633881017.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:50:20Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594774.99, 0.08) 2021-10-10T15:50:20Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:20Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:20Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:20Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:20Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881018.03 epoch sec; seqNo:1763; 4061557.67 north; 594774.99 east 2021-10-10T15:50:21Z- AHRS_M2 msg: 1633881018.39 epoch sec; seqNo:1726 2021-10-10T15:50:21Z- AHRS_M2 msg: 0.02 phi; -0.01 theta; 1.30 psi 2021-10-10T15:50:21Z- handleDepth()-Depth_Keller msg: 1633881018404 epoch sec; seqNo:1763; depth 0.06 2021-10-10T15:50:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:21Z- handleDvl() - RDI_Pathfinder msg: 1633881018.41 epoch sec; seqNo:814 2021-10-10T15:50:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.25 , 0.28 2021-10-10T15:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881018.45 epoch sec; seqNo:1764; 4061557.67 north; 594774.99 east 2021-10-10T15:50:21Z- AHRS_M2 msg: 1633881018.81 epoch sec; seqNo:1727 2021-10-10T15:50:21Z- AHRS_M2 msg: 0.02 phi; -0.02 theta; 1.31 psi 2021-10-10T15:50:21Z- handleDepth()-Depth_Keller msg: 1633881018820 epoch sec; seqNo:1764; depth 0.05 2021-10-10T15:50:21Z- handleDvl() - RDI_Pathfinder msg: 1633881018.89 epoch sec; seqNo:815 2021-10-10T15:50:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.20 , 87.20 , 0.00 , 83.53 2021-10-10T15:50:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.01 , -0.37 2021-10-10T15:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881018.96 epoch sec; seqNo:1765; 4061557.67 north; 594774.99 east 2021-10-10T15:50:22Z- AHRS_M2 msg: 1633881019.20 epoch sec; seqNo:1728 2021-10-10T15:50:22Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.33 psi 2021-10-10T15:50:22Z- handleDepth()-Depth_Keller msg: 1633881019225 epoch sec; seqNo:1765; depth 0.08 2021-10-10T15:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881019.27 epoch sec; seqNo:1766; 4061557.67 north; 594774.99 east 2021-10-10T15:50:22Z- AHRS_M2 msg: 1633881019.61 epoch sec; seqNo:1729 2021-10-10T15:50:22Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.36 psi 2021-10-10T15:50:22Z- handleDepth()-Depth_Keller msg: 1633881019637 epoch sec; seqNo:1766; depth 0.06 2021-10-10T15:50:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:22Z- handleDvl() - RDI_Pathfinder msg: 1633881019.65 epoch sec; seqNo:816 2021-10-10T15:50:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.01 , -0.37 2021-10-10T15:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881019.67 epoch sec; seqNo:1767; 4061557.67 north; 594774.99 east 2021-10-10T15:50:23Z- AHRS_M2 msg: 1633881020.04 epoch sec; seqNo:1730 2021-10-10T15:50:23Z- AHRS_M2 msg: -0.09 phi; -0.02 theta; 1.32 psi 2021-10-10T15:50:23Z- handleDepth()-Depth_Keller msg: 1633881020044 epoch sec; seqNo:1767; depth 0.04 2021-10-10T15:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881020.09 epoch sec; seqNo:1768; 4061557.67 north; 594774.99 east 2021-10-10T15:50:23Z- AHRS_M2 msg: 1633881020.43 epoch sec; seqNo:1731 2021-10-10T15:50:23Z- AHRS_M2 msg: -0.06 phi; 0.00 theta; 1.30 psi 2021-10-10T15:50:23Z- handleDepth()-Depth_Keller msg: 1633881020460 epoch sec; seqNo:1768; depth 0.06 2021-10-10T15:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881020.49 epoch sec; seqNo:1769; 4061557.29 north; 594775.00 east 2021-10-10T15:50:23Z- AHRS_M2 msg: 1633881020.84 epoch sec; seqNo:1732 2021-10-10T15:50:23Z- AHRS_M2 msg: -0.04 phi; -0.00 theta; 1.31 psi 2021-10-10T15:50:23Z- handleDepth()-Depth_Keller msg: 1633881020842 epoch sec; seqNo:1769; depth 0.06 2021-10-10T15:50:23Z- handleDvl() - RDI_Pathfinder msg: 1633881020.89 epoch sec; seqNo:817 2021-10-10T15:50:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.53 , 92.09 , 90.87 , 78.71 2021-10-10T15:50:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.37 , 0.23 2021-10-10T15:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881020.91 epoch sec; seqNo:1770; 4061557.67 north; 594774.99 east 2021-10-10T15:50:24Z- AHRS_M2 msg: 1633881021.24 epoch sec; seqNo:1733 2021-10-10T15:50:24Z- AHRS_M2 msg: -0.02 phi; -0.03 theta; 1.32 psi 2021-10-10T15:50:24Z- handleDepth()-Depth_Keller msg: 1633881021242 epoch sec; seqNo:1770; depth 0.05 2021-10-10T15:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881021.27 epoch sec; seqNo:1771; 4061557.67 north; 594774.99 east 2021-10-10T15:50:24Z- AHRS_M2 msg: 1633881021.64 epoch sec; seqNo:1734 2021-10-10T15:50:24Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 1.33 psi 2021-10-10T15:50:24Z- handleDepth()-Depth_Keller msg: 1633881021648 epoch sec; seqNo:1771; depth 0.05 2021-10-10T15:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881021.67 epoch sec; seqNo:1772; 4061557.66 north; 594773.77 east 2021-10-10T15:50:25Z- AHRS_M2 msg: 1633881022.05 epoch sec; seqNo:1735 2021-10-10T15:50:25Z- AHRS_M2 msg: 0.01 phi; -0.06 theta; 1.31 psi 2021-10-10T15:50:25Z- handleDepth()-Depth_Keller msg: 1633881022049 epoch sec; seqNo:1772; depth 0.06 2021-10-10T15:50:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:25Z- handleDvl() - RDI_Pathfinder msg: 1633881022.05 epoch sec; seqNo:818 2021-10-10T15:50:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.37 , 0.23 2021-10-10T15:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881022.07 epoch sec; seqNo:1773; 4061558.04 north; 594773.77 east 2021-10-10T15:50:25Z- AHRS_M2 msg: 1633881022.45 epoch sec; seqNo:1736 2021-10-10T15:50:25Z- AHRS_M2 msg: -0.04 phi; -0.03 theta; 1.29 psi 2021-10-10T15:50:25Z- handleDepth()-Depth_Keller msg: 1633881022458 epoch sec; seqNo:1773; depth 0.04 2021-10-10T15:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881022.48 epoch sec; seqNo:1774; 4061558.04 north; 594773.77 east 2021-10-10T15:50:25Z- AHRS_M2 msg: 1633881022.85 epoch sec; seqNo:1737 2021-10-10T15:50:25Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 1.28 psi 2021-10-10T15:50:25Z- handleDepth()-Depth_Keller msg: 1633881022860 epoch sec; seqNo:1774; depth 0.04 2021-10-10T15:50:25Z- handleDvl() - RDI_Pathfinder msg: 1633881022.90 epoch sec; seqNo:819 2021-10-10T15:50:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.20 , 84.75 , 84.75 , 83.53 2021-10-10T15:50:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.01 , 0.45 2021-10-10T15:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881022.97 epoch sec; seqNo:1775; 4061558.04 north; 594773.77 east 2021-10-10T15:50:26Z- LcmTrn::handleMessages() - handling 43 messages took 0.83 ms and 126 calls... 2021-10-10T15:50:26Z- waiting for 1633881020.98, time is 1633881022.97 2021-10-10T15:50:26Z- LcmTrn::updateTrn() equating pose 1633881022.97 and meas times 1633881022.97 2021-10-10T15:50:26Z- LcmTrn::updateTrn() >>>> pose time 1633881022.97, meas time 1633881022.97 <<<< 2021-10-10T15:50:26Z- TerrainNav::Measurement type 1 from time = 1633881022.97 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:50:26Z- TerrainNav::motionUpdate() - currEstimate = (4061558, 594773.77, 0.04) 2021-10-10T15:50:26Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:26Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:26Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:26Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:26Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:26Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:26Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:26Z- AHRS_M2 msg: 1633881023.26 epoch sec; seqNo:1738 2021-10-10T15:50:26Z- AHRS_M2 msg: -0.06 phi; 0.07 theta; 1.30 psi 2021-10-10T15:50:26Z- handleDepth()-Depth_Keller msg: 1633881023263 epoch sec; seqNo:1775; depth 0.04 2021-10-10T15:50:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:26Z- handleDvl() - RDI_Pathfinder msg: 1633881023.27 epoch sec; seqNo:820 2021-10-10T15:50:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.01 , 0.45 2021-10-10T15:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881023.30 epoch sec; seqNo:1776; 4061558.04 north; 594773.77 east 2021-10-10T15:50:26Z- AHRS_M2 msg: 1633881023.66 epoch sec; seqNo:1739 2021-10-10T15:50:26Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 1.32 psi 2021-10-10T15:50:26Z- handleDepth()-Depth_Keller msg: 1633881023668 epoch sec; seqNo:1776; depth 0.05 2021-10-10T15:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881023.68 epoch sec; seqNo:1777; 4061558.04 north; 594773.77 east 2021-10-10T15:50:27Z- AHRS_M2 msg: 1633881024.07 epoch sec; seqNo:1740 2021-10-10T15:50:27Z- AHRS_M2 msg: 0.06 phi; -0.12 theta; 1.30 psi 2021-10-10T15:50:27Z- handleDepth()-Depth_Keller msg: 1633881024070 epoch sec; seqNo:1777; depth 0.08 2021-10-10T15:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881024.08 epoch sec; seqNo:1778; 4061558.04 north; 594773.77 east 2021-10-10T15:50:27Z- AHRS_M2 msg: 1633881024.47 epoch sec; seqNo:1741 2021-10-10T15:50:27Z- AHRS_M2 msg: 0.01 phi; -0.08 theta; 1.25 psi 2021-10-10T15:50:27Z- handleDepth()-Depth_Keller msg: 1633881024488 epoch sec; seqNo:1778; depth 0.09 2021-10-10T15:50:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:27Z- handleDvl() - RDI_Pathfinder msg: 1633881024.49 epoch sec; seqNo:821 2021-10-10T15:50:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.08 , -0.01 , 0.45 2021-10-10T15:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881024.51 epoch sec; seqNo:1779; 4061558.04 north; 594773.77 east 2021-10-10T15:50:27Z- AHRS_M2 msg: 1633881024.87 epoch sec; seqNo:1742 2021-10-10T15:50:27Z- AHRS_M2 msg: -0.05 phi; 0.07 theta; 1.25 psi 2021-10-10T15:50:27Z- handleDepth()-Depth_Keller msg: 1633881024880 epoch sec; seqNo:1779; depth 0.07 2021-10-10T15:50:28Z- handleDvl() - RDI_Pathfinder msg: 1633881024.98 epoch sec; seqNo:822 2021-10-10T15:50:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.00 , 83.67 , 83.67 , 0.00 2021-10-10T15:50:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.39 , -0.00 2021-10-10T15:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881025.12 epoch sec; seqNo:1780; 4061557.66 north; 594773.77 east 2021-10-10T15:50:28Z- AHRS_M2 msg: 1633881025.42 epoch sec; seqNo:1743 2021-10-10T15:50:28Z- AHRS_M2 msg: -0.04 phi; 0.10 theta; 1.27 psi 2021-10-10T15:50:28Z- handleDepth()-Depth_Keller msg: 1633881025465 epoch sec; seqNo:1780; depth 0.04 2021-10-10T15:50:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:28Z- handleDvl() - RDI_Pathfinder msg: 1633881025.47 epoch sec; seqNo:823 2021-10-10T15:50:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.39 , -0.00 2021-10-10T15:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881025.59 epoch sec; seqNo:1781; 4061557.66 north; 594773.77 east 2021-10-10T15:50:28Z- AHRS_M2 msg: 1633881025.75 epoch sec; seqNo:1744 2021-10-10T15:50:28Z- AHRS_M2 msg: -0.00 phi; 0.05 theta; 1.26 psi 2021-10-10T15:50:28Z- handleDepth()-Depth_Keller msg: 1633881025768 epoch sec; seqNo:1781; depth 0.06 2021-10-10T15:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881025.82 epoch sec; seqNo:1782; 4061557.28 north; 594773.77 east 2021-10-10T15:50:29Z- AHRS_M2 msg: 1633881026.14 epoch sec; seqNo:1745 2021-10-10T15:50:29Z- AHRS_M2 msg: -0.01 phi; -0.00 theta; 1.25 psi 2021-10-10T15:50:29Z- handleDepth()-Depth_Keller msg: 1633881026144 epoch sec; seqNo:1782; depth 0.05 2021-10-10T15:50:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881026.18 epoch sec; seqNo:1783; 4061557.28 north; 594773.77 east 2021-10-10T15:50:29Z- AHRS_M2 msg: 1633881026.54 epoch sec; seqNo:1746 2021-10-10T15:50:29Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.27 psi 2021-10-10T15:50:29Z- handleDepth()-Depth_Keller msg: 1633881026580 epoch sec; seqNo:1783; depth 0.04 2021-10-10T15:50:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:29Z- handleDvl() - RDI_Pathfinder msg: 1633881026.58 epoch sec; seqNo:824 2021-10-10T15:50:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.39 , -0.00 2021-10-10T15:50:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881026.60 epoch sec; seqNo:1784; 4061557.28 north; 594773.77 east 2021-10-10T15:50:29Z- AHRS_M2 msg: 1633881026.94 epoch sec; seqNo:1747 2021-10-10T15:50:29Z- AHRS_M2 msg: -0.04 phi; 0.00 theta; 1.28 psi 2021-10-10T15:50:29Z- handleDepth()-Depth_Keller msg: 1633881026962 epoch sec; seqNo:1784; depth 0.09 2021-10-10T15:50:30Z- handleDvl() - RDI_Pathfinder msg: 1633881027.01 epoch sec; seqNo:825 2021-10-10T15:50:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.98 , 87.20 , 90.87 , 77.48 2021-10-10T15:50:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.14 , -0.96 2021-10-10T15:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881027.04 epoch sec; seqNo:1785; 4061557.28 north; 594773.77 east 2021-10-10T15:50:30Z- AHRS_M2 msg: 1633881027.35 epoch sec; seqNo:1748 2021-10-10T15:50:30Z- AHRS_M2 msg: -0.05 phi; -0.01 theta; 1.28 psi 2021-10-10T15:50:30Z- handleDepth()-Depth_Keller msg: 1633881027356 epoch sec; seqNo:1785; depth 0.06 2021-10-10T15:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881027.38 epoch sec; seqNo:1786; 4061557.28 north; 594773.77 east 2021-10-10T15:50:30Z- AHRS_M2 msg: 1633881027.75 epoch sec; seqNo:1749 2021-10-10T15:50:30Z- AHRS_M2 msg: -0.06 phi; -0.09 theta; 1.26 psi 2021-10-10T15:50:30Z- handleDepth()-Depth_Keller msg: 1633881027760 epoch sec; seqNo:1786; depth 0.10 2021-10-10T15:50:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:30Z- handleDvl() - RDI_Pathfinder msg: 1633881027.76 epoch sec; seqNo:826 2021-10-10T15:50:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.14 , -0.96 2021-10-10T15:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881027.80 epoch sec; seqNo:1787; 4061557.28 north; 594773.77 east 2021-10-10T15:50:31Z- LcmTrn::handleMessages() - handling 43 messages took 0.83 ms and 126 calls... 2021-10-10T15:50:31Z- waiting for 1633881025.97, time is 1633881027.80 2021-10-10T15:50:31Z- LcmTrn::updateTrn() equating pose 1633881027.80 and meas times 1633881027.80 2021-10-10T15:50:31Z- LcmTrn::updateTrn() >>>> pose time 1633881027.80, meas time 1633881027.80 <<<< 2021-10-10T15:50:31Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881027.80, ping # 0. 2021-10-10T15:50:31Z- TerrainNav::Measurement type 1 from time = 1633881027.80 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:50:31Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594773.77, 0.10) 2021-10-10T15:50:31Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:31Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:31Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:31Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:31Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:31Z- AHRS_M2 msg: 1633881028.16 epoch sec; seqNo:1750 2021-10-10T15:50:31Z- AHRS_M2 msg: -0.06 phi; -0.12 theta; 1.23 psi 2021-10-10T15:50:31Z- handleDepth()-Depth_Keller msg: 1633881028164 epoch sec; seqNo:1787; depth 0.11 2021-10-10T15:50:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881028.19 epoch sec; seqNo:1788; 4061557.26 north; 594772.55 east 2021-10-10T15:50:31Z- AHRS_M2 msg: 1633881028.56 epoch sec; seqNo:1751 2021-10-10T15:50:31Z- AHRS_M2 msg: -0.06 phi; -0.05 theta; 1.20 psi 2021-10-10T15:50:31Z- handleDepth()-Depth_Keller msg: 1633881028568 epoch sec; seqNo:1788; depth 0.09 2021-10-10T15:50:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881028.59 epoch sec; seqNo:1789; 4061557.26 north; 594772.55 east 2021-10-10T15:50:31Z- AHRS_M2 msg: 1633881028.96 epoch sec; seqNo:1752 2021-10-10T15:50:31Z- AHRS_M2 msg: -0.03 phi; -0.00 theta; 1.19 psi 2021-10-10T15:50:31Z- handleDepth()-Depth_Keller msg: 1633881028972 epoch sec; seqNo:1789; depth 0.09 2021-10-10T15:50:32Z- handleDvl() - RDI_Pathfinder msg: 1633881029.03 epoch sec; seqNo:827 2021-10-10T15:50:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.89 , 88.49 , 81.15 , 89.71 2021-10-10T15:50:32Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.30 , 0.47 2021-10-10T15:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881029.06 epoch sec; seqNo:1790; 4061557.26 north; 594772.55 east 2021-10-10T15:50:32Z- AHRS_M2 msg: 1633881029.38 epoch sec; seqNo:1753 2021-10-10T15:50:32Z- AHRS_M2 msg: 0.07 phi; -0.05 theta; 1.15 psi 2021-10-10T15:50:32Z- handleDepth()-Depth_Keller msg: 1633881029384 epoch sec; seqNo:1790; depth 0.07 2021-10-10T15:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881029.45 epoch sec; seqNo:1791; 4061557.26 north; 594772.55 east 2021-10-10T15:50:32Z- AHRS_M2 msg: 1633881029.78 epoch sec; seqNo:1754 2021-10-10T15:50:32Z- AHRS_M2 msg: 0.07 phi; -0.02 theta; 1.18 psi 2021-10-10T15:50:32Z- handleDepth()-Depth_Keller msg: 1633881029784 epoch sec; seqNo:1791; depth 0.09 2021-10-10T15:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881029.80 epoch sec; seqNo:1792; 4061557.64 north; 594772.55 east 2021-10-10T15:50:33Z- AHRS_M2 msg: 1633881030.18 epoch sec; seqNo:1755 2021-10-10T15:50:33Z- AHRS_M2 msg: -0.01 phi; 0.04 theta; 1.20 psi 2021-10-10T15:50:33Z- handleDepth()-Depth_Keller msg: 1633881030192 epoch sec; seqNo:1792; depth 0.08 2021-10-10T15:50:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:33Z- handleDvl() - RDI_Pathfinder msg: 1633881030.19 epoch sec; seqNo:828 2021-10-10T15:50:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.30 , 0.47 2021-10-10T15:50:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881030.22 epoch sec; seqNo:1793; 4061557.64 north; 