2021-10-10T19:43:21Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T19:43:21Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T19:43:21Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-10-10T19:43:21Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-10-10T19:43:21Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-10-10T19:43:21Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-10-10T19:43:21Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-10-10T19:43:21Z* LCM timeout=5.00 sec 2021-10-10T19:43:21Z* TRN settings: 2021-10-10T19:43:21Z* period=3.00 sec 2021-10-10T19:43:21Z* coherence=2.00 sec 2021-10-10T19:43:21Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-10-10T19:43:21Z* maptype = 2 filtertype = 3 weighting = 0 2021-10-10T19:43:21Z* lowgrade_filter = 1 allow reinit = 1 2021-10-10T19:43:21Z* cmd_estimate = cmd_estimate cmd_reinit = cmd_reinit 2021-10-10T19:43:21Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T19:43:21Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T19:43:21Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T19:43:21Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T19:43:21Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-10-10T19:43:21Z* TerrainMapOctree::numTiles_ = 9. 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-10-10T19:43:21Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-10-10T19:43:21Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.500917 seconds. 2021-10-10T19:43:21Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.59 2021-10-10T19:43:21Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.59 OK 2021-10-10T19:43:21Z* parseSensorSpecs parsing sensor of type 1. 2021-10-10T19:43:21Z* Sensor 0 is of type 1. 2021-10-10T19:43:21Z* parseSensorSpecs parsing sensor of type 2. 2021-10-10T19:43:21Z* Sensor 1 is of type 2. 2021-10-10T19:43:21Z* parseSensorSpecs parsing sensor of type 5. 2021-10-10T19:43:21Z* Sensor 2 is of type 5. 2021-10-10T19:43:21Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55ae46b8d0] 2021-10-10T19:43:21Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-10-10T19:43:21Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-10T19:43:21Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T19:43:21Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-10T19:43:21Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.59 2021-10-10T19:43:21Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T19:43:21Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T19:43:21Z- Sensor 0 is of type 1. 2021-10-10T19:43:21Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T19:43:21Z- Sensor 1 is of type 2. 2021-10-10T19:43:21Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T19:43:21Z- Sensor 2 is of type 5. 2021-10-10T19:43:21Z- Random noise maker initialized with 1633895001 2021-10-10T19:43:21Z- setDistribToSave(0) 2021-10-10T19:43:21Z- setDistribToSave set to 0 2021-10-10T19:43:21Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T19:43:21Z- Sensor #1: 2021-10-10T19:43:21Z- Sensor name: rdiDVL 2021-10-10T19:43:21Z- Sensor type: 1 2021-10-10T19:43:21Z- Number of beams per measurement: 4 2021-10-10T19:43:21Z- Sensor #1 to vehicle transformation information: 2021-10-10T19:43:21Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:43:21Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:43:21Z- 2021-10-10T19:43:21Z- Sensor #2: 2021-10-10T19:43:21Z- Sensor name: resonSeabat8101 2021-10-10T19:43:21Z- Sensor type: 2 2021-10-10T19:43:21Z- Number of beams per measurement: 11 2021-10-10T19:43:21Z- Sensor #2 to vehicle transformation information: 2021-10-10T19:43:21Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:43:21Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:43:21Z- 2021-10-10T19:43:21Z- Sensor #3: 2021-10-10T19:43:21Z- Sensor name: imagenexdeltat 2021-10-10T19:43:21Z- Sensor type: 5 2021-10-10T19:43:21Z- Number of beams per measurement: 120 2021-10-10T19:43:21Z- Sensor #3 to vehicle transformation information: 2021-10-10T19:43:21Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:43:21Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:43:21Z- 2021-10-10T19:43:21Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T19:43:21Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T19:43:21Z- TerrainNav::initVariables finished. 2021-10-10T19:43:21Z- TerrainNav::Constructor finished. 2021-10-10T19:43:21Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T19:43:21Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T19:43:21Z- TNavBF::numFilters: 1 2021-10-10T19:43:21Z- TerrainNav::modified weighting set to 0 2021-10-10T19:43:21Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-10T19:43:21Z- LcmTrn::run() 2021-10-10T19:43:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895001.79 epoch sec; seqNo:214; 4061478.09 north; 594155.86 east 2021-10-10T19:43:22Z- handleDepth()-Depth_Keller msg: 1633895002179 epoch sec; seqNo:215; depth 1.68 2021-10-10T19:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895002.19 epoch sec; seqNo:215; 4061478.47 north; 594155.85 east 2021-10-10T19:43:22Z- AHRS_M2 msg: 1633895002.56 epoch sec; seqNo:209 2021-10-10T19:43:22Z- AHRS_M2 msg: -0.00 phi; 0.12 theta; 0.98 psi 2021-10-10T19:43:22Z- handleDepth()-Depth_Keller msg: 1633895002569 epoch sec; seqNo:216; depth 1.64 2021-10-10T19:43:22Z- handleDvl() - RDI_Pathfinder msg: 1633895002.59 epoch sec; seqNo:79 2021-10-10T19:43:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.11 , 93.39 , 96.11 , 92.03 2021-10-10T19:43:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , 0.11 , 0.14 2021-10-10T19:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895002.61 epoch sec; seqNo:216; 4061478.49 north; 594157.07 east 2021-10-10T19:43:22Z- AHRS_M2 msg: 1633895002.97 epoch sec; seqNo:210 2021-10-10T19:43:22Z- AHRS_M2 msg: -0.02 phi; 0.14 theta; 0.99 psi 2021-10-10T19:43:22Z- handleDepth()-Depth_Keller msg: 1633895002974 epoch sec; seqNo:217; depth 1.60 2021-10-10T19:43:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895002.99 epoch sec; seqNo:217; 4061478.49 north; 594157.07 east 2021-10-10T19:43:23Z- AHRS_M2 msg: 1633895003.37 epoch sec; seqNo:211 2021-10-10T19:43:23Z- AHRS_M2 msg: -0.03 phi; 0.15 theta; 1.01 psi 2021-10-10T19:43:23Z- handleDepth()-Depth_Keller msg: 1633895003374 epoch sec; seqNo:218; depth 1.57 2021-10-10T19:43:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895003.39 epoch sec; seqNo:218; 4061478.49 north; 594157.07 east 2021-10-10T19:43:23Z- AHRS_M2 msg: 1633895003.77 epoch sec; seqNo:212 2021-10-10T19:43:23Z- AHRS_M2 msg: -0.03 phi; 0.16 theta; 1.03 psi 2021-10-10T19:43:23Z- handleDepth()-Depth_Keller msg: 1633895003778 epoch sec; seqNo:219; depth 1.54 2021-10-10T19:43:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895003.79 epoch sec; seqNo:219; 4061478.49 north; 594157.07 east 2021-10-10T19:43:24Z- AHRS_M2 msg: 1633895004.18 epoch sec; seqNo:213 2021-10-10T19:43:24Z- AHRS_M2 msg: -0.04 phi; 0.15 theta; 1.05 psi 2021-10-10T19:43:24Z- handleDepth()-Depth_Keller msg: 1633895004192 epoch sec; seqNo:220; depth 1.52 2021-10-10T19:43:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895004.21 epoch sec; seqNo:220; 4061478.87 north; 594157.07 east 2021-10-10T19:43:24Z- handleDepth()-Depth_Keller msg: 1633895004608 epoch sec; seqNo:221; depth 1.48 2021-10-10T19:43:24Z- handleDvl() - RDI_Pathfinder msg: 1633895004.63 epoch sec; seqNo:80 2021-10-10T19:43:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.32 , 97.67 , 104.47 , 89.52 2021-10-10T19:43:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.22 , -0.07 2021-10-10T19:43:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895004.64 epoch sec; seqNo:221; 4061478.87 north; 594157.07 east 2021-10-10T19:43:24Z- AHRS_M2 msg: 1633895004.98 epoch sec; seqNo:214 2021-10-10T19:43:24Z- AHRS_M2 msg: -0.07 phi; 0.12 theta; 1.06 psi 2021-10-10T19:43:24Z- handleDepth()-Depth_Keller msg: 1633895004992 epoch sec; seqNo:222; depth 1.44 2021-10-10T19:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895005.01 epoch sec; seqNo:222; 4061478.88 north; 594158.29 east 2021-10-10T19:43:25Z- AHRS_M2 msg: 1633895005.39 epoch sec; seqNo:215 2021-10-10T19:43:25Z- AHRS_M2 msg: -0.07 phi; 0.11 theta; 1.07 psi 2021-10-10T19:43:25Z- handleDepth()-Depth_Keller msg: 1633895005394 epoch sec; seqNo:223; depth 1.40 2021-10-10T19:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895005.41 epoch sec; seqNo:223; 4061478.88 north; 594158.29 east 2021-10-10T19:43:25Z- AHRS_M2 msg: 1633895005.79 epoch sec; seqNo:216 2021-10-10T19:43:25Z- AHRS_M2 msg: -0.07 phi; 0.12 theta; 1.07 psi 2021-10-10T19:43:25Z- handleDepth()-Depth_Keller