594772.55 east 2021-10-10T15:50:33Z- AHRS_M2 msg: 1633881030.58 epoch sec; seqNo:1756 2021-10-10T15:50:33Z- AHRS_M2 msg: -0.10 phi; 0.07 theta; 1.18 psi 2021-10-10T15:50:33Z- handleDepth()-Depth_Keller msg: 1633881030587 epoch sec; seqNo:1793; depth 0.06 2021-10-10T15:50:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881030.62 epoch sec; seqNo:1794; 4061557.64 north; 594772.55 east 2021-10-10T15:50:33Z- AHRS_M2 msg: 1633881030.99 epoch sec; seqNo:1757 2021-10-10T15:50:33Z- AHRS_M2 msg: -0.11 phi; 0.04 theta; 1.19 psi 2021-10-10T15:50:33Z- handleDepth()-Depth_Keller msg: 1633881030996 epoch sec; seqNo:1794; depth 0.04 2021-10-10T15:50:34Z- handleDvl() - RDI_Pathfinder msg: 1633881031.04 epoch sec; seqNo:829 2021-10-10T15:50:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.00 , 83.67 , 86.11 , 82.44 2021-10-10T15:50:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.32 , -0.59 2021-10-10T15:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881031.07 epoch sec; seqNo:1795; 4061557.64 north; 594772.55 east 2021-10-10T15:50:34Z- AHRS_M2 msg: 1633881031.40 epoch sec; seqNo:1758 2021-10-10T15:50:34Z- AHRS_M2 msg: -0.03 phi; 0.01 theta; 1.19 psi 2021-10-10T15:50:34Z- handleDepth()-Depth_Keller msg: 1633881031404 epoch sec; seqNo:1795; depth 0.04 2021-10-10T15:50:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:34Z- handleDvl() - RDI_Pathfinder msg: 1633881031.41 epoch sec; seqNo:830 2021-10-10T15:50:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.32 , -0.59 2021-10-10T15:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881031.47 epoch sec; seqNo:1796; 4061557.64 north; 594772.55 east 2021-10-10T15:50:34Z- AHRS_M2 msg: 1633881031.79 epoch sec; seqNo:1759 2021-10-10T15:50:34Z- AHRS_M2 msg: 0.04 phi; -0.00 theta; 1.20 psi 2021-10-10T15:50:34Z- handleDepth()-Depth_Keller msg: 1633881031799 epoch sec; seqNo:1796; depth 0.08 2021-10-10T15:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881031.83 epoch sec; seqNo:1797; 4061557.64 north; 594772.55 east 2021-10-10T15:50:35Z- AHRS_M2 msg: 1633881032.20 epoch sec; seqNo:1760 2021-10-10T15:50:35Z- AHRS_M2 msg: 0.06 phi; -0.04 theta; 1.21 psi 2021-10-10T15:50:35Z- handleDepth()-Depth_Keller msg: 1633881032204 epoch sec; seqNo:1797; depth 0.07 2021-10-10T15:50:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881032.22 epoch sec; seqNo:1798; 4061557.26 north; 594772.55 east 2021-10-10T15:50:35Z- AHRS_M2 msg: 1633881032.60 epoch sec; seqNo:1761 2021-10-10T15:50:35Z- AHRS_M2 msg: 0.05 phi; -0.07 theta; 1.19 psi 2021-10-10T15:50:35Z- handleDepth()-Depth_Keller msg: 1633881032608 epoch sec; seqNo:1798; depth 0.08 2021-10-10T15:50:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:35Z- handleDvl() - RDI_Pathfinder msg: 1633881032.61 epoch sec; seqNo:831 2021-10-10T15:50:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.32 , -0.59 2021-10-10T15:50:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881032.67 epoch sec; seqNo:1799; 4061557.28 north; 594773.77 east 2021-10-10T15:50:35Z- AHRS_M2 msg: 1633881033.00 epoch sec; seqNo:1762 2021-10-10T15:50:35Z- AHRS_M2 msg: -0.01 phi; -0.07 theta; 1.16 psi 2021-10-10T15:50:36Z- handleDepth()-Depth_Keller msg: 1633881033015 epoch sec; seqNo:1799; depth 0.08 2021-10-10T15:50:36Z- handleDvl() - RDI_Pathfinder msg: 1633881033.04 epoch sec; seqNo:832 2021-10-10T15:50:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.27 , 83.60 , 87.27 , 77.07 2021-10-10T15:50:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.73 , -0.32 , 0.05 2021-10-10T15:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881033.09 epoch sec; seqNo:1800; 4061557.26 north; 594772.55 east 2021-10-10T15:50:36Z- LcmTrn::handleMessages() - handling 45 messages took 0.94 ms and 126 calls... 2021-10-10T15:50:36Z- waiting for 1633881030.80, time is 1633881033.09 2021-10-10T15:50:36Z- LcmTrn::updateTrn() equating pose 1633881033.09 and meas times 1633881033.09 2021-10-10T15:50:36Z- LcmTrn::updateTrn() >>>> pose time 1633881033.09, meas time 1633881033.09 <<<< 2021-10-10T15:50:36Z- TerrainNav::Measurement type 1 from time = 1633881033.09 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:50:36Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594772.55, 0.08) 2021-10-10T15:50:36Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:36Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:36Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:36Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:36Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:36Z- AHRS_M2 msg: 1633881033.41 epoch sec; seqNo:1763 2021-10-10T15:50:36Z- AHRS_M2 msg: -0.07 phi; -0.08 theta; 1.15 psi 2021-10-10T15:50:36Z- handleDepth()-Depth_Keller msg: 1633881033416 epoch sec; seqNo:1800; depth 0.06 2021-10-10T15:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881033.47 epoch sec; seqNo:1801; 4061557.26 north; 594772.55 east 2021-10-10T15:50:36Z- AHRS_M2 msg: 1633881033.81 epoch sec; seqNo:1764 2021-10-10T15:50:36Z- AHRS_M2 msg: -0.02 phi; -0.12 theta; 1.12 psi 2021-10-10T15:50:36Z- handleDepth()-Depth_Keller msg: 1633881033820 epoch sec; seqNo:1801; depth 0.04 2021-10-10T15:50:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:36Z- handleDvl() - RDI_Pathfinder msg: 1633881033.82 epoch sec; seqNo:833 2021-10-10T15:50:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.73 , -0.32 , 0.05 2021-10-10T15:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881033.85 epoch sec; seqNo:1802; 4061557.26 north; 594772.55 east 2021-10-10T15:50:37Z- AHRS_M2 msg: 1633881034.22 epoch sec; seqNo:1765 2021-10-10T15:50:37Z- AHRS_M2 msg: 0.05 phi; -0.09 theta; 1.06 psi 2021-10-10T15:50:37Z- handleDepth()-Depth_Keller msg: 1633881034223 epoch sec; seqNo:1802; depth 0.05 2021-10-10T15:50:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881034.24 epoch sec; seqNo:1803; 4061557.26 north; 594772.55 east 2021-10-10T15:50:37Z- AHRS_M2 msg: 1633881034.62 epoch sec; seqNo:1766 2021-10-10T15:50:37Z- AHRS_M2 msg: 0.08 phi; -0.01 theta; 1.04 psi 2021-10-10T15:50:37Z- handleDepth()-Depth_Keller msg: 1633881034646 epoch sec; seqNo:1803; depth 0.05 2021-10-10T15:50:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881034.73 epoch sec; seqNo:1804; 4061557.25 north; 594771.33 east 2021-10-10T15:50:38Z- AHRS_M2 msg: 1633881035.02 epoch sec; seqNo:1767 2021-10-10T15:50:38Z- AHRS_M2 msg: 0.03 phi; 0.08 theta; 1.06 psi 2021-10-10T15:50:38Z- handleDepth()-Depth_Keller msg: 1633881035031 epoch sec; seqNo:1804; depth 0.04 2021-10-10T15:50:38Z- handleDvl() - RDI_Pathfinder msg: 1633881035.07 epoch sec; seqNo:834 2021-10-10T15:50:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.12 , 86.18 , 82.51 , 89.85 2021-10-10T15:50:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.44 , 0.92 2021-10-10T15:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881035.12 epoch sec; seqNo:1805; 4061557.25 north; 594771.33 east 2021-10-10T15:50:38Z- AHRS_M2 msg: 1633881035.43 epoch sec; seqNo:1768 2021-10-10T15:50:38Z- AHRS_M2 msg: -0.07 phi; 0.06 theta; 1.11 psi 2021-10-10T15:50:38Z- handleDepth()-Depth_Keller msg: 1633881035440 epoch sec; seqNo:1805; depth 0.04 2021-10-10T15:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881035.47 epoch sec; seqNo:1806; 4061556.87 north; 594771.34 east 2021-10-10T15:50:38Z- AHRS_M2 msg: 1633881035.83 epoch sec; seqNo:1769 2021-10-10T15:50:38Z- AHRS_M2 msg: -0.16 phi; 0.00 theta; 1.13 psi 2021-10-10T15:50:38Z- handleDepth()-Depth_Keller msg: 1633881035840 epoch sec; seqNo:1806; depth 0.05 2021-10-10T15:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881035.85 epoch sec; seqNo:1807; 4061556.87 north; 594771.34 east 2021-10-10T15:50:39Z- AHRS_M2 msg: 1633881036.24 epoch sec; seqNo:1770 2021-10-10T15:50:39Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 1.12 psi 2021-10-10T15:50:39Z- handleDepth()-Depth_Keller msg: 1633881036244 epoch sec; seqNo:1807; depth 0.06 2021-10-10T15:50:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:39Z- handleDvl() - RDI_Pathfinder msg: 1633881036.25 epoch sec; seqNo:835 2021-10-10T15:50:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.05 , 0.44 , 0.92 2021-10-10T15:50:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881036.26 epoch sec; seqNo:1808; 4061556.51 north; 594772.56 east 2021-10-10T15:50:39Z- AHRS_M2 msg: 1633881036.65 epoch sec; seqNo:1771 2021-10-10T15:50:39Z- AHRS_M2 msg: -0.16 phi; 0.03 theta; 1.12 psi 2021-10-10T15:50:39Z- handleDepth()-Depth_Keller msg: 1633881036693 epoch sec; seqNo:1808; depth 0.08 2021-10-10T15:50:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881036.74 epoch sec; seqNo:1809; 4061556.13 north; 594772.57 east 2021-10-10T15:50:40Z- AHRS_M2 msg: 1633881037.05 epoch sec; seqNo:1772 2021-10-10T15:50:40Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 1.15 psi 2021-10-10T15:50:40Z- handleDepth()-Depth_Keller msg: 1633881037056 epoch sec; seqNo:1809; depth 0.08 2021-10-10T15:50:40Z- handleDvl() - RDI_Pathfinder msg: 1633881037.09 epoch sec; seqNo:836 2021-10-10T15:50:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.20 , 97.11 , 92.22 , 82.44 2021-10-10T15:50:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.23 , -0.61 2021-10-10T15:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881037.13 epoch sec; seqNo:1810; 4061556.51 north; 594772.56 east 2021-10-10T15:50:40Z- AHRS_M2 msg: 1633881037.45 epoch sec; seqNo:1773 2021-10-10T15:50:40Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 1.18 psi 2021-10-10T15:50:40Z- handleDepth()-Depth_Keller msg: 1633881037460 epoch sec; seqNo:1810; depth 0.10 2021-10-10T15:50:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:40Z- handleDvl() - RDI_Pathfinder msg: 1633881037.46 epoch sec; seqNo:837 2021-10-10T15:50:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , -0.23 , -0.61 2021-10-10T15:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881037.52 epoch sec; seqNo:1811; 4061556.51 north; 594772.56 east 2021-10-10T15:50:40Z- AHRS_M2 msg: 1633881037.85 epoch sec; seqNo:1774 2021-10-10T15:50:40Z- AHRS_M2 msg: -0.00 phi; -0.11 theta; 1.16 psi 2021-10-10T15:50:40Z- handleDepth()-Depth_Keller msg: 1633881037859 epoch sec; seqNo:1811; depth 0.13 2021-10-10T15:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881037.88 epoch sec; seqNo:1812; 4061556.51 north; 594772.56 east 2021-10-10T15:50:41Z- LcmTrn::handleMessages() - handling 41 messages took 0.91 ms and 123 calls... 2021-10-10T15:50:41Z- waiting for 1633881036.09, time is 1633881037.88 2021-10-10T15:50:41Z- LcmTrn::updateTrn() >>>> pose time 1633881037.88, meas time 1633881037.46 <<<< 2021-10-10T15:50:41Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881037.46, ping # 0. 2021-10-10T15:50:41Z- TerrainNav::Measurement type 1 from time = 1633881037.46 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:50:41Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594772.56, 0.13) 2021-10-10T15:50:41Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:41Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:41Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:41Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:41Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:41Z- AHRS_M2 msg: 1633881038.26 epoch sec; seqNo:1775 2021-10-10T15:50:41Z- AHRS_M2 msg: -0.01 phi; -0.09 theta; 1.15 psi 2021-10-10T15:50:41Z- handleDepth()-Depth_Keller msg: 1633881038264 epoch sec; seqNo:1812; depth 0.10 2021-10-10T15:50:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881038.29 epoch sec; seqNo:1813; 4061556.51 north; 594772.56 east 2021-10-10T15:50:41Z- AHRS_M2 msg: 1633881038.67 epoch sec; seqNo:1776 2021-10-10T15:50:41Z- AHRS_M2 msg: 0.03 phi; -0.13 theta; 1.15 psi 2021-10-10T15:50:41Z- handleDepth()-Depth_Keller msg: 1633881038717 epoch sec; seqNo:1813; depth 0.07 2021-10-10T15:50:41Z- handleDvl() - RDI_Pathfinder msg: 1633881038.78 epoch sec; seqNo:838 2021-10-10T15:50:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.71 , 87.20 , 79.12 , 0.00 2021-10-10T15:50:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.40 , 0.11 2021-10-10T15:50:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881038.87 epoch sec; seqNo:1814; 4061556.87 north; 594771.34 east 2021-10-10T15:50:42Z- AHRS_M2 msg: 1633881039.07 epoch sec; seqNo:1777 2021-10-10T15:50:42Z- AHRS_M2 msg: 0.12 phi; -0.16 theta; 1.14 psi 2021-10-10T15:50:42Z- handleDepth()-Depth_Keller msg: 1633881039071 epoch sec; seqNo:1814; depth 0.13 2021-10-10T15:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881039.12 epoch sec; seqNo:1815; 4061556.87 north; 594771.34 east 2021-10-10T15:50:42Z- AHRS_M2 msg: 1633881039.47 epoch sec; seqNo:1778 2021-10-10T15:50:42Z- AHRS_M2 msg: 0.15 phi; -0.12 theta; 1.13 psi 2021-10-10T15:50:42Z- handleDepth()-Depth_Keller msg: 1633881039493 epoch sec; seqNo:1815; depth 0.13 2021-10-10T15:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881039.52 epoch sec; seqNo:1816; 4061556.87 north; 594771.34 east 2021-10-10T15:50:42Z- AHRS_M2 msg: 1633881039.87 epoch sec; seqNo:1779 2021-10-10T15:50:42Z- AHRS_M2 msg: 0.08 phi; -0.06 theta; 1.13 psi 2021-10-10T15:50:42Z- handleDepth()-Depth_Keller msg: 1633881039880 epoch sec; seqNo:1816; depth 0.11 2021-10-10T15:50:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:42Z- handleDvl() - RDI_Pathfinder msg: 1633881039.88 epoch sec; seqNo:839 2021-10-10T15:50:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , -0.40 , 0.11 2021-10-10T15:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881039.91 epoch sec; seqNo:1817; 4061557.25 north; 594771.33 east 2021-10-10T15:50:43Z- AHRS_M2 msg: 1633881040.28 epoch sec; seqNo:1780 2021-10-10T15:50:43Z- AHRS_M2 msg: 0.03 phi; -0.07 theta; 1.17 psi 2021-10-10T15:50:43Z- handleDepth()-Depth_Keller msg: 1633881040284 epoch sec; seqNo:1817; depth 0.05 2021-10-10T15:50:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881040.33 epoch sec; seqNo:1818; 4061557.25 north; 594771.33 east 2021-10-10T15:50:43Z- AHRS_M2 msg: 1633881040.74 epoch sec; seqNo:1781 2021-10-10T15:50:43Z- AHRS_M2 msg: 0.04 phi; -0.05 theta; 1.16 psi 2021-10-10T15:50:43Z- handleDepth()-Depth_Keller msg: 1633881040752 epoch sec; seqNo:1818; depth 0.04 2021-10-10T15:50:43Z- handleDvl() - RDI_Pathfinder msg: 1633881040.84 epoch sec; seqNo:840 2021-10-10T15:50:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 88.15 , 83.80 , 84.89 , 83.80 2021-10-10T15:50:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.16 , 0.27 2021-10-10T15:50:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881040.89 epoch sec; seqNo:1819; 4061557.25 north; 594771.33 east 2021-10-10T15:50:44Z- AHRS_M2 msg: 1633881041.09 epoch sec; seqNo:1782 2021-10-10T15:50:44Z- AHRS_M2 msg: 0.09 phi; -0.01 theta; 1.14 psi 2021-10-10T15:50:44Z- handleDepth()-Depth_Keller msg: 1633881041096 epoch sec; seqNo:1819; depth 0.04 2021-10-10T15:50:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:44Z- handleDvl() - RDI_Pathfinder msg: 1633881041.10 epoch sec; seqNo:841 2021-10-10T15:50:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.16 , 0.27 2021-10-10T15:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881041.17 epoch sec; seqNo:1820; 4061557.25 north; 594771.33 east 2021-10-10T15:50:44Z- AHRS_M2 msg: 1633881041.49 epoch sec; seqNo:1783 2021-10-10T15:50:44Z- AHRS_M2 msg: 0.10 phi; -0.01 theta; 1.11 psi 2021-10-10T15:50:44Z- handleDepth()-Depth_Keller msg: 1633881041496 epoch sec; seqNo:1820; depth 0.06 2021-10-10T15:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881041.54 epoch sec; seqNo:1821; 4061557.25 north; 594771.33 east 2021-10-10T15:50:44Z- AHRS_M2 msg: 1633881041.89 epoch sec; seqNo:1784 2021-10-10T15:50:44Z- AHRS_M2 msg: 0.06 phi; -0.01 theta; 1.09 psi 2021-10-10T15:50:44Z- handleDepth()-Depth_Keller msg: 1633881041900 epoch sec; seqNo:1821; depth 0.06 2021-10-10T15:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881041.96 epoch sec; seqNo:1822; 4061557.25 north; 594771.33 east 2021-10-10T15:50:45Z- AHRS_M2 msg: 1633881042.30 epoch sec; seqNo:1785 2021-10-10T15:50:45Z- AHRS_M2 msg: -0.02 phi; 0.00 theta; 1.09 psi 2021-10-10T15:50:45Z- handleDepth()-Depth_Keller msg: 1633881042308 epoch sec; seqNo:1822; depth 0.05 2021-10-10T15:50:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:45Z- handleDvl() - RDI_Pathfinder msg: 1633881042.31 epoch sec; seqNo:842 2021-10-10T15:50:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.10 , -0.16 , 0.27 2021-10-10T15:50:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881042.37 epoch sec; seqNo:1823; 4061557.63 north; 594771.33 east 2021-10-10T15:50:45Z- AHRS_M2 msg: 1633881042.74 epoch sec; seqNo:1786 2021-10-10T15:50:45Z- AHRS_M2 msg: -0.08 phi; -0.00 theta; 1.10 psi 2021-10-10T15:50:45Z- handleDepth()-Depth_Keller msg: 1633881042751 epoch sec; seqNo:1823; depth 0.03 2021-10-10T15:50:45Z- handleDvl() - RDI_Pathfinder msg: 1633881042.83 epoch sec; seqNo:843 2021-10-10T15:50:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.04 , 86.04 , 88.49 , 82.37 2021-10-10T15:50:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.62 , 0.13 2021-10-10T15:50:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881042.88 epoch sec; seqNo:1824; 4061557.25 north; 594771.33 east 2021-10-10T15:50:46Z- AHRS_M2 msg: 1633881043.10 epoch sec; seqNo:1787 2021-10-10T15:50:46Z- AHRS_M2 msg: -0.12 phi; 0.00 theta; 1.13 psi 2021-10-10T15:50:46Z- handleDepth()-Depth_Keller msg: 1633881043112 epoch sec; seqNo:1824; depth 0.04 2021-10-10T15:50:46Z- LcmTrn::handleMessages() - handling 44 messages took 1.06 ms and 122 calls... 