msg: 1633895005798 epoch sec; seqNo:224; depth 1.35 2021-10-10T19:43:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895005.81 epoch sec; seqNo:224; 4061478.88 north; 594158.29 east 2021-10-10T19:43:26Z- AHRS_M2 msg: 1633895006.20 epoch sec; seqNo:217 2021-10-10T19:43:26Z- AHRS_M2 msg: -0.07 phi; 0.13 theta; 1.07 psi 2021-10-10T19:43:26Z- handleDepth()-Depth_Keller msg: 1633895006215 epoch sec; seqNo:225; depth 1.29 2021-10-10T19:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895006.30 epoch sec; seqNo:225; 4061479.27 north; 594159.50 east 2021-10-10T19:43:26Z- AHRS_M2 msg: 1633895006.60 epoch sec; seqNo:218 2021-10-10T19:43:26Z- AHRS_M2 msg: -0.09 phi; 0.14 theta; 1.08 psi 2021-10-10T19:43:26Z- handleDepth()-Depth_Keller msg: 1633895006609 epoch sec; seqNo:226; depth 1.24 2021-10-10T19:43:26Z- handleDvl() - RDI_Pathfinder msg: 1633895006.63 epoch sec; seqNo:81 2021-10-10T19:43:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 93.32 , 100.12 , 104.20 , 90.60 2021-10-10T19:43:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.12 , 0.20 2021-10-10T19:43:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895006.65 epoch sec; seqNo:226; 4061479.27 north; 594159.50 east 2021-10-10T19:43:26Z- LcmTrn::handleMessages() - handling 38 messages took 0.74 ms and 123 calls... 2021-10-10T19:43:26Z- waiting for 2.00, time is 1633895006.65 2021-10-10T19:43:26Z- LcmTrn::updateTrn() equating pose 1633895006.65 and meas times 1633895006.65 2021-10-10T19:43:26Z- LcmTrn::updateTrn() >>>> pose time 1633895006.65, meas time 1633895006.65 <<<< 2021-10-10T19:43:26Z- TerrainNav::Measurement type 1 from time = 1633895006.65 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T19:43:26Z- TerrainNav::motionUpdate() - currEstimate = (4061479, 594159.50, 1.24) 2021-10-10T19:43:26Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-10T19:43:26Z- TNavBF: Successfully initialized particles 2021-10-10T19:43:26Z- TerrainNav:: vehicle motion has been initialized 2021-10-10T19:43:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:43:26Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:26Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-10T19:43:26Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:43:26Z- LcmTrn::publishEstimates() - MLE : 4061429.77 594110.00 1.24 2021-10-10T19:43:26Z- LcmTrn::publishEstimates() - MMSE : 4061479.27 594159.50 1.24 2021-10-10T19:43:26Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-10T19:43:27Z- AHRS_M2 msg: 1633895007.01 epoch sec; seqNo:219 2021-10-10T19:43:27Z- AHRS_M2 msg: -0.11 phi; 0.15 theta; 1.09 psi 2021-10-10T19:43:27Z- handleDepth()-Depth_Keller msg: 1633895007010 epoch sec; seqNo:227; depth 1.21 2021-10-10T19:43:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895007.04 epoch sec; seqNo:227; 4061479.27 north; 594159.50 east 2021-10-10T19:43:27Z- AHRS_M2 msg: 1633895007.42 epoch sec; seqNo:220 2021-10-10T19:43:27Z- AHRS_M2 msg: -0.13 phi; 0.15 theta; 1.09 psi 2021-10-10T19:43:27Z- handleDepth()-Depth_Keller msg: 1633895007422 epoch sec; seqNo:228; depth 1.16 2021-10-10T19:43:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:27Z- handleDvl() - RDI_Pathfinder msg: 1633895007.42 epoch sec; seqNo:82 2021-10-10T19:43:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.12 , 0.20 2021-10-10T19:43:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895007.45 epoch sec; seqNo:228; 4061479.65 north; 594159.50 east 2021-10-10T19:43:27Z- AHRS_M2 msg: 1633895007.83 epoch sec; seqNo:221 2021-10-10T19:43:27Z- AHRS_M2 msg: -0.14 phi; 0.15 theta; 1.10 psi 2021-10-10T19:43:27Z- handleDepth()-Depth_Keller msg: 1633895007832 epoch sec; seqNo:229; depth 1.12 2021-10-10T19:43:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895007.84 epoch sec; seqNo:229; 4061479.66 north; 594160.72 east 2021-10-10T19:43:28Z- handleDepth()-Depth_Keller msg: 1633895008288 epoch sec; seqNo:230; depth 1.09 2021-10-10T19:43:28Z- handleDvl() - RDI_Pathfinder msg: 1633895008.34 epoch sec; seqNo:83 2021-10-10T19:43:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.60 , 105.56 , 105.56 , 97.40 2021-10-10T19:43:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.05 , 0.01 2021-10-10T19:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895008.36 epoch sec; seqNo:230; 4061479.66 north; 594160.72 east 2021-10-10T19:43:28Z- AHRS_M2 msg: 1633895008.63 epoch sec; seqNo:222 2021-10-10T19:43:28Z- AHRS_M2 msg: -0.12 phi; 0.13 theta; 1.10 psi 2021-10-10T19:43:28Z- handleDepth()-Depth_Keller msg: 1633895008636 epoch sec; seqNo:231; depth 1.04 2021-10-10T19:43:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895008.65 epoch sec; seqNo:231; 4061480.04 north; 594160.72 east 2021-10-10T19:43:29Z- AHRS_M2 msg: 1633895009.04 epoch sec; seqNo:223 2021-10-10T19:43:29Z- AHRS_M2 msg: -0.12 phi; 0.14 theta; 1.12 psi 2021-10-10T19:43:29Z- handleDepth()-Depth_Keller msg: 1633895009040 epoch sec; seqNo:232; depth 1.01 2021-10-10T19:43:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895009.05 epoch sec; seqNo:232; 4061480.06 north; 594161.94 east 2021-10-10T19:43:29Z- AHRS_M2 msg: 1633895009.44 epoch sec; seqNo:224 2021-10-10T19:43:29Z- AHRS_M2 msg: -0.13 phi; 0.14 theta; 1.14 psi 2021-10-10T19:43:29Z- handleDepth()-Depth_Keller msg: 1633895009443 epoch sec; seqNo:233; depth 0.98 2021-10-10T19:43:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895009.46 epoch sec; seqNo:233; 4061480.06 north; 594161.94 east 2021-10-10T19:43:29Z- AHRS_M2 msg: 1633895009.84 epoch sec; seqNo:225 2021-10-10T19:43:29Z- AHRS_M2 msg: -0.13 phi; 0.12 theta; 1.16 psi 2021-10-10T19:43:29Z- handleDepth()-Depth_Keller msg: 1633895009848 epoch sec; seqNo:234; depth 0.95 2021-10-10T19:43:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:29Z- handleDvl() - RDI_Pathfinder msg: 1633895009.85 epoch sec; seqNo:84 2021-10-10T19:43:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.05 , 0.01 2021-10-10T19:43:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895009.86 epoch sec; seqNo:234; 4061480.43 north; 594161.93 east 2021-10-10T19:43:30Z- AHRS_M2 msg: 1633895010.28 epoch sec; seqNo:226 2021-10-10T19:43:30Z- AHRS_M2 msg: -0.13 phi; 0.11 theta; 1.16 psi 2021-10-10T19:43:30Z- handleDepth()-Depth_Keller msg: 1633895010288 epoch sec; seqNo:235; depth 0.90 2021-10-10T19:43:30Z- handleDvl() - RDI_Pathfinder msg: 1633895010.32 epoch sec; seqNo:85 2021-10-10T19:43:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.76 , 105.36 , 108.08 , 90.40 2021-10-10T19:43:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , 0.22 , -0.29 2021-10-10T19:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895010.37 epoch sec; seqNo:235; 4061480.43 north; 594161.93 east 2021-10-10T19:43:30Z- AHRS_M2 msg: 1633895010.68 epoch sec; seqNo:227 2021-10-10T19:43:30Z- AHRS_M2 msg: -0.14 phi; 0.09 theta; 1.16 psi 2021-10-10T19:43:30Z- handleDepth()-Depth_Keller msg: 1633895010682 epoch sec; seqNo:236; depth 0.85 2021-10-10T19:43:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895010.70 epoch sec; seqNo:236; 4061480.45 north; 594163.15 east 2021-10-10T19:43:31Z- AHRS_M2 msg: 1633895011.05 epoch sec; seqNo:228 2021-10-10T19:43:31Z- AHRS_M2 msg: -0.15 phi; 0.06 theta; 1.17 psi 2021-10-10T19:43:31Z- handleDepth()-Depth_Keller msg: 1633895011059 epoch sec; seqNo:237; depth 0.81 2021-10-10T19:43:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:31Z- handleDvl() - RDI_Pathfinder msg: 1633895011.06 epoch sec; seqNo:86 2021-10-10T19:43:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , 0.22 , -0.29 2021-10-10T19:43:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895011.07 epoch sec; seqNo:237; 4061480.45 north; 594163.15 east 2021-10-10T19:43:31Z- AHRS_M2 msg: 1633895011.46 epoch sec; seqNo:229 2021-10-10T19:43:31Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 1.18 psi 2021-10-10T19:43:31Z- handleDepth()-Depth_Keller msg: 1633895011462 epoch sec; seqNo:238; depth 0.76 2021-10-10T19:43:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895011.47 epoch sec; seqNo:238; 4061480.45 north; 594163.15 east 2021-10-10T19:43:31Z- LcmTrn::handleMessages() - handling 40 messages took 0.61 ms and 128 calls... 2021-10-10T19:43:31Z- waiting for 1633895009.65, time is 1633895011.47 2021-10-10T19:43:31Z- LcmTrn::updateTrn() >>>> pose time 1633895011.47, meas time 1633895011.06 <<<< 2021-10-10T19:43:31Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895011.06, ping # 0. 2021-10-10T19:43:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895011.06 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:43:31Z- TerrainNav::motionUpdate() - currEstimate = (4061480, 594163.15, 0.76) 2021-10-10T19:43:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:43:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:43:31Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:43:31Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:43:31Z- TNavBF::Projecting Measurements 2021-10-10T19:43:31Z- TNavFilter::Measurement from time = 1633895011.06 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:43:31Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:43:31Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:43:31Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:43:31Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:43:31Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:43:31Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:43:31Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:43:31Z- Filter 0 NorthBias: -0.0 EastBias: -0.0 DepthBias: -0.0 NorthVariance: 832.7 EastVariance: 833.2 DepthVariance: 25.2 this->DepthBiasCov: 25.2 2021-10-10T19:43:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:43:31Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:31Z- variances([0], [2], and psi_berg) = 832.543581 833.243598 0.000000 2021-10-10T19:43:31Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:43:31Z- LcmTrn::publishEstimates() - MLE : 4061432.95 594115.65 0.76 2021-10-10T19:43:31Z- LcmTrn::publishEstimates() - MMSE : 4061480.45 594163.15 0.76 2021-10-10T19:43:31Z- LcmTrn::publishEstimates() - COVAR: 832.54 833.24 25.20 0.00 2021-10-10T19:43:31Z- handleDepth()-Depth_Keller msg: 1633895011885 epoch sec; seqNo:239; depth 0.69 2021-10-10T19:43:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895011.90 epoch sec; seqNo:239; 4061480.45 north; 594163.15 east 2021-10-10T19:43:32Z- AHRS_M2 msg: 1633895012.29 epoch sec; seqNo:230 2021-10-10T19:43:32Z- AHRS_M2 msg: -0.22 phi; 0.04 theta; 1.14 psi 2021-10-10T19:43:32Z- handleDepth()-Depth_Keller msg: 1633895012295 epoch sec; seqNo:240; depth 0.63 2021-10-10T19:43:32Z- handleDvl() - RDI_Pathfinder msg: 1633895012.35 epoch sec; seqNo:87 2021-10-10T19:43:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.11 , 110.86 , 98.63 , 95.91 2021-10-10T19:43:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.40 2021-10-10T19:43:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895012.38 epoch sec; seqNo:240; 4061480.84 north; 594164.37 east 2021-10-10T19:43:32Z- AHRS_M2 msg: 1633895012.67 epoch sec; seqNo:231 2021-10-10T19:43:32Z- AHRS_M2 msg: -0.22 phi; 0.08 theta; 1.14 psi 2021-10-10T19:43:32Z- handleDepth()-Depth_Keller msg: 1633895012676 epoch sec; seqNo:241; depth 0.61 2021-10-10T19:43:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895012.69 epoch sec; seqNo:241; 4061480.84 north; 594164.37 east 2021-10-10T19:43:33Z- AHRS_M2 msg: 1633895013.08 epoch sec; seqNo:232 2021-10-10T19:43:33Z- AHRS_M2 msg: -0.20 phi; 0.11 theta; 1.15 psi 2021-10-10T19:43:33Z- handleDepth()-Depth_Keller msg: 1633895013081 epoch sec; seqNo:242; depth 0.61 2021-10-10T19:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895013.09 epoch sec; seqNo:242; 4061480.84 north; 594164.37 east 2021-10-10T19:43:33Z- AHRS_M2 msg: 1633895013.48 epoch sec; seqNo:233 2021-10-10T19:43:33Z- AHRS_M2 msg: -0.17 phi; 0.11 theta; 1.16 psi 2021-10-10T19:43:33Z- handleDepth()-Depth_Keller msg: 1633895013487 epoch sec; seqNo:243; depth 0.60 2021-10-10T19:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895013.51 epoch sec; seqNo:243; 4061481.22 north; 594164.36 east 2021-10-10T19:43:33Z- AHRS_M2 msg: 1633895013.88 epoch sec; seqNo:234 2021-10-10T19:43:33Z- AHRS_M2 msg: -0.17 phi; 0.10 theta; 1.18 psi 2021-10-10T19:43:33Z- handleDepth()-Depth_Keller msg: 1633895013888 epoch sec; seqNo:244; depth 0.60 2021-10-10T19:43:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895013.90 epoch sec; seqNo:244; 4061481.23 north; 594165.59 east 2021-10-10T19:43:34Z- AHRS_M2 msg: 1633895014.31 epoch sec; seqNo:235 2021-10-10T19:43:34Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 1.19 psi 2021-10-10T19:43:34Z- handleDepth()-Depth_Keller msg: 1633895014316 epoch sec; seqNo:245; depth 0.57 2021-10-10T19:43:34Z- handleDvl() - RDI_Pathfinder msg: 1633895014.35 epoch sec; seqNo:88 2021-10-10T19:43:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.11 , 108.14 , 104.07 , 97.27 2021-10-10T19:43:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.25 , -0.43 2021-10-10T19:43:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895014.37 epoch sec; seqNo:245; 4061481.23 north; 594165.59 east 2021-10-10T19:43:34Z- AHRS_M2 msg: 1633895014.70 epoch sec; seqNo:236 2021-10-10T19:43:34Z- AHRS_M2 msg: -0.16 phi; 0.02 theta; 1.19 psi 2021-10-10T19:43:34Z- handleDepth()-Depth_Keller msg: 1633895014706 epoch sec; seqNo:246; depth 0.54 2021-10-10T19:43:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895014.72 epoch sec; seqNo:246; 4061481.23 north; 594165.59 east 2021-10-10T19:43:35Z- AHRS_M2 msg: 1633895015.10 epoch sec; seqNo:237 2021-10-10T19:43:35Z- AHRS_M2 msg: -0.14 phi; -0.02 theta; 1.18 psi 2021-10-10T19:43:35Z- handleDepth()-Depth_Keller msg: 1633895015109 epoch sec; seqNo:247; depth 0.55 2021-10-10T19:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895015.14 epoch sec; seqNo:247; 4061481.61 north; 594165.58 east 2021-10-10T19:43:35Z- AHRS_M2 msg: 1633895015.50 epoch sec; seqNo:238 2021-10-10T19:43:35Z- AHRS_M2 msg: -0.18 phi; -0.07 theta; 1.18 psi 2021-10-10T19:43:35Z- handleDepth()-Depth_Keller msg: 1633895015512 epoch sec; seqNo:248; depth 0.51 2021-10-10T19:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895015.52 epoch sec; seqNo:248; 4061481.62 north; 594166.80 east 2021-10-10T19:43:35Z- AHRS_M2 msg: 1633895015.91 epoch sec; seqNo:239 2021-10-10T19:43:35Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 1.17 psi 2021-10-10T19:43:35Z- handleDepth()-Depth_Keller msg: 1633895015913 epoch sec; seqNo:249; depth 0.46 2021-10-10T19:43:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895015.92 epoch sec; seqNo:249; 4061481.62 north; 594166.80 east 2021-10-10T19:43:36Z- handleDepth()-Depth_Keller msg: 1633895016337 epoch sec; seqNo:250; depth 0.44 2021-10-10T19:43:36Z- handleDvl() - RDI_Pathfinder msg: 1633895016.36 epoch sec; seqNo:89 2021-10-10T19:43:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 90.40 , 106.72 , 97.20 , 95.84 2021-10-10T19:43:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.54 , 0.21 , -0.07 2021-10-10T19:43:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895016.39 epoch sec; seqNo:250; 4061481.62 north; 594166.80 east 2021-10-10T19:43:36Z- AHRS_M2 msg: 1633895016.71 epoch sec; seqNo:240 2021-10-10T19:43:36Z- AHRS_M2 msg: -0.30 phi; -0.04 theta; 1.18 psi 2021-10-10T19:43:36Z- handleDepth()-Depth_Keller msg: 1633895016721 epoch sec; seqNo:251; depth 0.39 2021-10-10T19:43:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895016.74 epoch sec; seqNo:251; 4061481.62 north; 594166.80 east 2021-10-10T19:43:36Z- LcmTrn::handleMessages() - handling 40 messages took 0.80 ms and 124 calls... 2021-10-10T19:43:36Z- waiting for 1633895014.47, time is 1633895016.74 2021-10-10T19:43:36Z- LcmTrn::updateTrn() >>>> pose time 1633895016.74, meas time 1633895016.36 <<<< 2021-10-10T19:43:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895016.36 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:43:36Z- TerrainNav::motionUpdate() - currEstimate = (4061482, 594166.80, 0.39) 2021-10-10T19:43:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:43:36Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:43:36Z- TNavBF::Projecting Measurements 2021-10-10T19:43:36Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:43:36Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:43:36Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:43:36Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:43:36Z- TNavFilter::4 good beams. 2021-10-10T19:43:36Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:43:36Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:43:36Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:43:36Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:43:36Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:43:36Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:43:36Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:43:36Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:36Z- TerrainMapOctree: (vehN, vehE ) = (4061481.54, 594166.54). 2021-10-10T19:43:36Z- TerrainMapOctree: Min Distance = 246.12. 2021-10-10T19:43:36Z- TerrainMapOctree: Using tile 1. 