2021-10-10T15:50:46Z- waiting for 1633881040.88, time is 1633881043.10 2021-10-10T15:50:46Z- LcmTrn::updateTrn() >>>> pose time 1633881043.10, meas time 1633881042.83 <<<< 2021-10-10T15:50:46Z- TerrainNav::Measurement type 1 from time = 1633881042.83 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:50:46Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594771.33, 0.04) 2021-10-10T15:50:46Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:46Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:46Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:46Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:46Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881043.15 epoch sec; seqNo:1825; 4061556.87 north; 594771.34 east 2021-10-10T15:50:46Z- AHRS_M2 msg: 1633881043.52 epoch sec; seqNo:1788 2021-10-10T15:50:46Z- AHRS_M2 msg: -0.13 phi; 0.01 theta; 1.15 psi 2021-10-10T15:50:46Z- handleDepth()-Depth_Keller msg: 1633881043529 epoch sec; seqNo:1825; depth 0.06 2021-10-10T15:50:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:46Z- handleDvl() - RDI_Pathfinder msg: 1633881043.53 epoch sec; seqNo:844 2021-10-10T15:50:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.62 , 0.13 2021-10-10T15:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881043.55 epoch sec; seqNo:1826; 4061556.87 north; 594771.34 east 2021-10-10T15:50:46Z- AHRS_M2 msg: 1633881043.91 epoch sec; seqNo:1789 2021-10-10T15:50:46Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 1.16 psi 2021-10-10T15:50:46Z- handleDepth()-Depth_Keller msg: 1633881043919 epoch sec; seqNo:1826; depth 0.05 2021-10-10T15:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881043.96 epoch sec; seqNo:1827; 4061556.49 north; 594771.34 east 2021-10-10T15:50:47Z- AHRS_M2 msg: 1633881044.32 epoch sec; seqNo:1790 2021-10-10T15:50:47Z- AHRS_M2 msg: -0.07 phi; -0.08 theta; 1.16 psi 2021-10-10T15:50:47Z- handleDepth()-Depth_Keller msg: 1633881044326 epoch sec; seqNo:1827; depth 0.07 2021-10-10T15:50:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881044.36 epoch sec; seqNo:1828; 4061556.49 north; 594771.34 east 2021-10-10T15:50:47Z- AHRS_M2 msg: 1633881044.74 epoch sec; seqNo:1791 2021-10-10T15:50:47Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 1.18 psi 2021-10-10T15:50:47Z- handleDepth()-Depth_Keller msg: 1633881044753 epoch sec; seqNo:1828; depth 0.08 2021-10-10T15:50:47Z- handleDvl() - RDI_Pathfinder msg: 1633881044.81 epoch sec; seqNo:845 2021-10-10T15:50:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.71 , 92.16 , 84.82 , 82.38 2021-10-10T15:50:47Z- handleDvl() - RDI_Pathfinder msg: velocities -0.42 , -0.61 , -0.49 2021-10-10T15:50:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881044.82 epoch sec; seqNo:1829; 4061556.49 north; 594771.34 east 2021-10-10T15:50:48Z- AHRS_M2 msg: 1633881045.13 epoch sec; seqNo:1792 2021-10-10T15:50:48Z- AHRS_M2 msg: 0.00 phi; -0.01 theta; 1.16 psi 2021-10-10T15:50:48Z- handleDepth()-Depth_Keller msg: 1633881045143 epoch sec; seqNo:1829; depth 0.08 2021-10-10T15:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881045.18 epoch sec; seqNo:1830; 4061556.49 north; 594771.34 east 2021-10-10T15:50:48Z- AHRS_M2 msg: 1633881045.54 epoch sec; seqNo:1793 2021-10-10T15:50:48Z- AHRS_M2 msg: 0.04 phi; 0.04 theta; 1.15 psi 2021-10-10T15:50:48Z- handleDepth()-Depth_Keller msg: 1633881045544 epoch sec; seqNo:1830; depth 0.08 2021-10-10T15:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881045.58 epoch sec; seqNo:1831; 4061556.87 north; 594771.34 east 2021-10-10T15:50:48Z- AHRS_M2 msg: 1633881045.94 epoch sec; seqNo:1794 2021-10-10T15:50:48Z- AHRS_M2 msg: 0.04 phi; 0.01 theta; 1.15 psi 2021-10-10T15:50:48Z- handleDepth()-Depth_Keller msg: 1633881045950 epoch sec; seqNo:1831; depth 0.09 2021-10-10T15:50:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:48Z- handleDvl() - RDI_Pathfinder msg: 1633881045.95 epoch sec; seqNo:846 2021-10-10T15:50:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.42 , -0.61 , -0.49 2021-10-10T15:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881045.99 epoch sec; seqNo:1832; 4061556.86 north; 594770.12 east 2021-10-10T15:50:49Z- AHRS_M2 msg: 1633881046.35 epoch sec; seqNo:1795 2021-10-10T15:50:49Z- AHRS_M2 msg: -0.04 phi; 0.01 theta; 1.16 psi 2021-10-10T15:50:49Z- handleDepth()-Depth_Keller msg: 1633881046356 epoch sec; seqNo:1832; depth 0.07 2021-10-10T15:50:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881046.38 epoch sec; seqNo:1833; 4061557.24 north; 594770.11 east 2021-10-10T15:50:49Z- AHRS_M2 msg: 1633881046.75 epoch sec; seqNo:1796 2021-10-10T15:50:49Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 1.17 psi 2021-10-10T15:50:49Z- handleDepth()-Depth_Keller msg: 1633881046764 epoch sec; seqNo:1833; depth 0.04 2021-10-10T15:50:49Z- handleDvl() - RDI_Pathfinder msg: 1633881046.81 epoch sec; seqNo:847 2021-10-10T15:50:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.89 , 86.11 , 88.55 , 77.88 2021-10-10T15:50:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.20 , 0.12 2021-10-10T15:50:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881046.83 epoch sec; seqNo:1834; 4061557.24 north; 594770.11 east 2021-10-10T15:50:50Z- AHRS_M2 msg: 1633881047.15 epoch sec; seqNo:1797 2021-10-10T15:50:50Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 1.15 psi 2021-10-10T15:50:50Z- handleDepth()-Depth_Keller msg: 1633881047159 epoch sec; seqNo:1834; depth 0.03 2021-10-10T15:50:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:50Z- handleDvl() - RDI_Pathfinder msg: 1633881047.16 epoch sec; seqNo:848 2021-10-10T15:50:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.20 , 0.12 2021-10-10T15:50:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881047.21 epoch sec; seqNo:1835; 4061557.24 north; 594770.11 east 2021-10-10T15:50:50Z- AHRS_M2 msg: 1633881047.56 epoch sec; seqNo:1798 2021-10-10T15:50:50Z- AHRS_M2 msg: -0.01 phi; -0.04 theta; 1.14 psi 2021-10-10T15:50:50Z- handleDepth()-Depth_Keller msg: 1633881047564 epoch sec; seqNo:1835; depth 0.05 2021-10-10T15:50:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881047.59 epoch sec; seqNo:1836; 4061557.24 north; 594770.11 east 2021-10-10T15:50:50Z- AHRS_M2 msg: 1633881047.96 epoch sec; seqNo:1799 2021-10-10T15:50:50Z- AHRS_M2 msg: -0.03 phi; -0.07 theta; 1.12 psi 2021-10-10T15:50:50Z- handleDepth()-Depth_Keller msg: 1633881047972 epoch sec; seqNo:1836; depth 0.06 2021-10-10T15:50:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881047.99 epoch sec; seqNo:1837; 4061557.24 north; 594770.11 east 2021-10-10T15:50:51Z- LcmTrn::handleMessages() - handling 42 messages took 0.79 ms and 126 calls... 2021-10-10T15:50:51Z- waiting for 1633881046.10, time is 1633881047.99 2021-10-10T15:50:51Z- LcmTrn::updateTrn() >>>> pose time 1633881047.99, meas time 1633881047.16 <<<< 2021-10-10T15:50:51Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881047.16, ping # 0. 2021-10-10T15:50:51Z- TerrainNav::Measurement type 1 from time = 1633881047.16 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:50:51Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594770.11, 0.06) 2021-10-10T15:50:51Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:51Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:51Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:51Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:51Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:51Z- AHRS_M2 msg: 1633881048.36 epoch sec; seqNo:1800 2021-10-10T15:50:51Z- AHRS_M2 msg: -0.05 phi; -0.08 theta; 1.10 psi 2021-10-10T15:50:51Z- handleDepth()-Depth_Keller msg: 1633881048372 epoch sec; seqNo:1837; depth 0.06 2021-10-10T15:50:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:51Z- handleDvl() - RDI_Pathfinder msg: 1633881048.37 epoch sec; seqNo:849 2021-10-10T15:50:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , -0.20 , 0.12 2021-10-10T15:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881048.40 epoch sec; seqNo:1838; 4061557.24 north; 594770.11 east 2021-10-10T15:50:51Z- AHRS_M2 msg: 1633881048.77 epoch sec; seqNo:1801 2021-10-10T15:50:51Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 1.11 psi 2021-10-10T15:50:51Z- handleDepth()-Depth_Keller msg: 1633881048776 epoch sec; seqNo:1838; depth 0.07 2021-10-10T15:50:51Z- handleDvl() - RDI_Pathfinder msg: 1633881048.82 epoch sec; seqNo:850 2021-10-10T15:50:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.67 , 88.56 , 84.89 , 79.94 2021-10-10T15:50:51Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , -0.07 , 0.13 2021-10-10T15:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881048.88 epoch sec; seqNo:1839; 4061557.24 north; 594770.11 east 2021-10-10T15:50:52Z- AHRS_M2 msg: 1633881049.17 epoch sec; seqNo:1802 2021-10-10T15:50:52Z- AHRS_M2 msg: -0.07 phi; 0.00 theta; 1.10 psi 2021-10-10T15:50:52Z- handleDepth()-Depth_Keller msg: 1633881049189 epoch sec; seqNo:1839; depth 0.09 2021-10-10T15:50:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881049.22 epoch sec; seqNo:1840; 4061557.22 north; 594768.89 east 2021-10-10T15:50:52Z- AHRS_M2 msg: 1633881049.58 epoch sec; seqNo:1803 2021-10-10T15:50:52Z- AHRS_M2 msg: -0.11 phi; 0.05 theta; 1.12 psi 2021-10-10T15:50:52Z- handleDepth()-Depth_Keller msg: 1633881049584 epoch sec; seqNo:1840; depth 0.09 2021-10-10T15:50:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:52Z- handleDvl() - RDI_Pathfinder msg: 1633881049.59 epoch sec; seqNo:851 2021-10-10T15:50:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.36 , -0.07 , 0.13 2021-10-10T15:50:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881049.63 epoch sec; seqNo:1841; 4061557.22 north; 594768.89 east 2021-10-10T15:50:52Z- AHRS_M2 msg: 1633881050.00 epoch sec; seqNo:1804 2021-10-10T15:50:52Z- AHRS_M2 msg: -0.10 phi; -0.03 theta; 1.13 psi 2021-10-10T15:50:53Z- handleDepth()-Depth_Keller msg: 1633881050035 epoch sec; seqNo:1841; depth 0.06 2021-10-10T15:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881050.05 epoch sec; seqNo:1842; 4061557.22 north; 594768.89 east 2021-10-10T15:50:53Z- AHRS_M2 msg: 1633881050.39 epoch sec; seqNo:1805 2021-10-10T15:50:53Z- AHRS_M2 msg: -0.08 phi; -0.12 theta; 1.12 psi 2021-10-10T15:50:53Z- handleDepth()-Depth_Keller msg: 1633881050396 epoch sec; seqNo:1842; depth 0.05 2021-10-10T15:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881050.41 epoch sec; seqNo:1843; 4061557.22 north; 594768.89 east 2021-10-10T15:50:53Z- AHRS_M2 msg: 1633881050.79 epoch sec; seqNo:1806 2021-10-10T15:50:53Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 1.09 psi 2021-10-10T15:50:53Z- handleDepth()-Depth_Keller msg: 1633881050806 epoch sec; seqNo:1843; depth 0.05 2021-10-10T15:50:53Z- handleDvl() - RDI_Pathfinder msg: 1633881050.86 epoch sec; seqNo:852 2021-10-10T15:50:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.84 , 93.51 , 92.29 , 0.00 2021-10-10T15:50:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.16 , 0.24 2021-10-10T15:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881050.88 epoch sec; seqNo:1844; 4061556.85 north; 594768.90 east 2021-10-10T15:50:54Z- AHRS_M2 msg: 1633881051.19 epoch sec; seqNo:1807 2021-10-10T15:50:54Z- AHRS_M2 msg: -0.00 phi; 0.03 theta; 1.04 psi 2021-10-10T15:50:54Z- handleDepth()-Depth_Keller msg: 1633881051199 epoch sec; seqNo:1844; depth 0.04 2021-10-10T15:50:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881051.23 epoch sec; seqNo:1845; 4061556.85 north; 594768.90 east 2021-10-10T15:50:54Z- AHRS_M2 msg: 1633881051.60 epoch sec; seqNo:1808 2021-10-10T15:50:54Z- AHRS_M2 msg: -0.03 phi; 0.09 theta; 1.03 psi 2021-10-10T15:50:54Z- handleDepth()-Depth_Keller msg: 1633881051604 epoch sec; seqNo:1845; depth 0.06 2021-10-10T15:50:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881051.63 epoch sec; seqNo:1846; 4061556.85 north; 594768.90 east 2021-10-10T15:50:54Z- AHRS_M2 msg: 1633881052.00 epoch sec; seqNo:1809 2021-10-10T15:50:54Z- AHRS_M2 msg: -0.11 phi; 0.08 theta; 1.05 psi 2021-10-10T15:50:54Z- handleDepth()-Depth_Keller msg: 1633881052008 epoch sec; seqNo:1846; depth 0.03 2021-10-10T15:50:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:54Z- handleDvl() - RDI_Pathfinder msg: 1633881052.01 epoch sec; seqNo:853 2021-10-10T15:50:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.16 , 0.24 2021-10-10T15:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881052.04 epoch sec; seqNo:1847; 4061556.47 north; 594768.90 east 2021-10-10T15:50:55Z- AHRS_M2 msg: 1633881052.41 epoch sec; seqNo:1810 2021-10-10T15:50:55Z- AHRS_M2 msg: -0.12 phi; 0.03 theta; 1.09 psi 2021-10-10T15:50:55Z- handleDepth()-Depth_Keller msg: 1633881052423 epoch sec; seqNo:1847; depth 0.01 2021-10-10T15:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881052.46 epoch sec; seqNo:1848; 4061556.47 north; 594768.90 east 2021-10-10T15:50:55Z- AHRS_M2 msg: 1633881052.81 epoch sec; seqNo:1811 2021-10-10T15:50:55Z- AHRS_M2 msg: -0.05 phi; 0.01 theta; 1.12 psi 2021-10-10T15:50:55Z- handleDepth()-Depth_Keller msg: 1633881052816 epoch sec; seqNo:1848; depth 0.06 2021-10-10T15:50:55Z- handleDvl() - RDI_Pathfinder msg: 1633881052.86 epoch sec; seqNo:854 2021-10-10T15:50:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.32 , 91.88 , 99.21 , 75.83 2021-10-10T15:50:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.15 , -0.66 2021-10-10T15:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881052.91 epoch sec; seqNo:1849; 4061556.47 north; 594768.90 east 2021-10-10T15:50:56Z- AHRS_M2 msg: 1633881053.21 epoch sec; seqNo:1812 2021-10-10T15:50:56Z- AHRS_M2 msg: -0.00 phi; 0.01 theta; 1.16 psi 2021-10-10T15:50:56Z- LcmTrn::handleMessages() - handling 43 messages took 0.98 ms and 123 calls... 2021-10-10T15:50:56Z- waiting for 1633881050.99, time is 1633881053.21 2021-10-10T15:50:56Z- LcmTrn::updateTrn() >>>> pose time 1633881053.21, meas time 1633881052.86 <<<< 2021-10-10T15:50:56Z- TerrainNav::Measurement type 1 from time = 1633881052.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:50:56Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594768.90, 0.06) 2021-10-10T15:50:56Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:50:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:50:56Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:50:56Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:50:56Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:50:56Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:50:56Z- handleDepth()-Depth_Keller msg: 1633881053240 epoch sec; seqNo:1849; depth 0.08 2021-10-10T15:50:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:56Z- handleDvl() - RDI_Pathfinder msg: 1633881053.24 epoch sec; seqNo:855 2021-10-10T15:50:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.15 , -0.66 2021-10-10T15:50:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881053.28 epoch sec; seqNo:1850; 4061556.47 north; 594768.90 east 2021-10-10T15:50:56Z- AHRS_M2 msg: 1633881053.62 epoch sec; seqNo:1813 2021-10-10T15:50:56Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 1.15 psi 2021-10-10T15:50:56Z- handleDepth()-Depth_Keller msg: 1633881053628 epoch sec; seqNo:1850; depth 0.08 2021-10-10T15:50:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881053.66 epoch sec; seqNo:1851; 4061556.47 north; 594768.90 east 2021-10-10T15:50:57Z- AHRS_M2 msg: 1633881054.02 epoch sec; seqNo:1814 2021-10-10T15:50:57Z- AHRS_M2 msg: -0.03 phi; -0.08 theta; 1.13 psi 2021-10-10T15:50:57Z- handleDepth()-Depth_Keller msg: 1633881054028 epoch sec; seqNo:1851; depth 0.09 2021-10-10T15:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881054.06 epoch sec; seqNo:1852; 4061556.47 north; 594768.90 east 2021-10-10T15:50:57Z- AHRS_M2 msg: 1633881054.43 epoch sec; seqNo:1815 2021-10-10T15:50:57Z- AHRS_M2 msg: -0.10 phi; -0.08 theta; 1.12 psi 2021-10-10T15:50:57Z- handleDepth()-Depth_Keller msg: 1633881054432 epoch sec; seqNo:1852; depth 0.08 2021-10-10T15:50:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:57Z- handleDvl() - RDI_Pathfinder msg: 1633881054.43 epoch sec; seqNo:856 2021-10-10T15:50:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , 0.15 , -0.66 2021-10-10T15:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881054.48 epoch sec; seqNo:1853; 4061556.47 north; 594768.90 east 2021-10-10T15:50:57Z- AHRS_M2 msg: 1633881054.83 epoch sec; seqNo:1816 2021-10-10T15:50:57Z- AHRS_M2 msg: -0.12 phi; -0.09 theta; 1.12 psi 2021-10-10T15:50:57Z- handleDepth()-Depth_Keller msg: 1633881054839 epoch sec; seqNo:1853; depth 0.08 2021-10-10T15:50:57Z- handleDvl() - RDI_Pathfinder msg: 1633881054.88 epoch sec; seqNo:857 2021-10-10T15:50:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.70 , 88.28 , 79.52 , 84.61 2021-10-10T15:50:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.67 , -0.26 , 0.15 2021-10-10T15:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881054.91 epoch sec; seqNo:1854; 4061556.47 north; 594768.90 east 2021-10-10T15:50:58Z- AHRS_M2 msg: 1633881055.24 epoch sec; seqNo:1817 2021-10-10T15:50:58Z- AHRS_M2 msg: -0.11 phi; -0.14 theta; 1.10 psi 2021-10-10T15:50:58Z- handleDepth()-Depth_Keller msg: 1633881055244 epoch sec; seqNo:1854; depth 0.08 2021-10-10T15:50:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881055.27 epoch sec; seqNo:1855; 4061556.09 north; 594768.91 east 2021-10-10T15:50:58Z- AHRS_M2 msg: 1633881055.64 