2021-10-10T19:43:36Z- Forcing Subcloud Comparison 2021-10-10T19:43:37Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:43:37Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:37Z- Filter 0 partialDeltaRmsComputation: 29.342596 terrainVariance: 0.113373 1-SumSquareWeights: 0.999900 2021-10-10T19:43:37Z- Filter 0 meanExpectedMeasDiff: 5.406406 delta_rms_squared: 0.103374 alpha: 0.837891 2021-10-10T19:43:37Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:37Z- Filter 0 partialDeltaRmsComputation: 109.679697 terrainVariance: 0.776791 1-SumSquareWeights: 0.999900 2021-10-10T19:43:37Z- Filter 0 meanExpectedMeasDiff: -10.435656 delta_rms_squared: 0.766792 alpha: 0.974580 2021-10-10T19:43:37Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:37Z- Filter 0 partialDeltaRmsComputation: 239.273580 terrainVariance: 0.170168 1-SumSquareWeights: 0.999900 2021-10-10T19:43:37Z- Filter 0 meanExpectedMeasDiff: -15.462969 delta_rms_squared: 0.160169 alpha: 0.888993 2021-10-10T19:43:37Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:37Z- Filter 0 partialDeltaRmsComputation: 62.822057 terrainVariance: 0.266770 1-SumSquareWeights: 0.999900 2021-10-10T19:43:37Z- Filter 0 meanExpectedMeasDiff: 7.909190 delta_rms_squared: 0.256771 alpha: 0.927738 2021-10-10T19:43:37Z- Filter 0 SubcloudNIS: 0.083077 2021-10-10T19:43:37Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:43:37Z- TNavBF:: Filter 0 sumWeights = 0.000076 2021-10-10T19:43:37Z- Filter 0 NorthBias: -7.2 EastBias: 3.4 DepthBias: -15.0 NorthVariance: 890.7 EastVariance: 831.7 DepthVariance: 3.7 this->DepthBiasCov: 3.6 2021-10-10T19:43:37Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895016.36 sec. 2021-10-10T19:43:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:43:37Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:37Z- variances([0], [2], and psi_berg) = 890.539040 831.672563 0.000000 2021-10-10T19:43:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:43:37Z- LcmTrn::publishEstimates() - MLE : 4061434.12 594176.30 0.39 2021-10-10T19:43:37Z- LcmTrn::publishEstimates() - MMSE : 4061474.45 594170.18 -14.64 2021-10-10T19:43:37Z- LcmTrn::publishEstimates() - COVAR: 890.54 831.67 3.76 0.00 2021-10-10T19:43:37Z- AHRS_M2 msg: 1633895017.12 epoch sec; seqNo:241 2021-10-10T19:43:37Z- AHRS_M2 msg: -0.28 phi; -0.03 theta; 1.16 psi 2021-10-10T19:43:37Z- handleDepth()-Depth_Keller msg: 1633895017125 epoch sec; seqNo:252; depth 0.39 2021-10-10T19:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895017.14 epoch sec; seqNo:252; 4061481.64 north; 594168.02 east 2021-10-10T19:43:37Z- AHRS_M2 msg: 1633895017.52 epoch sec; seqNo:242 2021-10-10T19:43:37Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 1.14 psi 2021-10-10T19:43:37Z- handleDepth()-Depth_Keller msg: 1633895017531 epoch sec; seqNo:253; depth 0.40 2021-10-10T19:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895017.55 epoch sec; seqNo:253; 4061481.64 north; 594168.02 east 2021-10-10T19:43:37Z- AHRS_M2 msg: 1633895017.93 epoch sec; seqNo:243 2021-10-10T19:43:37Z- AHRS_M2 msg: -0.14 phi; 0.02 theta; 1.14 psi 2021-10-10T19:43:37Z- handleDepth()-Depth_Keller msg: 1633895017931 epoch sec; seqNo:254; depth 0.45 2021-10-10T19:43:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895017.95 epoch sec; seqNo:254; 4061481.64 north; 594168.02 east 2021-10-10T19:43:38Z- AHRS_M2 msg: 1633895018.33 epoch sec; seqNo:244 2021-10-10T19:43:38Z- AHRS_M2 msg: -0.22 phi; 0.02 theta; 1.16 psi 2021-10-10T19:43:38Z- handleDepth()-Depth_Keller msg: 1633895018336 epoch sec; seqNo:255; depth 0.46 2021-10-10T19:43:38Z- handleDvl() - RDI_Pathfinder msg: 1633895018.36 epoch sec; seqNo:90 2021-10-10T19:43:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 109.64 , 97.40 , 98.76 2021-10-10T19:43:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.22 , 0.25 , 0.07 2021-10-10T19:43:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895018.39 epoch sec; seqNo:255; 4061482.03 north; 594169.24 east 2021-10-10T19:43:38Z- AHRS_M2 msg: 1633895018.73 epoch sec; seqNo:245 2021-10-10T19:43:38Z- AHRS_M2 msg: -0.25 phi; -0.01 theta; 1.18 psi 2021-10-10T19:43:38Z- handleDepth()-Depth_Keller msg: 1633895018746 epoch sec; seqNo:256; depth 0.46 2021-10-10T19:43:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895018.76 epoch sec; seqNo:256; 4061482.03 north; 594169.24 east 2021-10-10T19:43:39Z- AHRS_M2 msg: 1633895019.14 epoch sec; seqNo:246 2021-10-10T19:43:39Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 1.18 psi 2021-10-10T19:43:39Z- handleDepth()-Depth_Keller msg: 1633895019142 epoch sec; seqNo:257; depth 0.50 2021-10-10T19:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895019.15 epoch sec; seqNo:257; 4061482.03 north; 594169.24 east 2021-10-10T19:43:39Z- AHRS_M2 msg: 1633895019.54 epoch sec; seqNo:247 2021-10-10T19:43:39Z- AHRS_M2 msg: -0.19 phi; -0.07 theta; 1.18 psi 2021-10-10T19:43:39Z- handleDepth()-Depth_Keller msg: 1633895019546 epoch sec; seqNo:258; depth 0.52 2021-10-10T19:43:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:39Z- handleDvl() - RDI_Pathfinder msg: 1633895019.55 epoch sec; seqNo:91 2021-10-10T19:43:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.22 , 0.25 , 0.07 2021-10-10T19:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895019.56 epoch sec; seqNo:258; 4061482.04 north; 594170.46 east 2021-10-10T19:43:39Z- AHRS_M2 msg: 1633895019.95 epoch sec; seqNo:248 2021-10-10T19:43:39Z- AHRS_M2 msg: -0.18 phi; -0.09 theta; 1.16 psi 2021-10-10T19:43:39Z- handleDepth()-Depth_Keller msg: 1633895019955 epoch sec; seqNo:259; depth 0.52 2021-10-10T19:43:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895019.96 epoch sec; seqNo:259; 4061482.42 north; 594170.45 east 2021-10-10T19:43:40Z- AHRS_M2 msg: 1633895020.35 epoch sec; seqNo:249 2021-10-10T19:43:40Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 1.15 psi 2021-10-10T19:43:40Z- handleDepth()-Depth_Keller msg: 1633895020364 epoch sec; seqNo:260; depth 0.54 2021-10-10T19:43:40Z- handleDvl() - RDI_Pathfinder msg: 1633895020.39 epoch sec; seqNo:92 2021-10-10T19:43:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.61 , 110.05 , 98.08 , 102.57 2021-10-10T19:43:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , 0.13 , -0.30 2021-10-10T19:43:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895020.42 epoch sec; seqNo:260; 4061482.42 north; 594170.45 east 2021-10-10T19:43:40Z- AHRS_M2 msg: 1633895020.75 epoch sec; seqNo:250 2021-10-10T19:43:40Z- AHRS_M2 msg: -0.24 phi; -0.11 theta; 1.15 psi 2021-10-10T19:43:40Z- handleDepth()-Depth_Keller msg: 1633895020764 epoch sec; seqNo:261; depth 0.52 2021-10-10T19:43:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895020.79 epoch sec; seqNo:261; 4061482.42 north; 594170.45 east 2021-10-10T19:43:41Z- AHRS_M2 msg: 1633895021.16 epoch sec; seqNo:251 2021-10-10T19:43:41Z- AHRS_M2 msg: -0.26 phi; -0.08 theta; 1.16 psi 2021-10-10T19:43:41Z- handleDepth()-Depth_Keller msg: 1633895021163 epoch sec; seqNo:262; depth 0.52 2021-10-10T19:43:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895021.17 epoch sec; seqNo:262; 4061482.44 north; 594171.67 east 2021-10-10T19:43:41Z- AHRS_M2 msg: 1633895021.57 epoch sec; seqNo:252 2021-10-10T19:43:41Z- AHRS_M2 msg: -0.24 phi; -0.04 theta; 1.15 psi 2021-10-10T19:43:41Z- handleDepth()-Depth_Keller msg: 1633895021584 epoch sec; seqNo:263; depth 0.51 2021-10-10T19:43:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895021.60 epoch sec; seqNo:263; 4061482.44 north; 594171.67 east 2021-10-10T19:43:41Z- AHRS_M2 msg: 1633895021.97 epoch sec; seqNo:253 2021-10-10T19:43:41Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 1.14 psi 2021-10-10T19:43:41Z- handleDepth()-Depth_Keller msg: 1633895021971 epoch sec; seqNo:264; depth 0.56 2021-10-10T19:43:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895021.98 epoch sec; seqNo:264; 4061482.44 north; 594171.67 east 2021-10-10T19:43:42Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 127 calls... 2021-10-10T19:43:42Z- waiting for 1633895019.74, time is 1633895021.98 2021-10-10T19:43:42Z- LcmTrn::updateTrn() >>>> pose time 1633895021.98, meas time 1633895020.39 <<<< 2021-10-10T19:43:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895020.39 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:43:42Z- TerrainNav::motionUpdate() - currEstimate = (4061482, 594171.67, 0.56) 2021-10-10T19:43:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:43:42Z- TerrainNav:: SubcloudNIS is 0.08, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:43:42Z- TNavBF::Projecting Measurements 2021-10-10T19:43:42Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:43:42Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:43:42Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:43:42Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:43:42Z- TNavFilter::4 good beams. 2021-10-10T19:43:42Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:43:42Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:43:42Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:43:42Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:43:42Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:43:42Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:43:42Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:43:42Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:42Z- TerrainMapOctree: (vehN, vehE ) = (4061482.19, 594170.19). 2021-10-10T19:43:42Z- TerrainMapOctree: Min Distance = 245.52. 2021-10-10T19:43:42Z- TerrainMapOctree: Using tile 1. 2021-10-10T19:43:42Z- Forcing Subcloud Comparison 2021-10-10T19:43:42Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:43:42Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:42Z- Filter 0 partialDeltaRmsComputation: 0.623464 terrainVariance: 0.118354 1-SumSquareWeights: 0.999877 2021-10-10T19:43:42Z- Filter 0 meanExpectedMeasDiff: 0.710711 delta_rms_squared: 0.108356 alpha: 0.844183 2021-10-10T19:43:42Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:42Z- Filter 0 partialDeltaRmsComputation: 0.905728 terrainVariance: 0.505134 1-SumSquareWeights: 0.999877 2021-10-10T19:43:42Z- Filter 0 meanExpectedMeasDiff: -0.632925 delta_rms_squared: 0.495135 alpha: 0.961175 2021-10-10T19:43:42Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:42Z- Filter 0 partialDeltaRmsComputation: 122.574620 terrainVariance: 0.197821 1-SumSquareWeights: 0.999877 2021-10-10T19:43:42Z- Filter 0 meanExpectedMeasDiff: -11.062405 delta_rms_squared: 0.187822 alpha: 0.903764 2021-10-10T19:43:42Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:42Z- Filter 0 partialDeltaRmsComputation: 206.342329 terrainVariance: 0.240085 1-SumSquareWeights: 0.999877 2021-10-10T19:43:42Z- Filter 0 meanExpectedMeasDiff: 14.356262 delta_rms_squared: 0.230086 alpha: 0.920027 2021-10-10T19:43:42Z- Filter 0 SubcloudNIS: 0.149837 2021-10-10T19:43:42Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:43:42Z- TNavBF:: Filter 0 sumWeights = 0.000590 2021-10-10T19:43:42Z- Filter 0 NorthBias: -11.6 EastBias: -2.3 DepthBias: -14.6 NorthVariance: 924.2 EastVariance: 989.2 DepthVariance: 2.2 this->DepthBiasCov: 2.0 2021-10-10T19:43:42Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895020.39 sec. 2021-10-10T19:43:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:43:42Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:42Z- variances([0], [2], and psi_berg) = 923.783502 989.236104 0.000000 2021-10-10T19:43:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:43:42Z- LcmTrn::publishEstimates() - MLE : 4061434.94 594181.17 0.56 2021-10-10T19:43:42Z- LcmTrn::publishEstimates() - MMSE : 4061470.88 594169.42 -14.01 2021-10-10T19:43:42Z- LcmTrn::publishEstimates() - COVAR: 923.78 989.24 2.27 0.00 2021-10-10T19:43:42Z- AHRS_M2 msg: 1633895022.37 epoch sec; seqNo:254 2021-10-10T19:43:42Z- AHRS_M2 msg: -0.18 phi; 0.01 theta; 1.14 psi 2021-10-10T19:43:42Z- handleDepth()-Depth_Keller msg: 1633895022376 epoch sec; seqNo:265; depth 0.60 2021-10-10T19:43:42Z- handleDvl() - RDI_Pathfinder msg: 1633895022.40 epoch sec; seqNo:93 2021-10-10T19:43:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.68 , 113.51 , 95.84 , 102.64 2021-10-10T19:43:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.02 , 0.29 2021-10-10T19:43:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895022.44 epoch sec; seqNo:265; 4061482.81 north; 594171.67 east 2021-10-10T19:43:42Z- AHRS_M2 msg: 1633895022.78 epoch sec; seqNo:255 2021-10-10T19:43:42Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 1.14 psi 2021-10-10T19:43:42Z- handleDepth()-Depth_Keller msg: 1633895022788 epoch sec; seqNo:266; depth 0.62 2021-10-10T19:43:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895022.80 epoch sec; seqNo:266; 4061482.83 north; 594172.89 east 2021-10-10T19:43:43Z- AHRS_M2 msg: 1633895023.18 epoch sec; seqNo:256 2021-10-10T19:43:43Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 1.14 psi 2021-10-10T19:43:43Z- handleDepth()-Depth_Keller msg: 1633895023194 epoch sec; seqNo:267; depth 0.65 2021-10-10T19:43:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:43Z- handleDvl() - RDI_Pathfinder msg: 1633895023.20 epoch sec; seqNo:94 2021-10-10T19:43:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.02 , 0.29 2021-10-10T19:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895023.21 epoch sec; seqNo:267; 4061483.21 north; 594172.89 east 2021-10-10T19:43:43Z- AHRS_M2 msg: 1633895023.59 epoch sec; seqNo:257 2021-10-10T19:43:43Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 1.13 psi 2021-10-10T19:43:43Z- handleDepth()-Depth_Keller msg: 1633895023592 epoch sec; seqNo:268; depth 0.64 2021-10-10T19:43:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895023.62 epoch sec; seqNo:268; 4061483.21 north; 594172.89 east 2021-10-10T19:43:43Z- AHRS_M2 msg: 1633895023.99 epoch sec; seqNo:258 2021-10-10T19:43:43Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.12 psi 2021-10-10T19:43:43Z- handleDepth()-Depth_Keller msg: 1633895023994 epoch sec; seqNo:269; depth 0.63 2021-10-10T19:43:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895024.01 epoch sec; seqNo:269; 4061483.21 north; 594172.89 east 2021-10-10T19:43:44Z- AHRS_M2 msg: 1633895024.40 epoch sec; seqNo:259 2021-10-10T19:43:44Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 1.12 psi 2021-10-10T19:43:44Z- handleDepth()-Depth_Keller msg: 1633895024407 epoch sec; seqNo:270; depth 0.64 2021-10-10T19:43:44Z- handleDvl() - RDI_Pathfinder msg: 1633895024.43 epoch sec; seqNo:95 2021-10-10T19:43:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.68 , 112.15 , 93.12 , 104.00 2021-10-10T19:43:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , 0.24 , 0.11 2021-10-10T19:43:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895024.44 epoch sec; seqNo:270; 4061483.60 north; 594174.10 east 2021-10-10T19:43:44Z- AHRS_M2 msg: 1633895024.80 epoch sec; seqNo:260 2021-10-10T19:43:44Z- AHRS_M2 msg: -0.22 phi; -0.07 theta; 1.12 psi 2021-10-10T19:43:44Z- handleDepth()-Depth_Keller msg: 1633895024814 epoch sec; seqNo:271; depth 0.66 2021-10-10T19:43:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895024.83 epoch sec; seqNo:271; 4061483.60 north; 594174.10 east 2021-10-10T19:43:45Z- handleDepth()-Depth_Keller msg: 1633895025222 epoch sec; seqNo:272; depth 0.69 2021-10-10T19:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895025.25 epoch sec; seqNo:272; 4061483.60 north; 594174.10 east 2021-10-10T19:43:45Z- AHRS_M2 msg: 1633895025.62 epoch sec; seqNo:261 2021-10-10T19:43:45Z- AHRS_M2 msg: -0.24 phi; -0.06 theta; 1.13 psi 2021-10-10T19:43:45Z- handleDepth()-Depth_Keller msg: 1633895025625 epoch sec; seqNo:273; depth 0.71 2021-10-10T19:43:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:45Z- handleDvl() - RDI_Pathfinder msg: 1633895025.63 epoch sec; seqNo:96 2021-10-10T19:43:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , 0.24 , 0.11 2021-10-10T19:43:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895025.64 epoch sec; seqNo:273; 4061483.60 north; 594174.10 east 2021-10-10T19:43:46Z- AHRS_M2 msg: 1633895026.01 epoch sec; seqNo:262 2021-10-10T19:43:46Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 1.11 psi 2021-10-10T19:43:46Z- handleDepth()-Depth_Keller msg: 1633895026019 epoch sec; seqNo:274; depth 0.72 2021-10-10T19:43:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895026.03 epoch sec; seqNo:274; 4061483.61 north; 594175.32 east 2021-10-10T19:43:46Z- AHRS_M2 msg: 1633895026.41 epoch sec; seqNo:263 2021-10-10T19:43:46Z- AHRS_M2 msg: -0.24 phi; -0.10 theta; 1.08 psi 2021-10-10T19:43:46Z- handleDepth()-Depth_Keller msg: 1633895026432 epoch sec; seqNo:275; depth 0.73 2021-10-10T19:43:46Z- handleDvl() - RDI_Pathfinder msg: 1633895026.45 epoch sec; seqNo:97 2021-10-10T19:43:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.75 , 113.58 , 95.91 , 102.71 2021-10-10T19:43:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.11 , -0.06 2021-10-10T19:43:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895026.46 epoch sec; seqNo:275; 4061483.61 north; 594175.32 east 2021-10-10T19:43:46Z- AHRS_M2 msg: 1633895026.82 epoch sec; seqNo:264 2021-10-10T19:43:46Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 1.07 psi 2021-10-10T19:43:46Z- handleDepth()-Depth_Keller msg: 1633895026828 epoch sec; seqNo:276; depth 0.75 2021-10-10T19:43:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:46Z- handleDvl() - RDI_Pathfinder msg: 1633895026.83 epoch sec; seqNo:98 2021-10-10T19:43:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.11 , -0.06 2021-10-10T19:43:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895026.85 epoch sec; seqNo:276; 4061483.61 north; 594175.32 east 2021-10-10T19:43:47Z- AHRS_M2 msg: 1633895027.22 epoch sec; seqNo:265 2021-10-10T19:43:47Z- AHRS_M2 msg: -0.24 phi; -0.06 theta; 1.08 psi 2021-10-10T19:43:47Z- handleDepth()-Depth_Keller msg: 1633895027230 epoch sec; seqNo:277; depth 0.78 2021-10-10T19:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895027.24 epoch sec; seqNo:277; 4061483.99 north; 594175.32 east 2021-10-10T19:43:47Z- LcmTrn::handleMessages() - handling 44 messages took 0.79 ms and 128 calls... 