epoch sec; seqNo:1818 2021-10-10T15:50:58Z- AHRS_M2 msg: -0.04 phi; -0.09 theta; 1.07 psi 2021-10-10T15:50:58Z- handleDepth()-Depth_Keller msg: 1633881055656 epoch sec; seqNo:1855; depth 0.08 2021-10-10T15:50:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:50:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:50:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:50:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:50:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:50:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:50:58Z- handleDvl() - RDI_Pathfinder msg: 1633881055.66 epoch sec; seqNo:858 2021-10-10T15:50:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.67 , -0.26 , 0.15 2021-10-10T15:50:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881055.68 epoch sec; seqNo:1856; 4061556.07 north; 594767.69 east 2021-10-10T15:50:59Z- AHRS_M2 msg: 1633881056.04 epoch sec; seqNo:1819 2021-10-10T15:50:59Z- AHRS_M2 msg: 0.03 phi; 0.00 theta; 1.09 psi 2021-10-10T15:50:59Z- handleDepth()-Depth_Keller msg: 1633881056052 epoch sec; seqNo:1856; depth 0.08 2021-10-10T15:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881056.09 epoch sec; seqNo:1857; 4061556.07 north; 594767.69 east 2021-10-10T15:50:59Z- AHRS_M2 msg: 1633881056.45 epoch sec; seqNo:1820 2021-10-10T15:50:59Z- AHRS_M2 msg: 0.06 phi; -0.02 theta; 1.11 psi 2021-10-10T15:50:59Z- handleDepth()-Depth_Keller msg: 1633881056460 epoch sec; seqNo:1857; depth 0.05 2021-10-10T15:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881056.50 epoch sec; seqNo:1858; 4061556.07 north; 594767.69 east 2021-10-10T15:50:59Z- AHRS_M2 msg: 1633881056.86 epoch sec; seqNo:1821 2021-10-10T15:50:59Z- AHRS_M2 msg: 0.08 phi; -0.08 theta; 1.10 psi 2021-10-10T15:50:59Z- handleDepth()-Depth_Keller msg: 1633881056860 epoch sec; seqNo:1858; depth 0.04 2021-10-10T15:50:59Z- handleDvl() - RDI_Pathfinder msg: 1633881056.88 epoch sec; seqNo:859 2021-10-10T15:50:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:50:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881056.97 epoch sec; seqNo:1859; 4061556.07 north; 594767.69 east 2021-10-10T15:51:00Z- AHRS_M2 msg: 1633881057.26 epoch sec; seqNo:1822 2021-10-10T15:51:00Z- AHRS_M2 msg: 0.07 phi; -0.06 theta; 1.09 psi 2021-10-10T15:51:00Z- handleDepth()-Depth_Keller msg: 1633881057263 epoch sec; seqNo:1859; depth 0.08 2021-10-10T15:51:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881057.31 epoch sec; seqNo:1860; 4061556.06 north; 594766.47 east 2021-10-10T15:51:00Z- AHRS_M2 msg: 1633881057.66 epoch sec; seqNo:1823 2021-10-10T15:51:00Z- AHRS_M2 msg: 0.03 phi; 0.00 theta; 1.10 psi 2021-10-10T15:51:00Z- handleDepth()-Depth_Keller msg: 1633881057668 epoch sec; seqNo:1860; depth 0.08 2021-10-10T15:51:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881057.68 epoch sec; seqNo:1861; 4061556.06 north; 594766.47 east 2021-10-10T15:51:01Z- AHRS_M2 msg: 1633881058.07 epoch sec; seqNo:1824 2021-10-10T15:51:01Z- AHRS_M2 msg: -0.02 phi; 0.02 theta; 1.11 psi 2021-10-10T15:51:01Z- handleDepth()-Depth_Keller msg: 1633881058076 epoch sec; seqNo:1861; depth 0.06 2021-10-10T15:51:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:01Z- handleDvl() - RDI_Pathfinder msg: 1633881058.08 epoch sec; seqNo:860 2021-10-10T15:51:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881058.11 epoch sec; seqNo:1862; 4061556.06 north; 594766.47 east 2021-10-10T15:51:01Z- LcmTrn::handleMessages() - handling 44 messages took 1.00 ms and 124 calls... 2021-10-10T15:51:01Z- waiting for 1633881056.21, time is 1633881058.11 2021-10-10T15:51:01Z- LcmTrn::updateTrn() equating pose 1633881058.11 and meas times 1633881058.11 2021-10-10T15:51:01Z- LcmTrn::updateTrn() >>>> pose time 1633881058.11, meas time 1633881058.11 <<<< 2021-10-10T15:51:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881058.11, ping # 0. 2021-10-10T15:51:01Z- TerrainNav::Measurement type 1 from time = 1633881058.11 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:01Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594766.47, 0.06) 2021-10-10T15:51:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:01Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:01Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:01Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:01Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:01Z- AHRS_M2 msg: 1633881058.47 epoch sec; seqNo:1825 2021-10-10T15:51:01Z- AHRS_M2 msg: -0.07 phi; 0.02 theta; 1.13 psi 2021-10-10T15:51:01Z- handleDepth()-Depth_Keller msg: 1633881058476 epoch sec; seqNo:1862; depth 0.05 2021-10-10T15:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881058.50 epoch sec; seqNo:1863; 4061556.06 north; 594766.47 east 2021-10-10T15:51:01Z- AHRS_M2 msg: 1633881058.87 epoch sec; seqNo:1826 2021-10-10T15:51:01Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 1.13 psi 2021-10-10T15:51:01Z- handleDepth()-Depth_Keller msg: 1633881058880 epoch sec; seqNo:1863; depth 0.06 2021-10-10T15:51:01Z- handleDvl() - RDI_Pathfinder msg: 1633881058.93 epoch sec; seqNo:861 2021-10-10T15:51:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.94 , 86.25 , 87.47 , 80.14 2021-10-10T15:51:01Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.09 , 0.15 2021-10-10T15:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881058.96 epoch sec; seqNo:1864; 4061556.06 north; 594766.47 east 2021-10-10T15:51:02Z- AHRS_M2 msg: 1633881059.28 epoch sec; seqNo:1827 2021-10-10T15:51:02Z- AHRS_M2 msg: -0.13 phi; -0.00 theta; 1.13 psi 2021-10-10T15:51:02Z- handleDepth()-Depth_Keller msg: 1633881059283 epoch sec; seqNo:1864; depth 0.07 2021-10-10T15:51:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:02Z- handleDvl() - RDI_Pathfinder msg: 1633881059.29 epoch sec; seqNo:862 2021-10-10T15:51:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:02Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.09 , 0.15 2021-10-10T15:51:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881059.32 epoch sec; seqNo:1865; 4061555.68 north; 594766.47 east 2021-10-10T15:51:02Z- AHRS_M2 msg: 1633881059.68 epoch sec; seqNo:1828 2021-10-10T15:51:02Z- AHRS_M2 msg: -0.14 phi; -0.04 theta; 1.14 psi 2021-10-10T15:51:02Z- handleDepth()-Depth_Keller msg: 1633881059688 epoch sec; seqNo:1865; depth 0.05 2021-10-10T15:51:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881059.70 epoch sec; seqNo:1866; 4061555.68 north; 594766.47 east 2021-10-10T15:51:03Z- AHRS_M2 msg: 1633881060.09 epoch sec; seqNo:1829 2021-10-10T15:51:03Z- AHRS_M2 msg: -0.08 phi; -0.05 theta; 1.16 psi 2021-10-10T15:51:03Z- handleDepth()-Depth_Keller msg: 1633881060092 epoch sec; seqNo:1866; depth 0.06 2021-10-10T15:51:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881060.11 epoch sec; seqNo:1867; 4061555.68 north; 594766.47 east 2021-10-10T15:51:03Z- AHRS_M2 msg: 1633881060.49 epoch sec; seqNo:1830 2021-10-10T15:51:03Z- AHRS_M2 msg: 0.04 phi; -0.05 theta; 1.15 psi 2021-10-10T15:51:03Z- handleDepth()-Depth_Keller msg: 1633881060501 epoch sec; seqNo:1867; depth 0.06 2021-10-10T15:51:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:03Z- handleDvl() - RDI_Pathfinder msg: 1633881060.51 epoch sec; seqNo:863 2021-10-10T15:51:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.09 , 0.15 2021-10-10T15:51:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881060.53 epoch sec; seqNo:1868; 4061555.68 north; 594766.47 east 2021-10-10T15:51:03Z- AHRS_M2 msg: 1633881060.89 epoch sec; seqNo:1831 2021-10-10T15:51:03Z- AHRS_M2 msg: 0.11 phi; -0.08 theta; 1.11 psi 2021-10-10T15:51:03Z- handleDepth()-Depth_Keller msg: 1633881060900 epoch sec; seqNo:1868; depth 0.05 2021-10-10T15:51:03Z- handleDvl() - RDI_Pathfinder msg: 1633881060.94 epoch sec; seqNo:864 2021-10-10T15:51:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.36 , 98.47 , 85.03 , 82.58 2021-10-10T15:51:03Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.24 , 0.49 2021-10-10T15:51:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881060.97 epoch sec; seqNo:1869; 4061555.67 north; 594765.25 east 2021-10-10T15:51:04Z- AHRS_M2 msg: 1633881061.30 epoch sec; seqNo:1832 2021-10-10T15:51:04Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 1.09 psi 2021-10-10T15:51:04Z- handleDepth()-Depth_Keller msg: 1633881061312 epoch sec; seqNo:1869; depth 0.06 2021-10-10T15:51:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881061.34 epoch sec; seqNo:1870; 4061555.67 north; 594765.25 east 2021-10-10T15:51:04Z- AHRS_M2 msg: 1633881061.70 epoch sec; seqNo:1833 2021-10-10T15:51:04Z- AHRS_M2 msg: 0.14 phi; 0.01 theta; 1.11 psi 2021-10-10T15:51:04Z- handleDepth()-Depth_Keller msg: 1633881061708 epoch sec; seqNo:1870; depth 0.08 2021-10-10T15:51:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:04Z- handleDvl() - RDI_Pathfinder msg: 1633881061.71 epoch sec; seqNo:865 2021-10-10T15:51:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , -0.24 , 0.49 2021-10-10T15:51:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881061.75 epoch sec; seqNo:1871; 4061556.05 north; 594765.25 east 2021-10-10T15:51:05Z- AHRS_M2 msg: 1633881062.10 epoch sec; seqNo:1834 2021-10-10T15:51:05Z- AHRS_M2 msg: 0.06 phi; 0.04 theta; 1.13 psi 2021-10-10T15:51:05Z- handleDepth()-Depth_Keller msg: 1633881062112 epoch sec; seqNo:1871; depth 0.06 2021-10-10T15:51:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881062.15 epoch sec; seqNo:1872; 4061556.05 north; 594765.25 east 2021-10-10T15:51:05Z- AHRS_M2 msg: 1633881062.51 epoch sec; seqNo:1835 2021-10-10T15:51:05Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 1.13 psi 2021-10-10T15:51:05Z- handleDepth()-Depth_Keller msg: 1633881062520 epoch sec; seqNo:1872; depth 0.06 2021-10-10T15:51:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881062.54 epoch sec; seqNo:1873; 4061556.05 north; 594765.25 east 2021-10-10T15:51:05Z- AHRS_M2 msg: 1633881062.91 epoch sec; seqNo:1836 2021-10-10T15:51:05Z- AHRS_M2 msg: -0.17 phi; -0.02 theta; 1.15 psi 2021-10-10T15:51:05Z- handleDepth()-Depth_Keller msg: 1633881062922 epoch sec; seqNo:1873; depth 0.04 2021-10-10T15:51:05Z- handleDvl() - RDI_Pathfinder msg: 1633881062.97 epoch sec; seqNo:866 2021-10-10T15:51:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 84.69 , 92.02 , 79.80 2021-10-10T15:51:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.36 , -0.07 2021-10-10T15:51:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881063.03 epoch sec; seqNo:1874; 4061556.05 north; 594765.25 east 2021-10-10T15:51:06Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T15:51:06Z- waiting for 1633881061.11, time is 1633881063.03 2021-10-10T15:51:06Z- LcmTrn::updateTrn() equating pose 1633881063.03 and meas times 1633881063.03 2021-10-10T15:51:06Z- LcmTrn::updateTrn() >>>> pose time 1633881063.03, meas time 1633881063.03 <<<< 2021-10-10T15:51:06Z- TerrainNav::Measurement type 1 from time = 1633881063.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:51:06Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594765.25, 0.04) 2021-10-10T15:51:06Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:06Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:06Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:06Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:06Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:06Z- AHRS_M2 msg: 1633881063.32 epoch sec; seqNo:1837 2021-10-10T15:51:06Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 1.20 psi 2021-10-10T15:51:06Z- handleDepth()-Depth_Keller msg: 1633881063328 epoch sec; seqNo:1874; depth 0.04 2021-10-10T15:51:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881063.37 epoch sec; seqNo:1875; 4061555.67 north; 594765.25 east 2021-10-10T15:51:06Z- AHRS_M2 msg: 1633881063.73 epoch sec; seqNo:1838 2021-10-10T15:51:06Z- AHRS_M2 msg: -0.09 phi; 0.04 theta; 1.19 psi 2021-10-10T15:51:06Z- handleDepth()-Depth_Keller msg: 1633881063740 epoch sec; seqNo:1875; depth 0.05 2021-10-10T15:51:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881063.77 epoch sec; seqNo:1876; 4061555.67 north; 594765.25 east 2021-10-10T15:51:07Z- AHRS_M2 msg: 1633881064.12 epoch sec; seqNo:1839 2021-10-10T15:51:07Z- AHRS_M2 msg: 0.05 phi; -0.00 theta; 1.22 psi 2021-10-10T15:51:07Z- handleDepth()-Depth_Keller msg: 1633881064132 epoch sec; seqNo:1876; depth 0.05 2021-10-10T15:51:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:07Z- handleDvl() - RDI_Pathfinder msg: 1633881064.13 epoch sec; seqNo:867 2021-10-10T15:51:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:07Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , 0.36 , -0.07 2021-10-10T15:51:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881064.16 epoch sec; seqNo:1877; 4061555.67 north; 594765.25 east 2021-10-10T15:51:07Z- AHRS_M2 msg: 1633881064.53 epoch sec; seqNo:1840 2021-10-10T15:51:07Z- AHRS_M2 msg: 0.18 phi; -0.09 theta; 1.21 psi 2021-10-10T15:51:07Z- handleDepth()-Depth_Keller msg: 1633881064540 epoch sec; seqNo:1877; depth 0.07 2021-10-10T15:51:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881064.57 epoch sec; seqNo:1878; 4061555.29 north; 594765.25 east 2021-10-10T15:51:07Z- AHRS_M2 msg: 1633881064.93 epoch sec; seqNo:1841 2021-10-10T15:51:07Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 1.19 psi 2021-10-10T15:51:07Z- handleDepth()-Depth_Keller msg: 1633881064950 epoch sec; seqNo:1878; depth 0.12 2021-10-10T15:51:08Z- handleDvl() - RDI_Pathfinder msg: 1633881064.98 epoch sec; seqNo:868 2021-10-10T15:51:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.65 , 92.15 , 98.26 , 79.93 2021-10-10T15:51:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.41 , -0.25 2021-10-10T15:51:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881065.05 epoch sec; seqNo:1879; 4061555.29 north; 594765.25 east 2021-10-10T15:51:08Z- AHRS_M2 msg: 1633881065.34 epoch sec; seqNo:1842 2021-10-10T15:51:08Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 1.17 psi 2021-10-10T15:51:08Z- handleDepth()-Depth_Keller msg: 1633881065343 epoch sec; seqNo:1879; depth 0.07 2021-10-10T15:51:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:08Z- handleDvl() - RDI_Pathfinder msg: 1633881065.35 epoch sec; seqNo:869 2021-10-10T15:51:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.41 , -0.25 2021-10-10T15:51:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881065.38 epoch sec; seqNo:1880; 4061555.67 north; 594765.25 east 2021-10-10T15:51:08Z- AHRS_M2 msg: 1633881065.74 epoch sec; seqNo:1843 2021-10-10T15:51:08Z- AHRS_M2 msg: 0.13 phi; -0.06 theta; 1.15 psi 2021-10-10T15:51:08Z- handleDepth()-Depth_Keller msg: 1633881065756 epoch sec; seqNo:1880; depth 0.05 2021-10-10T15:51:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881065.78 epoch sec; seqNo:1881; 4061555.67 north; 594765.25 east 2021-10-10T15:51:09Z- AHRS_M2 msg: 1633881066.14 epoch sec; seqNo:1844 2021-10-10T15:51:09Z- AHRS_M2 msg: 0.10 phi; -0.02 theta; 1.13 psi 2021-10-10T15:51:09Z- handleDepth()-Depth_Keller msg: 1633881066152 epoch sec; seqNo:1881; depth 0.06 2021-10-10T15:51:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881066.18 epoch sec; seqNo:1882; 4061555.67 north; 594765.25 east 2021-10-10T15:51:09Z- AHRS_M2 msg: 1633881066.55 epoch sec; seqNo:1845 2021-10-10T15:51:09Z- AHRS_M2 msg: 0.01 phi; -0.01 theta; 1.13 psi 2021-10-10T15:51:09Z- handleDepth()-Depth_Keller msg: 1633881066556 epoch sec; seqNo:1882; depth 0.07 2021-10-10T15:51:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:09Z- handleDvl() - RDI_Pathfinder msg: 1633881066.56 epoch sec; seqNo:870 2021-10-10T15:51:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.41 , -0.25 2021-10-10T15:51:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881066.60 epoch sec; seqNo:1883; 4061555.67 north; 594765.25 east 2021-10-10T15:51:09Z- AHRS_M2 msg: 1633881066.95 epoch sec; seqNo:1846 2021-10-10T15:51:09Z- AHRS_M2 msg: -0.09 phi; -0.06 theta; 1.12 psi 2021-10-10T15:51:09Z- handleDepth()-Depth_Keller msg: 1633881066968 epoch sec; seqNo:1883; depth 0.06 2021-10-10T15:51:10Z- handleDvl() - RDI_Pathfinder msg: 1633881067.01 epoch sec; seqNo:871 2021-10-10T15:51:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:51:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881067.04 epoch sec; seqNo:1884; 4061556.03 north; 594764.02 east 2021-10-10T15:51:10Z- AHRS_M2 msg: 1633881067.36 epoch sec; seqNo:1847 2021-10-10T15:51:10Z- AHRS_M2 msg: -0.15 phi; -0.07 theta; 1.12 psi 2021-10-10T15:51:10Z- handleDepth()-Depth_Keller msg: 1633881067372 epoch sec; seqNo:1884; depth 0.03 2021-10-10T15:51:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881067.41 epoch sec; seqNo:1885; 4061556.03 north; 594764.02 east 2021-10-10T15:51:10Z- AHRS_M2 msg: 1633881067.76 epoch sec; seqNo:1848 2021-10-10T15:51:10Z- AHRS_M2 msg: -0.16 phi; -0.00 theta; 1.12 psi 2021-10-10T15:51:10Z- handleDepth()-Depth_Keller msg: 1633881067768 epoch sec; seqNo:1885; depth 0.05 2021-10-10T15:51:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:10Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:10Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:10Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:10Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:10Z- handleDvl() - RDI_Pathfinder msg: 1633881067.77 epoch sec; seqNo:872 2021-10-10T15:51:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:51:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881067.79 epoch sec; seqNo:1886; 4061556.03 north; 594764.02 east 2021-10-10T15:51:11Z- AHRS_M2 msg: 1633881068.16 epoch sec; seqNo:1849 2021-10-10T15:51:11Z- AHRS_M2 msg: -0.15 phi; 0.02 theta; 1.11 psi 2021-10-10T15:51:11Z- handleDepth()-Depth_Keller msg: 1633881068175 epoch sec; seqNo:1886; depth 0.07 2021-10-10T15:51:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881068.19 epoch sec; seqNo:1887; 4061556.41 north; 594764.02 east 2021-10-10T15:51:11Z- LcmTrn::handleMessages() - handling 45 messages took 0.87 ms and 127 calls... 