2021-10-10T19:43:47Z- waiting for 1633895024.98, time is 1633895027.24 2021-10-10T19:43:47Z- LcmTrn::updateTrn() >>>> pose time 1633895027.24, meas time 1633895026.83 <<<< 2021-10-10T19:43:47Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895026.83, ping # 0. 2021-10-10T19:43:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895026.83 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:43:47Z- TerrainNav::motionUpdate() - currEstimate = (4061484, 594175.32, 0.78) 2021-10-10T19:43:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:43:47Z- TerrainNav:: SubcloudNIS is 0.15, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:43:47Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:43:47Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:43:47Z- TNavBF::Projecting Measurements 2021-10-10T19:43:47Z- TNavFilter::Measurement from time = 1633895026.83 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:43:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:43:47Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:43:47Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:43:47Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:43:47Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:43:47Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:43:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:43:47Z- Filter 0 NorthBias: -11.6 EastBias: -2.2 DepthBias: -14.6 NorthVariance: 923.2 EastVariance: 989.3 DepthVariance: 2.5 this->DepthBiasCov: 2.3 2021-10-10T19:43:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:43:47Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:47Z- variances([0], [2], and psi_berg) = 922.973640 989.255215 0.000000 2021-10-10T19:43:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:43:47Z- LcmTrn::publishEstimates() - MLE : 4061436.49 594184.82 0.78 2021-10-10T19:43:47Z- LcmTrn::publishEstimates() - MMSE : 4061472.44 594173.08 -13.79 2021-10-10T19:43:47Z- LcmTrn::publishEstimates() - COVAR: 922.97 989.26 2.48 0.00 2021-10-10T19:43:47Z- AHRS_M2 msg: 1633895027.63 epoch sec; seqNo:266 2021-10-10T19:43:47Z- AHRS_M2 msg: -0.25 phi; -0.02 theta; 1.09 psi 2021-10-10T19:43:47Z- handleDepth()-Depth_Keller msg: 1633895027646 epoch sec; seqNo:278; depth 0.85 2021-10-10T19:43:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895027.66 epoch sec; seqNo:278; 4061484.01 north; 594176.54 east 2021-10-10T19:43:48Z- AHRS_M2 msg: 1633895028.03 epoch sec; seqNo:267 2021-10-10T19:43:48Z- AHRS_M2 msg: -0.25 phi; 0.01 theta; 1.10 psi 2021-10-10T19:43:48Z- handleDepth()-Depth_Keller msg: 1633895028036 epoch sec; seqNo:279; depth 0.89 2021-10-10T19:43:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:48Z- handleDvl() - RDI_Pathfinder msg: 1633895028.04 epoch sec; seqNo:99 2021-10-10T19:43:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.11 , -0.06 2021-10-10T19:43:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895028.05 epoch sec; seqNo:279; 4061484.38 north; 594176.53 east 2021-10-10T19:43:48Z- AHRS_M2 msg: 1633895028.44 epoch sec; seqNo:268 2021-10-10T19:43:48Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 1.11 psi 2021-10-10T19:43:48Z- handleDepth()-Depth_Keller msg: 1633895028440 epoch sec; seqNo:280; depth 0.94 2021-10-10T19:43:48Z- handleDvl() - RDI_Pathfinder msg: 1633895028.46 epoch sec; seqNo:100 2021-10-10T19:43:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.32 , 114.87 , 95.84 , 101.28 2021-10-10T19:43:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.03 , -0.30 2021-10-10T19:43:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895028.50 epoch sec; seqNo:280; 4061484.38 north; 594176.53 east 2021-10-10T19:43:48Z- AHRS_M2 msg: 1633895028.85 epoch sec; seqNo:269 2021-10-10T19:43:48Z- AHRS_M2 msg: -0.18 phi; -0.04 theta; 1.12 psi 2021-10-10T19:43:48Z- handleDepth()-Depth_Keller msg: 1633895028854 epoch sec; seqNo:281; depth 0.98 2021-10-10T19:43:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895028.87 epoch sec; seqNo:281; 4061484.78 north; 594177.75 east 2021-10-10T19:43:49Z- AHRS_M2 msg: 1633895029.24 epoch sec; seqNo:270 2021-10-10T19:43:49Z- AHRS_M2 msg: -0.19 phi; -0.08 theta; 1.12 psi 2021-10-10T19:43:49Z- handleDepth()-Depth_Keller msg: 1633895029247 epoch sec; seqNo:282; depth 0.99 2021-10-10T19:43:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:49Z- handleDvl() - RDI_Pathfinder msg: 1633895029.25 epoch sec; seqNo:101 2021-10-10T19:43:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.03 , -0.30 2021-10-10T19:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895029.27 epoch sec; seqNo:282; 4061484.78 north; 594177.75 east 2021-10-10T19:43:49Z- AHRS_M2 msg: 1633895029.65 epoch sec; seqNo:271 2021-10-10T19:43:49Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 1.11 psi 2021-10-10T19:43:49Z- handleDepth()-Depth_Keller msg: 1633895029658 epoch sec; seqNo:283; depth 0.99 2021-10-10T19:43:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895029.68 epoch sec; seqNo:283; 4061485.16 north; 594177.75 east 2021-10-10T19:43:50Z- handleDepth()-Depth_Keller msg: 1633895030076 epoch sec; seqNo:284; depth 1.00 2021-10-10T19:43:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895030.10 epoch sec; seqNo:284; 4061485.17 north; 594178.97 east 2021-10-10T19:43:50Z- AHRS_M2 msg: 1633895030.45 epoch sec; seqNo:272 2021-10-10T19:43:50Z- AHRS_M2 msg: -0.17 phi; -0.10 theta; 1.08 psi 2021-10-10T19:43:50Z- handleDepth()-Depth_Keller msg: 1633895030466 epoch sec; seqNo:285; depth 1.02 2021-10-10T19:43:50Z- handleDvl() - RDI_Pathfinder msg: 1633895030.50 epoch sec; seqNo:102 2021-10-10T19:43:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.68 , 112.15 , 97.20 , 106.72 2021-10-10T19:43:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , 0.10 , 0.24 2021-10-10T19:43:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895030.51 epoch sec; seqNo:285; 4061485.17 north; 594178.97 east 2021-10-10T19:43:50Z- AHRS_M2 msg: 1633895030.86 epoch sec; seqNo:273 2021-10-10T19:43:50Z- AHRS_M2 msg: -0.17 phi; -0.05 theta; 1.08 psi 2021-10-10T19:43:50Z- handleDepth()-Depth_Keller msg: 1633895030863 epoch sec; seqNo:286; depth 1.06 2021-10-10T19:43:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895030.89 epoch sec; seqNo:286; 4061485.55 north; 594178.96 east 2021-10-10T19:43:51Z- AHRS_M2 msg: 1633895031.26 epoch sec; seqNo:274 2021-10-10T19:43:51Z- AHRS_M2 msg: -0.17 phi; -0.03 theta; 1.09 psi 2021-10-10T19:43:51Z- handleDepth()-Depth_Keller msg: 1633895031268 epoch sec; seqNo:287; depth 1.08 2021-10-10T19:43:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895031.29 epoch sec; seqNo:287; 4061485.55 north; 594178.96 east 2021-10-10T19:43:51Z- AHRS_M2 msg: 1633895031.67 epoch sec; seqNo:275 2021-10-10T19:43:51Z- AHRS_M2 msg: -0.21 phi; -0.08 theta; 1.11 psi 2021-10-10T19:43:51Z- handleDepth()-Depth_Keller msg: 1633895031679 epoch sec; seqNo:288; depth 1.09 2021-10-10T19:43:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:51Z- handleDvl() - RDI_Pathfinder msg: 1633895031.68 epoch sec; seqNo:103 2021-10-10T19:43:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , 0.10 , 0.24 2021-10-10T19:43:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895031.70 epoch sec; seqNo:288; 4061485.55 north; 594178.96 east 2021-10-10T19:43:52Z- AHRS_M2 msg: 1633895032.08 epoch sec; seqNo:276 2021-10-10T19:43:52Z- AHRS_M2 msg: -0.19 phi; -0.11 theta; 1.09 psi 2021-10-10T19:43:52Z- handleDepth()-Depth_Keller msg: 1633895032079 epoch sec; seqNo:289; depth 1.14 2021-10-10T19:43:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895032.10 epoch sec; seqNo:289; 4061485.55 north; 594178.96 east 2021-10-10T19:43:52Z- LcmTrn::handleMessages() - handling 40 messages took 0.74 ms and 125 calls... 2021-10-10T19:43:52Z- waiting for 1633895030.24, time is 1633895032.10 2021-10-10T19:43:52Z- LcmTrn::updateTrn() >>>> pose time 1633895032.10, meas time 1633895031.68 <<<< 2021-10-10T19:43:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895031.68, ping # 0. 