2021-10-10T15:51:11Z- waiting for 1633881066.03, time is 1633881068.19 2021-10-10T15:51:11Z- LcmTrn::updateTrn() >>>> pose time 1633881068.19, meas time 1633881067.77 <<<< 2021-10-10T15:51:11Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881067.77, ping # 0. 2021-10-10T15:51:11Z- TerrainNav::Measurement type 1 from time = 1633881067.77 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:11Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594764.02, 0.07) 2021-10-10T15:51:11Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:11Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:11Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:11Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:11Z- AHRS_M2 msg: 1633881068.57 epoch sec; seqNo:1850 2021-10-10T15:51:11Z- AHRS_M2 msg: -0.12 phi; 0.01 theta; 1.09 psi 2021-10-10T15:51:11Z- handleDepth()-Depth_Keller msg: 1633881068576 epoch sec; seqNo:1887; depth 0.06 2021-10-10T15:51:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881068.61 epoch sec; seqNo:1888; 4061556.41 north; 594764.02 east 2021-10-10T15:51:11Z- AHRS_M2 msg: 1633881068.97 epoch sec; seqNo:1851 2021-10-10T15:51:11Z- AHRS_M2 msg: -0.08 phi; -0.02 theta; 1.10 psi 2021-10-10T15:51:11Z- handleDepth()-Depth_Keller msg: 1633881068980 epoch sec; seqNo:1888; depth 0.04 2021-10-10T15:51:12Z- handleDvl() - RDI_Pathfinder msg: 1633881069.02 epoch sec; seqNo:873 2021-10-10T15:51:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.20 , 96.03 , 93.31 , 82.44 2021-10-10T15:51:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.05 , -0.09 2021-10-10T15:51:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881069.11 epoch sec; seqNo:1889; 4061556.41 north; 594764.02 east 2021-10-10T15:51:12Z- AHRS_M2 msg: 1633881069.38 epoch sec; seqNo:1852 2021-10-10T15:51:12Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.14 psi 2021-10-10T15:51:12Z- handleDepth()-Depth_Keller msg: 1633881069383 epoch sec; seqNo:1889; depth 0.04 2021-10-10T15:51:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881069.43 epoch sec; seqNo:1890; 4061556.41 north; 594764.02 east 2021-10-10T15:51:12Z- AHRS_M2 msg: 1633881069.78 epoch sec; seqNo:1853 2021-10-10T15:51:12Z- AHRS_M2 msg: 0.00 phi; 0.03 theta; 1.12 psi 2021-10-10T15:51:12Z- handleDepth()-Depth_Keller msg: 1633881069792 epoch sec; seqNo:1890; depth 0.06 2021-10-10T15:51:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881069.81 epoch sec; seqNo:1891; 4061556.41 north; 594764.02 east 2021-10-10T15:51:13Z- AHRS_M2 msg: 1633881070.18 epoch sec; seqNo:1854 2021-10-10T15:51:13Z- AHRS_M2 msg: -0.03 phi; 0.08 theta; 1.11 psi 2021-10-10T15:51:13Z- handleDepth()-Depth_Keller msg: 1633881070192 epoch sec; seqNo:1891; depth 0.06 2021-10-10T15:51:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:13Z- handleDvl() - RDI_Pathfinder msg: 1633881070.19 epoch sec; seqNo:874 2021-10-10T15:51:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , 0.05 , -0.09 2021-10-10T15:51:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881070.22 epoch sec; seqNo:1892; 4061556.41 north; 594764.02 east 2021-10-10T15:51:13Z- AHRS_M2 msg: 1633881070.59 epoch sec; seqNo:1855 2021-10-10T15:51:13Z- AHRS_M2 msg: -0.07 phi; 0.08 theta; 1.15 psi 2021-10-10T15:51:13Z- handleDepth()-Depth_Keller msg: 1633881070596 epoch sec; seqNo:1892; depth 0.04 2021-10-10T15:51:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881070.63 epoch sec; seqNo:1893; 4061556.41 north; 594764.02 east 2021-10-10T15:51:13Z- AHRS_M2 msg: 1633881070.99 epoch sec; seqNo:1856 2021-10-10T15:51:13Z- AHRS_M2 msg: -0.10 phi; -0.01 theta; 1.16 psi 2021-10-10T15:51:13Z- handleDepth()-Depth_Keller msg: 1633881071000 epoch sec; seqNo:1893; depth 0.06 2021-10-10T15:51:14Z- handleDvl() - RDI_Pathfinder msg: 1633881071.04 epoch sec; seqNo:875 2021-10-10T15:51:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.75 , 87.20 , 92.09 , 75.43 2021-10-10T15:51:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.28 , -0.70 2021-10-10T15:51:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881071.08 epoch sec; seqNo:1894; 4061556.41 north; 594764.02 east 2021-10-10T15:51:14Z- AHRS_M2 msg: 1633881071.40 epoch sec; seqNo:1857 2021-10-10T15:51:14Z- AHRS_M2 msg: -0.10 phi; -0.09 theta; 1.12 psi 2021-10-10T15:51:14Z- handleDepth()-Depth_Keller msg: 1633881071403 epoch sec; seqNo:1894; depth 0.06 2021-10-10T15:51:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:14Z- handleDvl() - RDI_Pathfinder msg: 1633881071.41 epoch sec; seqNo:876 2021-10-10T15:51:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:14Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.28 , -0.70 2021-10-10T15:51:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881071.46 epoch sec; seqNo:1895; 4061556.79 north; 594764.02 east 2021-10-10T15:51:14Z- AHRS_M2 msg: 1633881071.80 epoch sec; seqNo:1858 2021-10-10T15:51:14Z- AHRS_M2 msg: -0.08 phi; -0.10 theta; 1.11 psi 2021-10-10T15:51:14Z- handleDepth()-Depth_Keller msg: 1633881071808 epoch sec; seqNo:1895; depth 0.09 2021-10-10T15:51:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881071.84 epoch sec; seqNo:1896; 4061556.79 north; 594764.02 east 2021-10-10T15:51:15Z- AHRS_M2 msg: 1633881072.20 epoch sec; seqNo:1859 2021-10-10T15:51:15Z- AHRS_M2 msg: -0.07 phi; -0.01 theta; 1.12 psi 2021-10-10T15:51:15Z- handleDepth()-Depth_Keller msg: 1633881072212 epoch sec; seqNo:1896; depth 0.10 2021-10-10T15:51:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881072.22 epoch sec; seqNo:1897; 4061556.79 north; 594764.02 east 2021-10-10T15:51:15Z- AHRS_M2 msg: 1633881072.62 epoch sec; seqNo:1860 2021-10-10T15:51:15Z- AHRS_M2 msg: -0.08 phi; 0.02 theta; 1.14 psi 2021-10-10T15:51:15Z- handleDepth()-Depth_Keller msg: 1633881072624 epoch sec; seqNo:1897; depth 0.07 2021-10-10T15:51:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:15Z- handleDvl() - RDI_Pathfinder msg: 1633881072.63 epoch sec; seqNo:877 2021-10-10T15:51:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:15Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.28 , -0.70 2021-10-10T15:51:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881072.71 epoch sec; seqNo:1898; 4061557.17 north; 594764.01 east 2021-10-10T15:51:15Z- AHRS_M2 msg: 1633881073.01 epoch sec; seqNo:1861 2021-10-10T15:51:16Z- AHRS_M2 msg: -0.07 phi; -0.03 theta; 1.14 psi 2021-10-10T15:51:16Z- handleDepth()-Depth_Keller msg: 1633881073025 epoch sec; seqNo:1898; depth 0.06 2021-10-10T15:51:16Z- handleDvl() - RDI_Pathfinder msg: 1633881073.06 epoch sec; seqNo:878 2021-10-10T15:51:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:51:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881073.10 epoch sec; seqNo:1899; 4061557.17 north; 594764.01 east 2021-10-10T15:51:16Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T15:51:16Z- waiting for 1633881071.19, time is 1633881073.10 2021-10-10T15:51:16Z- LcmTrn::updateTrn() equating pose 1633881073.10 and meas times 1633881073.10 2021-10-10T15:51:16Z- LcmTrn::updateTrn() >>>> pose time 1633881073.10, meas time 1633881073.10 <<<< 2021-10-10T15:51:16Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881073.10, ping # 0. 2021-10-10T15:51:16Z- TerrainNav::Measurement type 1 from time = 1633881073.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:16Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594764.01, 0.06) 2021-10-10T15:51:16Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:16Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:16Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:16Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:16Z- AHRS_M2 msg: 1633881073.42 epoch sec; seqNo:1862 2021-10-10T15:51:16Z- AHRS_M2 msg: -0.02 phi; -0.06 theta; 1.12 psi 2021-10-10T15:51:16Z- handleDepth()-Depth_Keller msg: 1633881073424 epoch sec; seqNo:1899; depth 0.07 2021-10-10T15:51:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881073.49 epoch sec; seqNo:1900; 4061557.17 north; 594764.01 east 2021-10-10T15:51:16Z- AHRS_M2 msg: 1633881073.82 epoch sec; seqNo:1863 2021-10-10T15:51:16Z- AHRS_M2 msg: 0.00 phi; -0.05 theta; 1.09 psi 2021-10-10T15:51:16Z- handleDepth()-Depth_Keller msg: 1633881073828 epoch sec; seqNo:1900; depth 0.05 2021-10-10T15:51:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:16Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:16Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:16Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:16Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:16Z- handleDvl() - RDI_Pathfinder msg: 1633881073.83 epoch sec; seqNo:879 2021-10-10T15:51:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:51:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881073.88 epoch sec; seqNo:1901; 4061557.17 north; 594764.01 east 2021-10-10T15:51:17Z- AHRS_M2 msg: 1633881074.23 epoch sec; seqNo:1864 2021-10-10T15:51:17Z- AHRS_M2 msg: 0.06 phi; -0.06 theta; 1.08 psi 2021-10-10T15:51:17Z- handleDepth()-Depth_Keller msg: 1633881074230 epoch sec; seqNo:1901; depth 0.04 2021-10-10T15:51:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881074.24 epoch sec; seqNo:1902; 4061557.16 north; 594762.79 east 2021-10-10T15:51:17Z- AHRS_M2 msg: 1633881074.63 epoch sec; seqNo:1865 2021-10-10T15:51:17Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 1.05 psi 2021-10-10T15:51:17Z- handleDepth()-Depth_Keller msg: 1633881074641 epoch sec; seqNo:1902; depth 0.05 2021-10-10T15:51:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881074.75 epoch sec; seqNo:1903; 4061557.54 north; 594762.79 east 2021-10-10T15:51:18Z- AHRS_M2 msg: 1633881075.03 epoch sec; seqNo:1866 2021-10-10T15:51:18Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 1.03 psi 2021-10-10T15:51:18Z- handleDepth()-Depth_Keller msg: 1633881075040 epoch sec; seqNo:1903; depth 0.05 2021-10-10T15:51:18Z- handleDvl() - RDI_Pathfinder msg: 1633881075.26 epoch sec; seqNo:880 2021-10-10T15:51:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.89 , 84.89 , 0.00 , 82.44 2021-10-10T15:51:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.00 , -0.06 , 0.83 2021-10-10T15:51:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881075.38 epoch sec; seqNo:1904; 4061557.54 north; 594762.79 east 2021-10-10T15:51:18Z- AHRS_M2 msg: 1633881075.63 epoch sec; seqNo:1867 2021-10-10T15:51:18Z- AHRS_M2 msg: -0.11 phi; 0.02 theta; 1.03 psi 2021-10-10T15:51:18Z- handleDepth()-Depth_Keller msg: 1633881075633 epoch sec; seqNo:1904; depth 0.04 2021-10-10T15:51:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881075.71 epoch sec; seqNo:1905; 4061557.54 north; 594762.79 east 2021-10-10T15:51:18Z- handleDepth()-Depth_Keller msg: 1633881075955 epoch sec; seqNo:1905; depth 0.01 2021-10-10T15:51:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881076.05 epoch sec; seqNo:1906; 4061557.54 north; 594762.79 east 2021-10-10T15:51:19Z- AHRS_M2 msg: 1633881076.35 epoch sec; seqNo:1868 2021-10-10T15:51:19Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 1.10 psi 2021-10-10T15:51:19Z- handleDepth()-Depth_Keller msg: 1633881076373 epoch sec; seqNo:1906; depth 0.02 2021-10-10T15:51:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:19Z- handleDvl() - RDI_Pathfinder msg: 1633881076.38 epoch sec; seqNo:881 2021-10-10T15:51:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:19Z- handleDvl() - RDI_Pathfinder msg: velocities -0.00 , -0.06 , 0.83 2021-10-10T15:51:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881076.53 epoch sec; seqNo:1907; 4061557.54 north; 594762.79 east 2021-10-10T15:51:19Z- AHRS_M2 msg: 1633881076.90 epoch sec; seqNo:1869 2021-10-10T15:51:19Z- AHRS_M2 msg: -0.09 phi; -0.00 theta; 1.08 psi 2021-10-10T15:51:19Z- handleDepth()-Depth_Keller msg: 1633881076948 epoch sec; seqNo:1907; depth 0.05 2021-10-10T15:51:20Z- handleDvl() - RDI_Pathfinder msg: 1633881077.03 epoch sec; seqNo:882 2021-10-10T15:51:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.07 , 93.51 , 0.00 , 79.53 2021-10-10T15:51:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.66 , -0.53 2021-10-10T15:51:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881077.10 epoch sec; seqNo:1908; 4061557.17 north; 594764.01 east 2021-10-10T15:51:20Z- AHRS_M2 msg: 1633881077.58 epoch sec; seqNo:1870 2021-10-10T15:51:20Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.07 psi 2021-10-10T15:51:20Z- handleDepth()-Depth_Keller msg: 1633881077611 epoch sec; seqNo:1908; depth 0.05 2021-10-10T15:51:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:20Z- handleDvl() - RDI_Pathfinder msg: 1633881077.61 epoch sec; seqNo:883 2021-10-10T15:51:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.15 , 0.66 , -0.53 2021-10-10T15:51:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881077.66 epoch sec; seqNo:1909; 4061556.79 north; 594764.02 east 2021-10-10T15:51:20Z- AHRS_M2 msg: 1633881077.95 epoch sec; seqNo:1871 2021-10-10T15:51:20Z- AHRS_M2 msg: -0.05 phi; -0.02 theta; 1.08 psi 2021-10-10T15:51:20Z- handleDepth()-Depth_Keller msg: 1633881077956 epoch sec; seqNo:1909; depth 0.07 2021-10-10T15:51:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881077.98 epoch sec; seqNo:1910; 4061556.79 north; 594764.02 east 2021-10-10T15:51:21Z- LcmTrn::handleMessages() - handling 37 messages took 0.88 ms and 119 calls... 2021-10-10T15:51:21Z- waiting for 1633881076.10, time is 1633881077.98 2021-10-10T15:51:21Z- LcmTrn::updateTrn() >>>> pose time 1633881077.98, meas time 1633881077.61 <<<< 2021-10-10T15:51:21Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881077.61, ping # 0. 2021-10-10T15:51:21Z- TerrainNav::Measurement type 1 from time = 1633881077.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:21Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594764.02, 0.07) 2021-10-10T15:51:21Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:21Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:21Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:21Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:21Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:21Z- AHRS_M2 msg: 1633881078.35 epoch sec; seqNo:1872 2021-10-10T15:51:21Z- AHRS_M2 msg: -0.11 phi; -0.05 theta; 1.11 psi 2021-10-10T15:51:21Z- handleDepth()-Depth_Keller msg: 1633881078360 epoch sec; seqNo:1910; depth 0.05 2021-10-10T15:51:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881078.40 epoch sec; seqNo:1911; 4061556.41 north; 594764.02 east 2021-10-10T15:51:21Z- AHRS_M2 msg: 1633881078.76 epoch sec; seqNo:1873 2021-10-10T15:51:21Z- AHRS_M2 msg: -0.11 phi; -0.03 theta; 1.12 psi 2021-10-10T15:51:21Z- handleDepth()-Depth_Keller msg: 1633881078764 epoch sec; seqNo:1911; depth 0.04 2021-10-10T15:51:21Z- handleDvl() - RDI_Pathfinder msg: 1633881078.82 epoch sec; seqNo:884 2021-10-10T15:51:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.44 , 87.33 , 87.33 , 77.07 2021-10-10T15:51:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.01 , -0.85 2021-10-10T15:51:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881078.84 epoch sec; seqNo:1912; 4061556.41 north; 594764.02 east 2021-10-10T15:51:22Z- AHRS_M2 msg: 1633881079.16 epoch sec; seqNo:1874 2021-10-10T15:51:22Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 1.12 psi 2021-10-10T15:51:22Z- handleDepth()-Depth_Keller msg: 1633881079171 epoch sec; seqNo:1912; depth 0.05 2021-10-10T15:51:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881079.20 epoch sec; seqNo:1913; 4061556.41 north; 594764.02 east 2021-10-10T15:51:22Z- AHRS_M2 msg: 1633881079.57 epoch sec; seqNo:1875 2021-10-10T15:51:22Z- AHRS_M2 msg: -0.05 phi; -0.00 theta; 1.12 psi 2021-10-10T15:51:22Z- handleDepth()-Depth_Keller msg: 1633881079572 epoch sec; seqNo:1913; depth 0.05 2021-10-10T15:51:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881079.62 epoch sec; seqNo:1914; 4061556.41 north; 594764.02 east 2021-10-10T15:51:22Z- AHRS_M2 msg: 1633881079.97 epoch sec; seqNo:1876 2021-10-10T15:51:22Z- AHRS_M2 msg: 0.02 phi; -0.07 theta; 1.10 psi 2021-10-10T15:51:22Z- handleDepth()-Depth_Keller msg: 1633881079980 epoch sec; seqNo:1914; depth 0.06 2021-10-10T15:51:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:22Z- handleDvl() - RDI_Pathfinder msg: 1633881079.98 epoch sec; seqNo:885 2021-10-10T15:51:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.27 , -0.01 , -0.85 2021-10-10T15:51:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881080.03 epoch sec; seqNo:1915; 4061556.41 north; 594764.02 east 2021-10-10T15:51:23Z- AHRS_M2 msg: 1633881080.37 epoch sec; seqNo:1877 2021-10-10T15:51:23Z- AHRS_M2 msg: 0.04 phi; -0.08 theta; 1.09 psi 2021-10-10T15:51:23Z- handleDepth()-Depth_Keller msg: 1633881080384 epoch sec; seqNo:1915; depth 0.07 2021-10-10T15:51:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881080.42 epoch sec; seqNo:1916; 4061556.41 north; 594764.02 east 2021-10-10T15:51:23Z- handleDepth()-Depth_Keller msg: 1633881080792 epoch sec; seqNo:1916; depth 0.07 2021-10-10T15:51:23Z- handleDvl() - RDI_Pathfinder msg: 1633881080.84 epoch sec; seqNo:886 2021-10-10T15:51:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 84.96 , 84.96 , 80.07 2021-10-10T15:51:23Z- handleDvl() - RDI_Pathfinder msg: velocities -0.82 , -0.74 , 0.01 2021-10-10T15:51:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881080.88 epoch sec; seqNo:1917; 4061556.40 north; 594762.80 east 2021-10-10T15:51:24Z- AHRS_M2 msg: 1633881081.18 epoch sec; seqNo:1878 2021-10-10T15:51:24Z- AHRS_M2 msg: 0.08 phi; -0.07 theta; 1.07 psi 2021-10-10T15:51:24Z- handleDepth()-Depth_Keller msg: 1633881081192 epoch sec; seqNo:1917; depth 0.05 2021-10-10T15:51:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:24Z- handleDvl() - RDI_Pathfinder msg: 1633881081.19 epoch sec; seqNo:887 2021-10-10T15:51:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:24Z- handleDvl() - RDI_Pathfinder msg: velocities -0.82 , -0.74 , 0.01 2021-10-10T15:51:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881081.22 epoch sec; seqNo:1918; 4061556.78 north; 594762.80 east 2021-10-10T15:51:24Z- AHRS_M2 msg: 1633881081.59 epoch sec; seqNo:1879 2021-10-10T15:51:24Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 1.03 psi 2021-10-10T15:51:24Z- handleDepth()-Depth_Keller msg: 1633881081596 epoch sec; seqNo:1918; depth 0.06 2021-10-10T15:51:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881081.63 epoch sec; seqNo:1919; 4061556.78 north; 594762.80 east 2021-10-10T15:51:24Z- AHRS_M2 msg: 1633881081.99 epoch sec; seqNo:1880 2021-10-10T15:51:24Z- AHRS_M2 msg: 0.05 phi; -0.00 theta; 1.01 psi 2021-10-10T15:51:24Z- handleDepth()-Depth_Keller msg: 1633881081996 epoch sec; seqNo:1919; depth 0.06 2021-10-10T15:51:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881082.04 epoch sec; seqNo:1920; 4061556.76 north; 594761.58 east 2021-10-10T15:51:25Z- AHRS_M2 msg: 1633881082.39 epoch sec; seqNo:1881 2021-10-10T15:51:25Z- AHRS_M2 msg: -0.00 phi; 0.00 theta; 0.99 psi 2021-10-10T15:51:25Z- handleDepth()-Depth_Keller msg: 1633881082400 epoch sec; seqNo:1920; depth 0.03 2021-10-10T15:51:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:25Z- handleDvl() - RDI_Pathfinder msg: 1633881082.40 epoch sec; seqNo:888 2021-10-10T15:51:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:25Z- handleDvl() - RDI_Pathfinder msg: velocities -0.82 , -0.74 , 0.01 2021-10-10T15:51:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881082.45 epoch sec; seqNo:1921; 4061556.76 north; 594761.58 east 2021-10-10T15:51:25Z- AHRS_M2 msg: 1633881082.80 epoch sec; seqNo:1882 2021-10-10T15:51:25Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 0.96 psi 2021-10-10T15:51:25Z- handleDepth()-Depth_Keller msg: 1633881082807 epoch sec; seqNo:1921; depth 0.05 2021-10-10T15:51:25Z- handleDvl() - RDI_Pathfinder msg: 1633881082.84 epoch sec; seqNo:889 2021-10-10T15:51:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.47 , 78.71 , 86.25 , 79.12 2021-10-10T15:51:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.09 , 0.17 , 0.79 2021-10-10T15:51:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881082.92 epoch sec; seqNo:1922; 4061556.76 north; 594761.58 east 2021-10-10T15:51:26Z- AHRS_M2 msg: 1633881083.20 epoch sec; seqNo:1883 2021-10-10T15:51:26Z- AHRS_M2 msg: -0.14 phi; -0.02 theta; 0.99 psi 2021-10-10T15:51:26Z- handleDepth()-Depth_Keller msg: 1633881083208 epoch sec; seqNo:1922; depth 0.03 2021-10-10T15:51:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881083.24 epoch sec; seqNo:1923; 4061556.76 north; 594761.58 east 2021-10-10T15:51:26Z- LcmTrn::handleMessages() - handling 44 messages took 0.80 ms and 128 calls... 2021-10-10T15:51:26Z- waiting for 1633881080.98, time is 1633881083.24 2021-10-10T15:51:26Z- LcmTrn::updateTrn() >>>> pose time 1633881083.24, meas time 1633881082.84 <<<< 2021-10-10T15:51:26Z- TerrainNav::Measurement type 1 from time = 1633881082.84 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:51:26Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594761.58, 0.03) 2021-10-10T15:51:26Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:26Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:26Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:26Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:26Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:26Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:26Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:26Z- AHRS_M2 msg: 1633881083.61 epoch sec; seqNo:1884 2021-10-10T15:51:26Z- AHRS_M2 msg: -0.17 phi; 0.06 theta; 1.03 psi 2021-10-10T15:51:26Z- handleDepth()-Depth_Keller msg: 1633881083616 epoch sec; seqNo:1923; depth 0.04 2021-10-10T15:51:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:26Z- handleDvl() - RDI_Pathfinder msg: 1633881083.62 epoch sec; seqNo:890 2021-10-10T15:51:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.09 , 0.17 , 0.79 2021-10-10T15:51:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881083.66 epoch sec; seqNo:1924; 4061556.76 north; 594761.58 east 2021-10-10T15:51:27Z- AHRS_M2 msg: 1633881084.01 epoch sec; seqNo:1885 2021-10-10T15:51:27Z- AHRS_M2 msg: -0.13 phi; 0.08 theta; 1.03 psi 2021-10-10T15:51:27Z- handleDepth()-Depth_Keller msg: 1633881084028 epoch sec; seqNo:1924; depth 0.04 2021-10-10T15:51:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881084.06 epoch sec; seqNo:1925; 4061556.39 north; 594761.58 east 2021-10-10T15:51:27Z- AHRS_M2 msg: 1633881084.41 epoch sec; seqNo:1886 2021-10-10T15:51:27Z- AHRS_M2 msg: -0.10 phi; 0.04 theta; 1.04 psi 2021-10-10T15:51:27Z- handleDepth()-Depth_Keller msg: 1633881084420 epoch sec; seqNo:1925; depth 0.04 2021-10-10T15:51:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881084.46 epoch sec; seqNo:1926; 4061556.39 north; 594761.58 east 2021-10-10T15:51:27Z- AHRS_M2 msg: 1633881084.82 epoch sec; seqNo:1887 2021-10-10T15:51:27Z- AHRS_M2 msg: -0.07 phi; -0.04 theta; 1.05 psi 2021-10-10T15:51:27Z- handleDepth()-Depth_Keller msg: 1633881084821 epoch sec; seqNo:1926; depth 0.06 2021-10-10T15:51:27Z- handleDvl() - RDI_Pathfinder msg: 1633881084.85 epoch sec; seqNo:891 2021-10-10T15:51:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.84 , 97.25 , 98.47 , 77.07 2021-10-10T15:51:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.08 , -0.50 2021-10-10T15:51:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881084.89 epoch sec; seqNo:1927; 4061556.39 north; 594761.58 east 2021-10-10T15:51:28Z- AHRS_M2 msg: 1633881085.22 epoch sec; seqNo:1888 2021-10-10T15:51:28Z- AHRS_M2 msg: -0.08 phi; -0.09 theta; 1.05 psi 2021-10-10T15:51:28Z- handleDepth()-Depth_Keller msg: 1633881085228 epoch sec; seqNo:1927; depth 0.05 2021-10-10T15:51:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881085.25 epoch sec; seqNo:1928; 4061556.39 north; 594761.58 east 2021-10-10T15:51:28Z- AHRS_M2 msg: 1633881085.62 epoch sec; seqNo:1889 2021-10-10T15:51:28Z- AHRS_M2 msg: -0.06 phi; -0.06 theta; 1.03 psi 2021-10-10T15:51:28Z- handleDepth()-Depth_Keller msg: 1633881085632 epoch sec; seqNo:1928; depth 0.04 2021-10-10T15:51:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881085.66 epoch sec; seqNo:1929; 4061556.39 north; 594761.58 east 2021-10-10T15:51:29Z- AHRS_M2 msg: 1633881086.03 epoch sec; seqNo:1890 2021-10-10T15:51:29Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.03 psi 2021-10-10T15:51:29Z- handleDepth()-Depth_Keller msg: 1633881086036 epoch sec; seqNo:1929; depth 0.05 2021-10-10T15:51:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:29Z- handleDvl() - RDI_Pathfinder msg: 1633881086.04 epoch sec; seqNo:892 2021-10-10T15:51:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.08 , -0.50 2021-10-10T15:51:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881086.06 epoch sec; seqNo:1930; 4061556.39 north; 594761.58 east 2021-10-10T15:51:29Z- AHRS_M2 msg: 1633881086.44 epoch sec; seqNo:1891 2021-10-10T15:51:29Z- AHRS_M2 msg: 0.05 phi; -0.04 theta; 1.03 psi 2021-10-10T15:51:29Z- handleDepth()-Depth_Keller msg: 1633881086455 epoch sec; seqNo:1930; depth 0.06 2021-10-10T15:51:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881086.48 epoch sec; seqNo:1931; 4061556.39 north; 594761.58 east 2021-10-10T15:51:29Z- handleDepth()-Depth_Keller msg: 1633881086852 epoch sec; seqNo:1931; depth 0.04 2021-10-10T15:51:29Z- handleDvl() - RDI_Pathfinder msg: 1633881086.89 epoch sec; seqNo:893 2021-10-10T15:51:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.25 , 89.57 , 85.91 , 82.24 2021-10-10T15:51:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.17 , 0.10 2021-10-10T15:51:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881086.92 epoch sec; seqNo:1932; 4061556.39 north; 594761.58 east 2021-10-10T15:51:30Z- AHRS_M2 msg: 1633881087.24 epoch sec; seqNo:1892 2021-10-10T15:51:30Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.03 psi 2021-10-10T15:51:30Z- handleDepth()-Depth_Keller msg: 1633881087252 epoch sec; seqNo:1932; depth 0.05 2021-10-10T15:51:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:30Z- handleDvl() - RDI_Pathfinder msg: 1633881087.25 epoch sec; seqNo:894 2021-10-10T15:51:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.17 , 0.10 2021-10-10T15:51:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881087.29 epoch sec; seqNo:1933; 4061556.39 north; 594761.58 east 2021-10-10T15:51:30Z- AHRS_M2 msg: 1633881087.65 epoch sec; seqNo:1893 2021-10-10T15:51:30Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 1.03 psi 2021-10-10T15:51:30Z- handleDepth()-Depth_Keller msg: 1633881087663 epoch sec; seqNo:1933; depth 0.05 2021-10-10T15:51:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881087.70 epoch sec; seqNo:1934; 4061556.39 north; 594761.58 east 2021-10-10T15:51:31Z- AHRS_M2 msg: 1633881088.05 epoch sec; seqNo:1894 2021-10-10T15:51:31Z- AHRS_M2 msg: -0.10 phi; -0.02 theta; 1.02 psi 2021-10-10T15:51:31Z- handleDepth()-Depth_Keller msg: 1633881088064 epoch sec; seqNo:1934; depth 0.05 2021-10-10T15:51:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881088.12 epoch sec; seqNo:1935; 4061556.39 north; 594761.58 east 2021-10-10T15:51:31Z- LcmTrn::handleMessages() - handling 40 messages took 0.83 ms and 123 calls... 2021-10-10T15:51:31Z- waiting for 1633881086.24, time is 1633881088.12 2021-10-10T15:51:31Z- LcmTrn::updateTrn() >>>> pose time 1633881088.12, meas time 1633881087.25 <<<< 2021-10-10T15:51:31Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881087.25, ping # 0. 2021-10-10T15:51:31Z- TerrainNav::Measurement type 1 from time = 1633881087.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:31Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594761.58, 0.05) 2021-10-10T15:51:31Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:31Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:31Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:31Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:31Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:31Z- AHRS_M2 msg: 1633881088.46 epoch sec; seqNo:1895 2021-10-10T15:51:31Z- AHRS_M2 msg: -0.16 phi; -0.01 theta; 1.01 psi 2021-10-10T15:51:31Z- handleDepth()-Depth_Keller msg: 1633881088468 epoch sec; seqNo:1935; depth 0.05 2021-10-10T15:51:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:31Z- handleDvl() - RDI_Pathfinder msg: 1633881088.47 epoch sec; seqNo:895 2021-10-10T15:51:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.17 , 0.10 2021-10-10T15:51:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881088.50 epoch sec; seqNo:1936; 4061556.39 north; 594761.58 east 2021-10-10T15:51:31Z- AHRS_M2 msg: 1633881088.86 epoch sec; seqNo:1896 2021-10-10T15:51:31Z- AHRS_M2 msg: -0.14 phi; -0.01 theta; 1.01 psi 2021-10-10T15:51:31Z- handleDepth()-Depth_Keller msg: 1633881088879 epoch sec; seqNo:1936; depth 0.03 2021-10-10T15:51:31Z- handleDvl() - RDI_Pathfinder msg: 1633881088.92 epoch sec; seqNo:896 2021-10-10T15:51:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:51:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881088.95 epoch sec; seqNo:1937; 4061556.39 north; 594761.58 east 2021-10-10T15:51:32Z- AHRS_M2 msg: 1633881089.27 epoch sec; seqNo:1897 2021-10-10T15:51:32Z- AHRS_M2 msg: -0.08 phi; -0.03 theta; 0.99 psi 2021-10-10T15:51:32Z- handleDepth()-Depth_Keller msg: 1633881089272 epoch sec; seqNo:1937; depth 0.05 2021-10-10T15:51:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881089.29 epoch sec; seqNo:1938; 4061556.39 north; 594761.58 east 2021-10-10T15:51:32Z- AHRS_M2 msg: 1633881089.68 epoch sec; seqNo:1898 2021-10-10T15:51:32Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 0.99 psi 2021-10-10T15:51:32Z- handleDepth()-Depth_Keller msg: 1633881089684 epoch sec; seqNo:1938; depth 0.06 2021-10-10T15:51:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:32Z- handleDvl() - RDI_Pathfinder msg: 1633881089.69 epoch sec; seqNo:897 2021-10-10T15:51:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:32Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T15:51:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881089.70 epoch sec; seqNo:1939; 4061556.39 north; 594761.58 east 2021-10-10T15:51:33Z- AHRS_M2 msg: 1633881090.07 epoch sec; seqNo:1899 2021-10-10T15:51:33Z- AHRS_M2 msg: -0.04 phi; 0.04 theta; 1.01 psi 2021-10-10T15:51:33Z- handleDepth()-Depth_Keller msg: 1633881090100 epoch sec; seqNo:1939; depth 0.03 2021-10-10T15:51:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881090.12 epoch sec; seqNo:1940; 4061556.39 north; 594761.58 east 2021-10-10T15:51:33Z- AHRS_M2 msg: 1633881090.48 epoch sec; seqNo:1900 2021-10-10T15:51:33Z- AHRS_M2 msg: -0.04 phi; 0.04 theta; 1.03 psi 2021-10-10T15:51:33Z- handleDepth()-Depth_Keller msg: 1633881090484 epoch sec; seqNo:1940; depth 0.03 2021-10-10T15:51:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881090.51 epoch sec; seqNo:1941; 4061556.39 north; 594761.58 east 2021-10-10T15:51:33Z- AHRS_M2 msg: 1633881090.88 epoch sec; seqNo:1901 2021-10-10T15:51:33Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.04 psi 2021-10-10T15:51:33Z- handleDepth()-Depth_Keller msg: 1633881090888 epoch sec; seqNo:1941; depth 0.07 2021-10-10T15:51:33Z- handleDvl() - RDI_Pathfinder msg: 1633881090.93 epoch sec; seqNo:898 2021-10-10T15:51:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.36 , 88.69 , 88.69 , 75.84 2021-10-10T15:51:33Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , 0.08 , -0.28 2021-10-10T15:51:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881090.99 epoch sec; seqNo:1942; 4061556.39 north; 594761.58 east 2021-10-10T15:51:34Z- AHRS_M2 msg: 1633881091.29 epoch sec; seqNo:1902 2021-10-10T15:51:34Z- AHRS_M2 msg: -0.04 phi; -0.01 theta; 1.04 psi 2021-10-10T15:51:34Z- handleDepth()-Depth_Keller msg: 1633881091296 epoch sec; seqNo:1942; depth 0.09 2021-10-10T15:51:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881091.32 epoch sec; seqNo:1943; 4061556.39 north; 594761.58 east 2021-10-10T15:51:34Z- AHRS_M2 msg: 1633881091.69 epoch sec; seqNo:1903 2021-10-10T15:51:34Z- AHRS_M2 msg: -0.09 phi; 0.00 theta; 1.04 psi 2021-10-10T15:51:34Z- handleDepth()-Depth_Keller msg: 1633881091696 epoch sec; seqNo:1943; depth 0.08 2021-10-10T15:51:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881091.71 epoch sec; seqNo:1944; 4061556.37 north; 594760.36 east 2021-10-10T15:51:35Z- AHRS_M2 msg: 1633881092.09 epoch sec; seqNo:1904 2021-10-10T15:51:35Z- AHRS_M2 msg: -0.08 phi; -0.04 theta; 1.04 psi 2021-10-10T15:51:35Z- handleDepth()-Depth_Keller msg: 1633881092100 epoch sec; seqNo:1944; depth 0.06 2021-10-10T15:51:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:35Z- handleDvl() - RDI_Pathfinder msg: 1633881092.10 epoch sec; seqNo:899 2021-10-10T15:51:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , 0.08 , -0.28 2021-10-10T15:51:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881092.12 epoch sec; seqNo:1945; 4061556.37 north; 594760.36 east 2021-10-10T15:51:35Z- AHRS_M2 msg: 1633881092.50 epoch sec; seqNo:1905 2021-10-10T15:51:35Z- AHRS_M2 msg: -0.05 phi; -0.09 theta; 1.01 psi 2021-10-10T15:51:35Z- handleDepth()-Depth_Keller msg: 1633881092504 epoch sec; seqNo:1945; depth 0.11 2021-10-10T15:51:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881092.52 epoch sec; seqNo:1946; 4061556.37 north; 594760.36 east 2021-10-10T15:51:35Z- AHRS_M2 msg: 1633881092.90 epoch sec; seqNo:1906 2021-10-10T15:51:35Z- AHRS_M2 msg: -0.02 phi; -0.08 theta; 0.99 psi 2021-10-10T15:51:35Z- handleDepth()-Depth_Keller msg: 1633881092908 epoch sec; seqNo:1946; depth 0.10 2021-10-10T15:51:35Z- handleDvl() - RDI_Pathfinder msg: 1633881092.96 epoch sec; seqNo:900 2021-10-10T15:51:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.14 , 0.00 , 83.73 , 83.73 2021-10-10T15:51:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.37 , 0.30 2021-10-10T15:51:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881092.99 epoch sec; seqNo:1947; 4061556.37 north; 594760.36 east 2021-10-10T15:51:36Z- AHRS_M2 msg: 1633881093.30 epoch sec; seqNo:1907 2021-10-10T15:51:36Z- AHRS_M2 msg: 0.01 phi; -0.04 theta; 0.99 psi 2021-10-10T15:51:36Z- handleDepth()-Depth_Keller msg: 1633881093312 epoch sec; seqNo:1947; depth 0.08 2021-10-10T15:51:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:36Z- handleDvl() - RDI_Pathfinder msg: 1633881093.31 epoch sec; seqNo:901 2021-10-10T15:51:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.37 , 0.30 2021-10-10T15:51:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881093.35 epoch sec; seqNo:1948; 4061556.37 north; 594760.36 east 2021-10-10T15:51:36Z- LcmTrn::handleMessages() - handling 46 messages took 0.83 ms and 129 calls... 