2021-10-10T19:43:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895031.68 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:43:52Z- TerrainNav::motionUpdate() - currEstimate = (4061486, 594178.96, 1.14) 2021-10-10T19:43:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:43:52Z- TerrainNav:: SubcloudNIS is 0.15, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:43:52Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:43:52Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:43:52Z- TNavBF::Projecting Measurements 2021-10-10T19:43:52Z- TNavFilter::Measurement from time = 1633895031.68 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:43:52Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:43:52Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:43:52Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:43:52Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:43:52Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:43:52Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:43:52Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:43:52Z- Filter 0 NorthBias: -11.5 EastBias: -2.2 DepthBias: -14.6 NorthVariance: 922.4 EastVariance: 989.3 DepthVariance: 2.7 this->DepthBiasCov: 2.5 2021-10-10T19:43:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:43:52Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:52Z- variances([0], [2], and psi_berg) = 922.175355 989.273317 0.000000 2021-10-10T19:43:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:43:52Z- LcmTrn::publishEstimates() - MLE : 4061438.05 594188.46 1.14 2021-10-10T19:43:52Z- LcmTrn::publishEstimates() - MMSE : 4061474.01 594176.73 -13.43 2021-10-10T19:43:52Z- LcmTrn::publishEstimates() - COVAR: 922.18 989.27 2.68 0.00 2021-10-10T19:43:52Z- AHRS_M2 msg: 1633895032.48 epoch sec; seqNo:277 2021-10-10T19:43:52Z- AHRS_M2 msg: -0.18 phi; -0.10 theta; 1.08 psi 2021-10-10T19:43:52Z- handleDepth()-Depth_Keller msg: 1633895032488 epoch sec; seqNo:290; depth 1.12 2021-10-10T19:43:52Z- handleDvl() - RDI_Pathfinder msg: 1633895032.51 epoch sec; seqNo:104 2021-10-10T19:43:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.54 , 107.94 , 97.06 , 99.78 2021-10-10T19:43:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.22 , -0.10 2021-10-10T19:43:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895032.55 epoch sec; seqNo:290; 4061485.56 north; 594180.18 east 2021-10-10T19:43:52Z- AHRS_M2 msg: 1633895032.88 epoch sec; seqNo:278 2021-10-10T19:43:52Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 1.07 psi 2021-10-10T19:43:52Z- handleDepth()-Depth_Keller msg: 1633895032893 epoch sec; seqNo:291; depth 1.15 2021-10-10T19:43:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:52Z- handleDvl() - RDI_Pathfinder msg: 1633895032.89 epoch sec; seqNo:105 2021-10-10T19:43:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.22 , -0.10 2021-10-10T19:43:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895032.91 epoch sec; seqNo:291; 4061485.56 north; 594180.18 east 2021-10-10T19:43:53Z- AHRS_M2 msg: 1633895033.29 epoch sec; seqNo:279 2021-10-10T19:43:53Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 1.08 psi 2021-10-10T19:43:53Z- handleDepth()-Depth_Keller msg: 1633895033292 epoch sec; seqNo:292; depth 1.18 2021-10-10T19:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895033.32 epoch sec; seqNo:292; 4061485.94 north; 594180.18 east 2021-10-10T19:43:53Z- AHRS_M2 msg: 1633895033.69 epoch sec; seqNo:280 2021-10-10T19:43:53Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 1.10 psi 2021-10-10T19:43:53Z- handleDepth()-Depth_Keller msg: 1633895033693 epoch sec; seqNo:293; depth 1.23 2021-10-10T19:43:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895033.70 epoch sec; seqNo:293; 4061485.95 north; 594181.40 east 2021-10-10T19:43:54Z- AHRS_M2 msg: 1633895034.09 epoch sec; seqNo:281 2021-10-10T19:43:54Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 1.12 psi 2021-10-10T19:43:54Z- handleDepth()-Depth_Keller msg: 1633895034097 epoch sec; seqNo:294; depth 1.27 2021-10-10T19:43:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:54Z- handleDvl() - RDI_Pathfinder msg: 1633895034.10 epoch sec; seqNo:106 2021-10-10T19:43:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.22 , -0.10 2021-10-10T19:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895034.11 epoch sec; seqNo:294; 4061485.95 north; 594181.40 east 2021-10-10T19:43:54Z- AHRS_M2 msg: 1633895034.50 epoch sec; seqNo:282 2021-10-10T19:43:54Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 1.13 psi 2021-10-10T19:43:54Z- handleDepth()-Depth_Keller msg: 1633895034507 epoch sec; seqNo:295; depth 1.31 2021-10-10T19:43:54Z- handleDvl() - RDI_Pathfinder msg: 1633895034.54 epoch sec; seqNo:107 2021-10-10T19:43:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.82 , 109.57 , 95.97 , 95.97 2021-10-10T19:43:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.15 , -0.35 2021-10-10T19:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895034.56 epoch sec; seqNo:295; 4061486.33 north; 594181.40 east 2021-10-10T19:43:54Z- AHRS_M2 msg: 1633895034.90 epoch sec; seqNo:283 2021-10-10T19:43:54Z- AHRS_M2 msg: -0.21 phi; -0.08 theta; 1.14 psi 2021-10-10T19:43:54Z- handleDepth()-Depth_Keller msg: 1633895034904 epoch sec; seqNo:296; depth 1.32 2021-10-10T19:43:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895034.92 epoch sec; seqNo:296; 4061486.35 north; 594182.62 east 2021-10-10T19:43:55Z- AHRS_M2 msg: 1633895035.31 epoch sec; seqNo:284 2021-10-10T19:43:55Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 1.13 psi 2021-10-10T19:43:55Z- handleDepth()-Depth_Keller msg: 1633895035313 epoch sec; seqNo:297; depth 1.34 2021-10-10T19:43:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:55Z- handleDvl() - RDI_Pathfinder msg: 1633895035.32 epoch sec; seqNo:108 2021-10-10T19:43:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.15 , -0.35 2021-10-10T19:43:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895035.33 epoch sec; seqNo:297; 4061486.35 north; 594182.62 east 2021-10-10T19:43:55Z- AHRS_M2 msg: 1633895035.71 epoch sec; seqNo:285 2021-10-10T19:43:55Z- AHRS_M2 msg: -0.18 phi; -0.10 theta; 1.12 psi 2021-10-10T19:43:55Z- handleDepth()-Depth_Keller msg: 1633895035728 epoch sec; seqNo:298; depth 1.34 2021-10-10T19:43:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895035.74 epoch sec; seqNo:298; 4061486.72 north; 594182.61 east 2021-10-10T19:43:56Z- AHRS_M2 msg: 1633895036.11 epoch sec; seqNo:286 2021-10-10T19:43:56Z- AHRS_M2 msg: -0.17 phi; -0.08 theta; 1.12 psi 2021-10-10T19:43:56Z- handleDepth()-Depth_Keller msg: 1633895036116 epoch sec; seqNo:299; depth 1.35 2021-10-10T19:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895036.13 epoch sec; seqNo:299; 4061486.74 north; 594183.83 east 2021-10-10T19:43:56Z- AHRS_M2 msg: 1633895036.51 epoch sec; seqNo:287 2021-10-10T19:43:56Z- AHRS_M2 msg: -0.18 phi; -0.07 theta; 1.11 psi 2021-10-10T19:43:56Z- handleDepth()-Depth_Keller msg: 1633895036520 epoch sec; seqNo:300; depth 1.38 2021-10-10T19:43:56Z- handleDvl() - RDI_Pathfinder msg: 1633895036.54 epoch sec; seqNo:109 2021-10-10T19:43:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.89 , 109.64 , 91.96 , 102.84 2021-10-10T19:43:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.35 , 0.17 2021-10-10T19:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895036.58 epoch sec; seqNo:300; 4061487.12 north; 594183.83 east 2021-10-10T19:43:56Z- AHRS_M2 msg: 1633895036.92 epoch sec; seqNo:288 2021-10-10T19:43:56Z- AHRS_M2 msg: -0.18 phi; -0.07 theta; 1.11 psi 2021-10-10T19:43:56Z- handleDepth()-Depth_Keller msg: 1633895036925 epoch sec; seqNo:301; depth 1.40 2021-10-10T19:43:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895036.94 epoch sec; seqNo:301; 4061487.12 north; 594183.83 east 2021-10-10T19:43:57Z- AHRS_M2 msg: 1633895037.32 epoch sec; seqNo:289 2021-10-10T19:43:57Z- AHRS_M2 msg: -0.18 phi; -0.08 theta; 1.10 psi 2021-10-10T19:43:57Z- LcmTrn::handleMessages() - handling 43 messages took 0.80 ms and 127 calls... 2021-10-10T19:43:57Z- waiting for 1633895035.10, time is 1633895037.32 2021-10-10T19:43:57Z- LcmTrn::updateTrn() >>>> pose time 1633895037.32, meas time 1633895036.54 <<<< 2021-10-10T19:43:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895036.54 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:43:57Z- TerrainNav::motionUpdate() - currEstimate = (4061487, 594183.83, 1.40) 2021-10-10T19:43:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:43:57Z- TerrainNav:: SubcloudNIS is 0.15, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:43:57Z- TNavBF::Projecting Measurements 2021-10-10T19:43:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:43:57Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:43:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:43:57Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:43:57Z- TNavFilter::4 good beams. 