2021-10-10T15:51:36Z- waiting for 1633881091.12, time is 1633881093.35 2021-10-10T15:51:36Z- LcmTrn::updateTrn() equating pose 1633881093.35 and meas times 1633881093.35 2021-10-10T15:51:36Z- LcmTrn::updateTrn() >>>> pose time 1633881093.35, meas time 1633881093.35 <<<< 2021-10-10T15:51:36Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881093.35, ping # 0. 2021-10-10T15:51:36Z- TerrainNav::Measurement type 1 from time = 1633881093.35 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:36Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594760.36, 0.08) 2021-10-10T15:51:36Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:36Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:36Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:36Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:36Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:36Z- AHRS_M2 msg: 1633881093.71 epoch sec; seqNo:1908 2021-10-10T15:51:36Z- AHRS_M2 msg: -0.01 phi; -0.06 theta; 0.99 psi 2021-10-10T15:51:36Z- handleDepth()-Depth_Keller msg: 1633881093724 epoch sec; seqNo:1948; depth 0.09 2021-10-10T15:51:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881093.74 epoch sec; seqNo:1949; 4061556.37 north; 594760.36 east 2021-10-10T15:51:37Z- AHRS_M2 msg: 1633881094.12 epoch sec; seqNo:1909 2021-10-10T15:51:37Z- AHRS_M2 msg: -0.06 phi; -0.08 theta; 0.99 psi 2021-10-10T15:51:37Z- handleDepth()-Depth_Keller msg: 1633881094128 epoch sec; seqNo:1949; depth 0.08 2021-10-10T15:51:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881094.14 epoch sec; seqNo:1950; 4061556.37 north; 594760.36 east 2021-10-10T15:51:37Z- AHRS_M2 msg: 1633881094.52 epoch sec; seqNo:1910 2021-10-10T15:51:37Z- AHRS_M2 msg: -0.05 phi; -0.11 theta; 1.00 psi 2021-10-10T15:51:37Z- handleDepth()-Depth_Keller msg: 1633881094528 epoch sec; seqNo:1950; depth 0.05 2021-10-10T15:51:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:37Z- handleDvl() - RDI_Pathfinder msg: 1633881094.53 epoch sec; seqNo:902 2021-10-10T15:51:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , -0.37 , 0.30 2021-10-10T15:51:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881094.55 epoch sec; seqNo:1951; 4061556.36 north; 594759.14 east 2021-10-10T15:51:37Z- AHRS_M2 msg: 1633881094.92 epoch sec; seqNo:1911 2021-10-10T15:51:37Z- AHRS_M2 msg: -0.01 phi; -0.09 theta; 1.00 psi 2021-10-10T15:51:37Z- handleDepth()-Depth_Keller msg: 1633881094928 epoch sec; seqNo:1951; depth 0.06 2021-10-10T15:51:37Z- handleDvl() - RDI_Pathfinder msg: 1633881094.96 epoch sec; seqNo:903 2021-10-10T15:51:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.66 , 86.11 , 83.94 , 0.00 2021-10-10T15:51:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , 0.46 , -0.13 2021-10-10T15:51:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881094.99 epoch sec; seqNo:1952; 4061556.36 north; 594759.14 east 2021-10-10T15:51:38Z- AHRS_M2 msg: 1633881095.33 epoch sec; seqNo:1912 2021-10-10T15:51:38Z- AHRS_M2 msg: -0.03 phi; -0.03 theta; 1.02 psi 2021-10-10T15:51:38Z- handleDepth()-Depth_Keller msg: 1633881095337 epoch sec; seqNo:1952; depth 0.06 2021-10-10T15:51:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881095.36 epoch sec; seqNo:1953; 4061555.98 north; 594759.14 east 2021-10-10T15:51:38Z- AHRS_M2 msg: 1633881095.73 epoch sec; seqNo:1913 2021-10-10T15:51:38Z- AHRS_M2 msg: -0.08 phi; 0.00 theta; 1.02 psi 2021-10-10T15:51:38Z- handleDepth()-Depth_Keller msg: 1633881095736 epoch sec; seqNo:1953; depth 0.06 2021-10-10T15:51:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:38Z- handleDvl() - RDI_Pathfinder msg: 1633881095.74 epoch sec; seqNo:904 2021-10-10T15:51:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:38Z- handleDvl() - RDI_Pathfinder msg: velocities -0.20 , 0.46 , -0.13 2021-10-10T15:51:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881095.77 epoch sec; seqNo:1954; 4061555.99 north; 594760.36 east 2021-10-10T15:51:39Z- handleDepth()-Depth_Keller msg: 1633881096148 epoch sec; seqNo:1954; depth 0.05 2021-10-10T15:51:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881096.18 epoch sec; seqNo:1955; 4061555.61 north; 594760.37 east 2021-10-10T15:51:39Z- AHRS_M2 msg: 1633881096.54 epoch sec; seqNo:1914 2021-10-10T15:51:39Z- AHRS_M2 msg: -0.07 phi; -0.00 theta; 1.03 psi 2021-10-10T15:51:39Z- handleDepth()-Depth_Keller msg: 1633881096544 epoch sec; seqNo:1955; depth 0.04 2021-10-10T15:51:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881096.56 epoch sec; seqNo:1956; 4061555.61 north; 594760.37 east 2021-10-10T15:51:39Z- AHRS_M2 msg: 1633881096.94 epoch sec; seqNo:1915 2021-10-10T15:51:39Z- AHRS_M2 msg: -0.03 phi; 0.03 theta; 1.00 psi 2021-10-10T15:51:39Z- handleDepth()-Depth_Keller msg: 1633881096948 epoch sec; seqNo:1956; depth 0.05 2021-10-10T15:51:40Z- handleDvl() - RDI_Pathfinder msg: 1633881096.99 epoch sec; seqNo:905 2021-10-10T15:51:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.97 , 92.43 , 87.00 , 78.30 2021-10-10T15:51:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.16 , -0.29 , 0.00 2021-10-10T15:51:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881097.03 epoch sec; seqNo:1957; 4061555.60 north; 594759.15 east 2021-10-10T15:51:40Z- AHRS_M2 msg: 1633881097.34 epoch sec; seqNo:1916 2021-10-10T15:51:40Z- AHRS_M2 msg: -0.02 phi; 0.03 theta; 0.98 psi 2021-10-10T15:51:40Z- handleDepth()-Depth_Keller msg: 1633881097351 epoch sec; seqNo:1957; depth 0.08 2021-10-10T15:51:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881097.39 epoch sec; seqNo:1958; 4061555.60 north; 594759.15 east 2021-10-10T15:51:40Z- AHRS_M2 msg: 1633881097.75 epoch sec; seqNo:1917 2021-10-10T15:51:40Z- AHRS_M2 msg: -0.02 phi; -0.01 theta; 1.01 psi 2021-10-10T15:51:40Z- handleDepth()-Depth_Keller msg: 1633881097756 epoch sec; seqNo:1958; depth 0.06 2021-10-10T15:51:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881097.77 epoch sec; seqNo:1959; 4061555.60 north; 594759.15 east 2021-10-10T15:51:41Z- handleDepth()-Depth_Keller msg: 1633881098172 epoch sec; seqNo:1959; depth 0.06 2021-10-10T15:51:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:41Z- handleDvl() - RDI_Pathfinder msg: 1633881098.17 epoch sec; seqNo:906 2021-10-10T15:51:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.16 , -0.29 , 0.00 2021-10-10T15:51:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881098.19 epoch sec; seqNo:1960; 4061555.60 north; 594759.15 east 2021-10-10T15:51:41Z- LcmTrn::handleMessages() - handling 39 messages took 0.75 ms and 124 calls... 2021-10-10T15:51:41Z- waiting for 1633881096.35, time is 1633881098.19 2021-10-10T15:51:41Z- LcmTrn::updateTrn() equating pose 1633881098.19 and meas times 1633881098.19 2021-10-10T15:51:41Z- LcmTrn::updateTrn() >>>> pose time 1633881098.19, meas time 1633881098.19 <<<< 2021-10-10T15:51:41Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881098.19, ping # 0. 2021-10-10T15:51:41Z- TerrainNav::Measurement type 1 from time = 1633881098.19 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:41Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594759.15, 0.06) 2021-10-10T15:51:41Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:41Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:41Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:41Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:41Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:41Z- AHRS_M2 msg: 1633881098.56 epoch sec; seqNo:1918 2021-10-10T15:51:41Z- AHRS_M2 msg: -0.05 phi; 0.03 theta; 1.00 psi 2021-10-10T15:51:41Z- handleDepth()-Depth_Keller msg: 1633881098563 epoch sec; seqNo:1960; depth 0.10 2021-10-10T15:51:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881098.58 epoch sec; seqNo:1961; 4061555.60 north; 594759.15 east 2021-10-10T15:51:41Z- AHRS_M2 msg: 1633881098.96 epoch sec; seqNo:1919 2021-10-10T15:51:41Z- AHRS_M2 msg: -0.08 phi; 0.06 theta; 1.00 psi 2021-10-10T15:51:41Z- handleDepth()-Depth_Keller msg: 1633881098968 epoch sec; seqNo:1961; depth 0.09 2021-10-10T15:51:42Z- handleDvl() - RDI_Pathfinder msg: 1633881099.01 epoch sec; seqNo:907 2021-10-10T15:51:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.25 , 88.08 , 85.91 , 81.56 2021-10-10T15:51:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.12 , -0.07 2021-10-10T15:51:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881099.04 epoch sec; seqNo:1962; 4061555.60 north; 594759.15 east 2021-10-10T15:51:42Z- AHRS_M2 msg: 1633881099.37 epoch sec; seqNo:1920 2021-10-10T15:51:42Z- AHRS_M2 msg: -0.06 phi; 0.02 theta; 1.03 psi 2021-10-10T15:51:42Z- handleDepth()-Depth_Keller msg: 1633881099380 epoch sec; seqNo:1962; depth 0.06 2021-10-10T15:51:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:42Z- handleDvl() - RDI_Pathfinder msg: 1633881099.38 epoch sec; seqNo:908 2021-10-10T15:51:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.12 , -0.07 2021-10-10T15:51:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881099.42 epoch sec; seqNo:1963; 4061555.60 north; 594759.15 east 2021-10-10T15:51:42Z- AHRS_M2 msg: 1633881099.77 epoch sec; seqNo:1921 2021-10-10T15:51:42Z- AHRS_M2 msg: -0.05 phi; -0.03 theta; 1.03 psi 2021-10-10T15:51:42Z- handleDepth()-Depth_Keller msg: 1633881099776 epoch sec; seqNo:1963; depth 0.05 2021-10-10T15:51:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881099.81 epoch sec; seqNo:1964; 4061555.60 north; 594759.15 east 2021-10-10T15:51:43Z- AHRS_M2 msg: 1633881100.17 epoch sec; seqNo:1922 2021-10-10T15:51:43Z- AHRS_M2 msg: -0.05 phi; -0.08 theta; 1.02 psi 2021-10-10T15:51:43Z- handleDepth()-Depth_Keller msg: 1633881100180 epoch sec; seqNo:1964; depth 0.05 2021-10-10T15:51:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881100.22 epoch sec; seqNo:1965; 4061555.22 north; 594759.15 east 2021-10-10T15:51:43Z- AHRS_M2 msg: 1633881100.58 epoch sec; seqNo:1923 2021-10-10T15:51:43Z- AHRS_M2 msg: -0.01 phi; -0.08 theta; 0.96 psi 2021-10-10T15:51:43Z- handleDepth()-Depth_Keller msg: 1633881100588 epoch sec; seqNo:1965; depth 0.04 2021-10-10T15:51:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:43Z- handleDvl() - RDI_Pathfinder msg: 1633881100.59 epoch sec; seqNo:909 2021-10-10T15:51:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , 0.12 , -0.07 2021-10-10T15:51:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881100.61 epoch sec; seqNo:1966; 4061555.22 north; 594759.15 east 2021-10-10T15:51:43Z- AHRS_M2 msg: 1633881100.98 epoch sec; seqNo:1924 2021-10-10T15:51:43Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 0.93 psi 2021-10-10T15:51:43Z- handleDepth()-Depth_Keller msg: 1633881100993 epoch sec; seqNo:1966; depth 0.04 2021-10-10T15:51:44Z- handleDvl() - RDI_Pathfinder msg: 1633881101.03 epoch sec; seqNo:910 2021-10-10T15:51:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.15 , 88.69 , 0.00 , 82.58 2021-10-10T15:51:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.51 , 0.12 2021-10-10T15:51:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881101.07 epoch sec; seqNo:1967; 4061555.22 north; 594759.15 east 2021-10-10T15:51:44Z- AHRS_M2 msg: 1633881101.38 epoch sec; seqNo:1925 2021-10-10T15:51:44Z- AHRS_M2 msg: 0.08 phi; 0.00 theta; 0.97 psi 2021-10-10T15:51:44Z- handleDepth()-Depth_Keller msg: 1633881101392 epoch sec; seqNo:1967; depth 0.05 2021-10-10T15:51:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881101.43 epoch sec; seqNo:1968; 4061555.21 north; 594757.93 east 2021-10-10T15:51:44Z- AHRS_M2 msg: 1633881101.79 epoch sec; seqNo:1926 2021-10-10T15:51:44Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 0.96 psi 2021-10-10T15:51:44Z- handleDepth()-Depth_Keller msg: 1633881101796 epoch sec; seqNo:1968; depth 0.05 2021-10-10T15:51:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:44Z- handleDvl() - RDI_Pathfinder msg: 1633881101.80 epoch sec; seqNo:911 2021-10-10T15:51:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.51 , -0.51 , 0.12 2021-10-10T15:51:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881101.82 epoch sec; seqNo:1969; 4061555.59 north; 594757.93 east 2021-10-10T15:51:45Z- AHRS_M2 msg: 1633881102.19 epoch sec; seqNo:1927 2021-10-10T15:51:45Z- AHRS_M2 msg: -0.05 phi; -0.06 theta; 0.90 psi 2021-10-10T15:51:45Z- handleDepth()-Depth_Keller msg: 1633881102200 epoch sec; seqNo:1969; depth 0.02 2021-10-10T15:51:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881102.21 epoch sec; seqNo:1970; 4061555.59 north; 594757.93 east 2021-10-10T15:51:45Z- AHRS_M2 msg: 1633881102.60 epoch sec; seqNo:1928 2021-10-10T15:51:45Z- AHRS_M2 msg: -0.10 phi; 0.01 theta; 0.91 psi 2021-10-10T15:51:45Z- handleDepth()-Depth_Keller msg: 1633881102612 epoch sec; seqNo:1970; depth 0.02 2021-10-10T15:51:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881102.64 epoch sec; seqNo:1971; 4061555.59 north; 594757.93 east 2021-10-10T15:51:45Z- AHRS_M2 msg: 1633881103.00 epoch sec; seqNo:1929 2021-10-10T15:51:45Z- AHRS_M2 msg: -0.09 phi; 0.08 theta; 0.97 psi 2021-10-10T15:51:45Z- handleDepth()-Depth_Keller msg: 1633881103008 epoch sec; seqNo:1971; depth 0.02 2021-10-10T15:51:46Z- handleDvl() - RDI_Pathfinder msg: 1633881103.05 epoch sec; seqNo:912 2021-10-10T15:51:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.96 , 87.13 , 86.04 , 83.87 2021-10-10T15:51:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , 0.13 , 0.29 2021-10-10T15:51:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881103.12 epoch sec; seqNo:1972; 4061555.59 north; 594757.93 east 2021-10-10T15:51:46Z- AHRS_M2 msg: 1633881103.41 epoch sec; seqNo:1930 2021-10-10T15:51:46Z- AHRS_M2 msg: -0.07 phi; 0.04 theta; 1.00 psi 2021-10-10T15:51:46Z- handleDepth()-Depth_Keller msg: 1633881103410 epoch sec; seqNo:1972; depth 0.05 2021-10-10T15:51:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881103.45 epoch sec; seqNo:1973; 4061555.59 north; 594757.93 east 2021-10-10T15:51:46Z- LcmTrn::handleMessages() - handling 45 messages took 0.98 ms and 125 calls... 2021-10-10T15:51:46Z- waiting for 1633881101.19, time is 1633881103.45 2021-10-10T15:51:46Z- LcmTrn::updateTrn() >>>> pose time 1633881103.45, meas time 1633881103.05 <<<< 2021-10-10T15:51:46Z- TerrainNav::Measurement type 1 from time = 1633881103.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:51:46Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594757.93, 0.05) 2021-10-10T15:51:46Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:46Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:46Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:46Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:46Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:46Z- AHRS_M2 msg: 1633881103.81 epoch sec; seqNo:1931 2021-10-10T15:51:46Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 0.99 psi 2021-10-10T15:51:46Z- handleDepth()-Depth_Keller msg: 1633881103816 epoch sec; seqNo:1973; depth 0.03 2021-10-10T15:51:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881103.86 epoch sec; seqNo:1974; 4061555.21 north; 594757.93 east 2021-10-10T15:51:47Z- AHRS_M2 msg: 1633881104.21 epoch sec; seqNo:1932 2021-10-10T15:51:47Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 0.98 psi 2021-10-10T15:51:47Z- handleDepth()-Depth_Keller msg: 1633881104220 epoch sec; seqNo:1974; depth 0.04 2021-10-10T15:51:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:47Z- handleDvl() - RDI_Pathfinder msg: 1633881104.22 epoch sec; seqNo:913 2021-10-10T15:51:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , 0.13 , 0.29 2021-10-10T15:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881104.26 epoch sec; seqNo:1975; 4061555.21 north; 594757.93 east 2021-10-10T15:51:47Z- AHRS_M2 msg: 1633881104.62 epoch sec; seqNo:1933 2021-10-10T15:51:47Z- AHRS_M2 msg: -0.15 phi; 0.01 theta; 0.98 psi 2021-10-10T15:51:47Z- handleDepth()-Depth_Keller msg: 1633881104622 epoch sec; seqNo:1975; depth 0.06 2021-10-10T15:51:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881104.73 epoch sec; seqNo:1976; 4061555.21 north; 594757.93 east 2021-10-10T15:51:48Z- AHRS_M2 msg: 1633881105.06 epoch sec; seqNo:1934 2021-10-10T15:51:48Z- AHRS_M2 msg: -0.04 phi; -0.05 theta; 0.99 psi 2021-10-10T15:51:48Z- handleDepth()-Depth_Keller msg: 1633881105067 epoch sec; seqNo:1976; depth 0.06 2021-10-10T15:51:48Z- handleDvl() - RDI_Pathfinder msg: 1633881105.14 epoch sec; seqNo:914 2021-10-10T15:51:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.05 , 98.27 , 87.27 , 82.38 2021-10-10T15:51:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.12 , -0.80 2021-10-10T15:51:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881105.20 epoch sec; seqNo:1977; 4061555.21 north; 594757.93 east 2021-10-10T15:51:48Z- AHRS_M2 msg: 1633881105.43 epoch sec; seqNo:1935 2021-10-10T15:51:48Z- AHRS_M2 msg: 0.01 phi; -0.07 theta; 0.99 psi 2021-10-10T15:51:48Z- handleDepth()-Depth_Keller msg: 1633881105432 epoch sec; seqNo:1977; depth 0.09 2021-10-10T15:51:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:48Z- handleDvl() - RDI_Pathfinder msg: 1633881105.44 epoch sec; seqNo:915 2021-10-10T15:51:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:48Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.12 , -0.80 2021-10-10T15:51:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881105.50 epoch sec; seqNo:1978; 4061555.21 north; 594757.93 east 2021-10-10T15:51:48Z- AHRS_M2 msg: 1633881105.83 epoch sec; seqNo:1936 2021-10-10T15:51:48Z- AHRS_M2 msg: -0.03 phi; -0.04 theta; 0.97 psi 2021-10-10T15:51:48Z- handleDepth()-Depth_Keller msg: 1633881105836 epoch sec; seqNo:1978; depth 0.09 2021-10-10T15:51:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881105.88 epoch sec; seqNo:1979; 4061555.21 north; 594757.93 east 2021-10-10T15:51:49Z- AHRS_M2 msg: 1633881106.23 epoch sec; seqNo:1937 2021-10-10T15:51:49Z- AHRS_M2 msg: -0.10 phi; 0.00 theta; 0.97 psi 2021-10-10T15:51:49Z- handleDepth()-Depth_Keller msg: 1633881106240 epoch sec; seqNo:1979; depth 0.08 2021-10-10T15:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881106.26 epoch sec; seqNo:1980; 4061555.21 north; 594757.93 east 2021-10-10T15:51:49Z- AHRS_M2 msg: 1633881106.64 epoch sec; seqNo:1938 2021-10-10T15:51:49Z- AHRS_M2 msg: -0.08 phi; 0.05 theta; 0.99 psi 2021-10-10T15:51:49Z- handleDepth()-Depth_Keller msg: 1633881106653 epoch sec; seqNo:1980; depth 0.05 2021-10-10T15:51:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:49Z- handleDvl() - RDI_Pathfinder msg: 1633881106.65 epoch sec; seqNo:916 2021-10-10T15:51:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:49Z- handleDvl() - RDI_Pathfinder msg: velocities -0.22 , -0.12 , -0.80 2021-10-10T15:51:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881106.75 epoch sec; seqNo:1981; 4061555.19 north; 594756.71 east 2021-10-10T15:51:50Z- AHRS_M2 msg: 1633881107.04 epoch sec; seqNo:1939 2021-10-10T15:51:50Z- AHRS_M2 msg: -0.02 phi; 0.04 theta; 0.98 psi 2021-10-10T15:51:50Z- handleDepth()-Depth_Keller msg: 1633881107052 epoch sec; seqNo:1981; depth 0.06 2021-10-10T15:51:50Z- handleDvl() - RDI_Pathfinder msg: 1633881107.09 epoch sec; seqNo:917 2021-10-10T15:51:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.69 , 89.85 , 84.96 , 79.53 2021-10-10T15:51:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.71 , 0.05 2021-10-10T15:51:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881107.13 epoch sec; seqNo:1982; 4061555.57 north; 594756.71 east 2021-10-10T15:51:50Z- AHRS_M2 msg: 1633881107.45 epoch sec; seqNo:1940 2021-10-10T15:51:50Z- AHRS_M2 msg: 0.01 phi; -0.03 theta; 0.99 psi 2021-10-10T15:51:50Z- handleDepth()-Depth_Keller msg: 1633881107456 epoch sec; seqNo:1982; depth 0.05 2021-10-10T15:51:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881107.54 epoch sec; seqNo:1983; 4061555.57 north; 594756.71 east 2021-10-10T15:51:50Z- AHRS_M2 msg: 1633881107.85 epoch sec; seqNo:1941 2021-10-10T15:51:50Z- AHRS_M2 msg: 0.01 phi; -0.09 theta; 0.99 psi 2021-10-10T15:51:50Z- handleDepth()-Depth_Keller msg: 1633881107856 epoch sec; seqNo:1983; depth 0.05 2021-10-10T15:51:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:50Z- handleDvl() - RDI_Pathfinder msg: 1633881107.86 epoch sec; seqNo:918 2021-10-10T15:51:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.71 , 0.05 2021-10-10T15:51:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881107.90 epoch sec; seqNo:1984; 4061555.95 north; 594756.70 east 2021-10-10T15:51:51Z- AHRS_M2 msg: 1633881108.25 epoch sec; seqNo:1942 2021-10-10T15:51:51Z- AHRS_M2 msg: 0.03 phi; -0.07 theta; 0.98 psi 2021-10-10T15:51:51Z- handleDepth()-Depth_Keller msg: 1633881108260 epoch sec; seqNo:1984; depth 0.05 2021-10-10T15:51:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881108.31 epoch sec; seqNo:1985; 4061556.33 north; 594756.70 east 2021-10-10T15:51:51Z- LcmTrn::handleMessages() - handling 42 messages took 0.89 ms and 124 calls... 2021-10-10T15:51:51Z- waiting for 1633881106.45, time is 1633881108.31 2021-10-10T15:51:51Z- LcmTrn::updateTrn() >>>> pose time 1633881108.31, meas time 1633881107.86 <<<< 2021-10-10T15:51:51Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633881107.86, ping # 0. 2021-10-10T15:51:51Z- TerrainNav::Measurement type 1 from time = 1633881107.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T15:51:51Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594756.70, 0.05) 2021-10-10T15:51:51Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:51Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:51Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:51Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:51Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:51Z- AHRS_M2 msg: 1633881108.66 epoch sec; seqNo:1943 2021-10-10T15:51:51Z- AHRS_M2 msg: 0.05 phi; 0.01 theta; 0.97 psi 2021-10-10T15:51:51Z- handleDepth()-Depth_Keller msg: 1633881108681 epoch sec; seqNo:1985; depth 0.04 2021-10-10T15:51:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881108.78 epoch sec; seqNo:1986; 4061556.33 north; 594756.70 east 2021-10-10T15:51:52Z- AHRS_M2 msg: 1633881109.06 epoch sec; seqNo:1944 2021-10-10T15:51:52Z- AHRS_M2 msg: 0.05 phi; 0.03 theta; 0.95 psi 2021-10-10T15:51:52Z- handleDepth()-Depth_Keller msg: 1633881109068 epoch sec; seqNo:1986; depth 0.05 2021-10-10T15:51:52Z- handleDvl() - RDI_Pathfinder msg: 1633881109.12 epoch sec; seqNo:919 2021-10-10T15:51:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.30 , 79.94 , 83.87 , 84.96 2021-10-10T15:51:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.39 , 0.74 2021-10-10T15:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881109.23 epoch sec; seqNo:1987; 4061556.71 north; 594756.69 east 2021-10-10T15:51:52Z- AHRS_M2 msg: 1633881109.46 epoch sec; seqNo:1945 2021-10-10T15:51:52Z- AHRS_M2 msg: 0.02 phi; -0.04 theta; 0.95 psi 2021-10-10T15:51:52Z- handleDepth()-Depth_Keller msg: 1633881109472 epoch sec; seqNo:1987; depth 0.04 2021-10-10T15:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881109.53 epoch sec; seqNo:1988; 4061556.70 north; 594755.47 east 2021-10-10T15:51:52Z- AHRS_M2 msg: 1633881109.87 epoch sec; seqNo:1946 2021-10-10T15:51:52Z- AHRS_M2 msg: -0.03 phi; -0.10 theta; 0.98 psi 2021-10-10T15:51:52Z- handleDepth()-Depth_Keller msg: 1633881109876 epoch sec; seqNo:1988; depth 0.05 2021-10-10T15:51:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881109.90 epoch sec; seqNo:1989; 4061556.70 north; 594755.47 east 2021-10-10T15:51:53Z- AHRS_M2 msg: 1633881110.27 epoch sec; seqNo:1947 2021-10-10T15:51:53Z- AHRS_M2 msg: -0.08 phi; -0.06 theta; 0.98 psi 2021-10-10T15:51:53Z- handleDepth()-Depth_Keller msg: 1633881110288 epoch sec; seqNo:1989; depth 0.04 2021-10-10T15:51:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:53Z- handleDvl() - RDI_Pathfinder msg: 1633881110.30 epoch sec; seqNo:920 2021-10-10T15:51:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , -0.39 , 0.74 2021-10-10T15:51:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881110.32 epoch sec; seqNo:1990; 4061556.70 north; 594755.47 east 2021-10-10T15:51:53Z- AHRS_M2 msg: 1633881110.74 epoch sec; seqNo:1948 2021-10-10T15:51:53Z- AHRS_M2 msg: -0.11 phi; -0.02 theta; 0.96 psi 2021-10-10T15:51:53Z- handleDepth()-Depth_Keller msg: 1633881110784 epoch sec; seqNo:1990; depth 0.03 2021-10-10T15:51:53Z- handleDvl() - RDI_Pathfinder msg: 1633881110.87 epoch sec; seqNo:921 2021-10-10T15:51:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.14 , 91.40 , 84.89 , 87.06 2021-10-10T15:51:53Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.67 , 0.01 2021-10-10T15:51:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881110.93 epoch sec; seqNo:1991; 4061556.32 north; 594755.48 east 2021-10-10T15:51:54Z- AHRS_M2 msg: 1633881111.10 epoch sec; seqNo:1949 2021-10-10T15:51:54Z- AHRS_M2 msg: -0.12 phi; -0.08 theta; 0.93 psi 2021-10-10T15:51:54Z- handleDepth()-Depth_Keller msg: 1633881111113 epoch sec; seqNo:1991; depth 0.03 2021-10-10T15:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881111.16 epoch sec; seqNo:1992; 4061555.94 north; 594755.48 east 2021-10-10T15:51:54Z- AHRS_M2 msg: 1633881111.49 epoch sec; seqNo:1950 2021-10-10T15:51:54Z- AHRS_M2 msg: -0.11 phi; -0.09 theta; 0.95 psi 2021-10-10T15:51:54Z- handleDepth()-Depth_Keller msg: 1633881111496 epoch sec; seqNo:1992; depth 0.04 2021-10-10T15:51:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:54Z- handleDvl() - RDI_Pathfinder msg: 1633881111.50 epoch sec; seqNo:922 2021-10-10T15:51:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:54Z- handleDvl() - RDI_Pathfinder msg: velocities -0.17 , 0.67 , 0.01 2021-10-10T15:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881111.52 epoch sec; seqNo:1993; 4061555.94 north; 594755.48 east 2021-10-10T15:51:54Z- AHRS_M2 msg: 1633881111.89 epoch sec; seqNo:1951 2021-10-10T15:51:54Z- AHRS_M2 msg: -0.10 phi; 0.02 theta; 0.96 psi 2021-10-10T15:51:54Z- handleDepth()-Depth_Keller msg: 1633881111901 epoch sec; seqNo:1993; depth 0.05 2021-10-10T15:51:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881111.92 epoch sec; seqNo:1994; 4061555.56 north; 594755.49 east 2021-10-10T15:51:55Z- AHRS_M2 msg: 1633881112.29 epoch sec; seqNo:1952 2021-10-10T15:51:55Z- AHRS_M2 msg: -0.07 phi; 0.13 theta; 0.96 psi 2021-10-10T15:51:55Z- handleDepth()-Depth_Keller msg: 1633881112300 epoch sec; seqNo:1994; depth 0.06 2021-10-10T15:51:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881112.33 epoch sec; seqNo:1995; 4061555.19 north; 594756.71 east 2021-10-10T15:51:55Z- AHRS_M2 msg: 1633881112.73 epoch sec; seqNo:1953 2021-10-10T15:51:55Z- AHRS_M2 msg: -0.01 phi; 0.09 theta; 1.00 psi 2021-10-10T15:51:55Z- handleDepth()-Depth_Keller msg: 1633881112744 epoch sec; seqNo:1995; depth 0.03 2021-10-10T15:51:55Z- handleDvl() - RDI_Pathfinder msg: 1633881112.80 epoch sec; seqNo:923 2021-10-10T15:51:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.85 , 98.40 , 86.18 , 0.00 2021-10-10T15:51:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , 0.01 , 0.21 2021-10-10T15:51:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881112.84 epoch sec; seqNo:1996; 4061555.57 north; 594756.71 east 2021-10-10T15:51:56Z- AHRS_M2 msg: 1633881113.10 epoch sec; seqNo:1954 2021-10-10T15:51:56Z- AHRS_M2 msg: 0.06 phi; -0.00 theta; 1.04 psi 2021-10-10T15:51:56Z- handleDepth()-Depth_Keller msg: 1633881113107 epoch sec; seqNo:1996; depth 0.06 2021-10-10T15:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881113.15 epoch sec; seqNo:1997; 4061555.57 north; 594756.71 east 2021-10-10T15:51:56Z- AHRS_M2 msg: 1633881113.50 epoch sec; seqNo:1955 2021-10-10T15:51:56Z- AHRS_M2 msg: 0.06 phi; -0.06 theta; 1.07 psi 2021-10-10T15:51:56Z- handleDepth()-Depth_Keller msg: 1633881113512 epoch sec; seqNo:1997; depth 0.08 2021-10-10T15:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881113.55 epoch sec; seqNo:1998; 4061555.57 north; 594756.71 east 2021-10-10T15:51:56Z- LcmTrn::handleMessages() - handling 44 messages took 0.87 ms and 126 calls... 2021-10-10T15:51:56Z- waiting for 1633881111.31, time is 1633881113.55 2021-10-10T15:51:56Z- LcmTrn::updateTrn() >>>> pose time 1633881113.55, meas time 1633881112.80 <<<< 2021-10-10T15:51:56Z- TerrainNav::Measurement type 1 from time = 1633881112.80 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T15:51:56Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594756.71, 0.08) 2021-10-10T15:51:56Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-10T15:51:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T15:51:56Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T15:51:56Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-10T15:51:56Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-10T15:51:56Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-10T15:51:56Z- AHRS_M2 msg: 1633881113.91 epoch sec; seqNo:1956 2021-10-10T15:51:56Z- AHRS_M2 msg: -0.00 phi; -0.07 theta; 1.07 psi 2021-10-10T15:51:56Z- handleDepth()-Depth_Keller msg: 1633881113916 epoch sec; seqNo:1998; depth 0.06 2021-10-10T15:51:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:56Z- handleDvl() - RDI_Pathfinder msg: 1633881113.92 epoch sec; seqNo:924 2021-10-10T15:51:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , 0.01 , 0.21 2021-10-10T15:51:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881113.94 epoch sec; seqNo:1999; 4061555.95 north; 594756.70 east 2021-10-10T15:51:57Z- AHRS_M2 msg: 1633881114.31 epoch sec; seqNo:1957 2021-10-10T15:51:57Z- AHRS_M2 msg: -0.03 phi; -0.08 theta; 1.03 psi 2021-10-10T15:51:57Z- handleDepth()-Depth_Keller msg: 1633881114328 epoch sec; seqNo:1999; depth 0.05 2021-10-10T15:51:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881114.35 epoch sec; seqNo:2000; 4061555.95 north; 594756.70 east 2021-10-10T15:51:57Z- AHRS_M2 msg: 1633881114.73 epoch sec; seqNo:1958 2021-10-10T15:51:57Z- AHRS_M2 msg: 0.03 phi; -0.07 theta; 0.99 psi 2021-10-10T15:51:57Z- handleDepth()-Depth_Keller msg: 1633881114763 epoch sec; seqNo:2000; depth 0.07 2021-10-10T15:51:57Z- handleDvl() - RDI_Pathfinder msg: 1633881114.79 epoch sec; seqNo:925 2021-10-10T15:51:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.06 , 0.00 , 83.39 , 85.84 2021-10-10T15:51:57Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.77 , 0.03 2021-10-10T15:51:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881114.84 epoch sec; seqNo:2001; 4061555.95 north; 594756.70 east 2021-10-10T15:51:58Z- AHRS_M2 msg: 1633881115.12 epoch sec; seqNo:1959 2021-10-10T15:51:58Z- AHRS_M2 msg: 0.06 phi; -0.02 theta; 1.00 psi 2021-10-10T15:51:58Z- handleDepth()-Depth_Keller msg: 1633881115132 epoch sec; seqNo:2001; depth 0.12 2021-10-10T15:51:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:58Z- handleDvl() - RDI_Pathfinder msg: 1633881115.13 epoch sec; seqNo:926 2021-10-10T15:51:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.77 , 0.03 2021-10-10T15:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881115.18 epoch sec; seqNo:2002; 4061556.33 north; 594756.70 east 2021-10-10T15:51:58Z- AHRS_M2 msg: 1633881115.52 epoch sec; seqNo:1960 2021-10-10T15:51:58Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 1.05 psi 2021-10-10T15:51:58Z- handleDepth()-Depth_Keller msg: 1633881115536 epoch sec; seqNo:2002; depth 0.09 2021-10-10T15:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881115.56 epoch sec; seqNo:2003; 4061556.33 north; 594756.70 east 2021-10-10T15:51:58Z- AHRS_M2 msg: 1633881115.93 epoch sec; seqNo:1961 2021-10-10T15:51:58Z- AHRS_M2 msg: -0.03 phi; -0.09 theta; 1.06 psi 2021-10-10T15:51:58Z- handleDepth()-Depth_Keller msg: 1633881115936 epoch sec; seqNo:2003; depth 0.08 2021-10-10T15:51:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881115.96 epoch sec; seqNo:2004; 4061556.70 north; 594755.47 east 2021-10-10T15:51:59Z- AHRS_M2 msg: 1633881116.33 epoch sec; seqNo:1962 2021-10-10T15:51:59Z- AHRS_M2 msg: -0.07 phi; -0.09 theta; 1.02 psi 2021-10-10T15:51:59Z- handleDepth()-Depth_Keller msg: 1633881116340 epoch sec; seqNo:2004; depth 0.09 2021-10-10T15:51:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:51:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:51:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:51:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:51:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:51:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:51:59Z- handleDvl() - RDI_Pathfinder msg: 1633881116.34 epoch sec; seqNo:927 2021-10-10T15:51:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:51:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , -0.77 , 0.03 2021-10-10T15:51:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881116.36 epoch sec; seqNo:2005; 4061557.08 north; 594755.47 east 2021-10-10T15:51:59Z- AHRS_M2 msg: 1633881116.74 epoch sec; seqNo:1963 2021-10-10T15:51:59Z- AHRS_M2 msg: -0.07 phi; -0.04 theta; 1.01 psi 2021-10-10T15:51:59Z- handleDepth()-Depth_Keller msg: 1633881116751 epoch sec; seqNo:2005; depth 0.09 2021-10-10T15:51:59Z- handleDvl() - RDI_Pathfinder msg: 1633881116.78 epoch sec; seqNo:928 2021-10-10T15:51:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.02 , 88.08 , 84.82 , 0.00 2021-10-10T15:51:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , 0.16 , 0.25 2021-10-10T15:51:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881116.80 epoch sec; seqNo:2006; 4061556.70 north; 594755.47 east 2021-10-10T15:52:00Z- AHRS_M2 msg: 1633881117.14 epoch sec; seqNo:1964 2021-10-10T15:52:00Z- AHRS_M2 msg: -0.02 phi; -0.04 theta; 1.01 psi 2021-10-10T15:52:00Z- handleDepth()-Depth_Keller msg: 1633881117151 epoch sec; seqNo:2006; depth 0.06 2021-10-10T15:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881117.16 epoch sec; seqNo:2007; 4061556.70 north; 594755.47 east 2021-10-10T15:52:00Z- AHRS_M2 msg: 1633881117.55 epoch sec; seqNo:1965 2021-10-10T15:52:00Z- AHRS_M2 msg: 0.05 phi; -0.09 theta; 1.02 psi 2021-10-10T15:52:00Z- handleDepth()-Depth_Keller msg: 1633881117550 epoch sec; seqNo:2007; depth 0.06 2021-10-10T15:52:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:52:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:52:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T15:52:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T15:52:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T15:52:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T15:52:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T15:52:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T15:52:00Z- handleDvl() - RDI_Pathfinder msg: 1633881117.55 epoch sec; seqNo:929 2021-10-10T15:52:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T15:52:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.26 , 0.16 , 0.25 2021-10-10T15:52:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633881117.56 epoch sec; seqNo:2008; 4061556.70 north; 594755.47 east