2021-10-10T19:43:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:43:57Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:43:57Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:43:57Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:43:57Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:43:57Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:43:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:43:57Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:57Z- TerrainMapOctree: (vehN, vehE ) = (4061486.88, 594183.10). 2021-10-10T19:43:57Z- TerrainMapOctree: Min Distance = 246.15. 2021-10-10T19:43:57Z- TerrainMapOctree: Using tile 1. 2021-10-10T19:43:57Z- Forcing Subcloud Comparison 2021-10-10T19:43:57Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:43:57Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:57Z- Filter 0 partialDeltaRmsComputation: 7.853908 terrainVariance: 0.147717 1-SumSquareWeights: 0.999821 2021-10-10T19:43:57Z- Filter 0 meanExpectedMeasDiff: 2.776003 delta_rms_squared: 0.137718 alpha: 0.873192 2021-10-10T19:43:57Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:57Z- Filter 0 partialDeltaRmsComputation: 0.472785 terrainVariance: 0.469535 1-SumSquareWeights: 0.999821 2021-10-10T19:43:57Z- Filter 0 meanExpectedMeasDiff: -0.057014 delta_rms_squared: 0.459537 alpha: 0.958293 2021-10-10T19:43:57Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:57Z- Filter 0 partialDeltaRmsComputation: 72.704267 terrainVariance: 0.215052 1-SumSquareWeights: 0.999821 2021-10-10T19:43:57Z- Filter 0 meanExpectedMeasDiff: -8.514060 delta_rms_squared: 0.205054 alpha: 0.911132 2021-10-10T19:43:57Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:43:57Z- Filter 0 partialDeltaRmsComputation: 112.152667 terrainVariance: 0.326273 1-SumSquareWeights: 0.999821 2021-10-10T19:43:57Z- Filter 0 meanExpectedMeasDiff: 10.574800 delta_rms_squared: 0.316275 alpha: 0.940525 2021-10-10T19:43:57Z- Filter 0 SubcloudNIS: 0.214553 2021-10-10T19:43:57Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:43:57Z- TNavBF:: Filter 0 sumWeights = 0.009029 2021-10-10T19:43:57Z- Filter 0 NorthBias: -13.6 EastBias: -7.0 DepthBias: -14.1 NorthVariance: 944.6 EastVariance: 1141.0 DepthVariance: 1.8 this->DepthBiasCov: 1.7 2021-10-10T19:43:57Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895036.54 sec. 2021-10-10T19:43:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:43:57Z- TNavBF::mmse selected from filter -1 2021-10-10T19:43:57Z- variances([0], [2], and psi_berg) = 944.373566 1141.086480 0.000000 2021-10-10T19:43:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:43:57Z- LcmTrn::publishEstimates() - MLE : 4061439.62 594144.33 1.40 2021-10-10T19:43:57Z- LcmTrn::publishEstimates() - MMSE : 4061473.53 594176.83 -12.71 2021-10-10T19:43:57Z- LcmTrn::publishEstimates() - COVAR: 944.37 1141.09 1.88 0.00 2021-10-10T19:43:57Z- handleDepth()-Depth_Keller msg: 1633895037333 epoch sec; seqNo:302; depth 1.41 2021-10-10T19:43:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895037.34 epoch sec; seqNo:302; 4061487.50 north; 594183.82 east 2021-10-10T19:43:57Z- AHRS_M2 msg: 1633895037.73 epoch sec; seqNo:290 2021-10-10T19:43:57Z- AHRS_M2 msg: -0.19 phi; -0.08 theta; 1.08 psi 2021-10-10T19:43:57Z- handleDepth()-Depth_Keller msg: 1633895037733 epoch sec; seqNo:303; depth 1.43 2021-10-10T19:43:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:57Z- handleDvl() - RDI_Pathfinder msg: 1633895037.73 epoch sec; seqNo:110 2021-10-10T19:43:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.35 , 0.17 2021-10-10T19:43:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895037.76 epoch sec; seqNo:303; 4061487.50 north; 594183.82 east 2021-10-10T19:43:58Z- AHRS_M2 msg: 1633895038.13 epoch sec; seqNo:291 2021-10-10T19:43:58Z- AHRS_M2 msg: -0.19 phi; -0.08 theta; 1.08 psi 2021-10-10T19:43:58Z- handleDepth()-Depth_Keller msg: 1633895038138 epoch sec; seqNo:304; depth 1.44 2021-10-10T19:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895038.15 epoch sec; seqNo:304; 4061487.87 north; 594183.82 east 2021-10-10T19:43:58Z- AHRS_M2 msg: 1633895038.54 epoch sec; seqNo:292 2021-10-10T19:43:58Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 1.08 psi 2021-10-10T19:43:58Z- handleDepth()-Depth_Keller msg: 1633895038541 epoch sec; seqNo:305; depth 1.48 2021-10-10T19:43:58Z- handleDvl() - RDI_Pathfinder msg: 1633895038.56 epoch sec; seqNo:111 2021-10-10T19:43:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.18 , 109.57 , 97.33 , 95.97 2021-10-10T19:43:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.35 , 0.38 2021-10-10T19:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895038.58 epoch sec; seqNo:305; 4061487.87 north; 594183.82 east 2021-10-10T19:43:58Z- AHRS_M2 msg: 1633895038.94 epoch sec; seqNo:293 2021-10-10T19:43:58Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 1.08 psi 2021-10-10T19:43:58Z- handleDepth()-Depth_Keller msg: 1633895038942 epoch sec; seqNo:306; depth 1.50 2021-10-10T19:43:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:43:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:43:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:43:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:43:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:43:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:43:58Z- handleDvl() - RDI_Pathfinder msg: 1633895038.94 epoch sec; seqNo:112 2021-10-10T19:43:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:43:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.35 , 0.38 2021-10-10T19:43:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895038.96 epoch sec; seqNo:306; 4061487.89 north; 594185.04 east 2021-10-10T19:43:59Z- handleDepth()-Depth_Keller msg: 1633895039364 epoch sec; seqNo:307; depth 1.52 2021-10-10T19:43:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895039.38 epoch sec; seqNo:307; 4061487.89 north; 594185.04 east 2021-10-10T19:43:59Z- AHRS_M2 msg: 1633895039.75 epoch sec; seqNo:294 2021-10-10T19:43:59Z- AHRS_M2 msg: -0.23 phi; -0.11 theta; 1.07 psi 2021-10-10T19:43:59Z- handleDepth()-Depth_Keller msg: 1633895039752 epoch sec; seqNo:308; depth 1.54 2021-10-10T19:43:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895039.77 epoch sec; seqNo:308; 4061487.89 north; 594185.04 east 2021-10-10T19:44:00Z- AHRS_M2 msg: 1633895040.15 epoch sec; seqNo:295 2021-10-10T19:44:00Z- AHRS_M2 msg: -0.25 phi; -0.10 theta; 1.06 psi 2021-10-10T19:44:00Z- handleDepth()-Depth_Keller msg: 1633895040154 epoch sec; seqNo:309; depth 1.56 2021-10-10T19:44:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:00Z- handleDvl() - RDI_Pathfinder msg: 1633895040.16 epoch sec; seqNo:113 2021-10-10T19:44:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.35 , 0.38 2021-10-10T19:44:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895040.17 epoch sec; seqNo:309; 4061487.90 north; 594186.26 east 2021-10-10T19:44:00Z- AHRS_M2 msg: 1633895040.56 epoch sec; seqNo:296 2021-10-10T19:44:00Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 1.07 psi 2021-10-10T19:44:00Z- handleDepth()-Depth_Keller msg: 1633895040562 epoch sec; seqNo:310; depth 1.58 2021-10-10T19:44:00Z- handleDvl() - RDI_Pathfinder msg: 1633895040.58 epoch sec; seqNo:114 2021-10-10T19:44:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.18 , 110.93 , 97.33 , 105.49 2021-10-10T19:44:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.51 , -0.06 2021-10-10T19:44:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895040.62 epoch sec; seqNo:310; 4061487.90 north; 594186.26 east 2021-10-10T19:44:00Z- AHRS_M2 msg: 1633895040.96 epoch sec; seqNo:297 2021-10-10T19:44:00Z- AHRS_M2 msg: -0.23 phi; -0.08 theta; 1.07 psi 2021-10-10T19:44:00Z- handleDepth()-Depth_Keller msg: 1633895040963 epoch sec; seqNo:311; depth 1.63 2021-10-10T19:44:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895040.99 epoch sec; seqNo:311; 4061487.90 north; 594186.26 east 2021-10-10T19:44:01Z- AHRS_M2 msg: 1633895041.36 epoch sec; seqNo:298 2021-10-10T19:44:01Z- AHRS_M2 msg: -0.22 phi; -0.06 theta; 1.08 psi 2021-10-10T19:44:01Z- handleDepth()-Depth_Keller msg: 1633895041367 epoch sec; seqNo:312; depth 1.67 2021-10-10T19:44:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:01Z- handleDvl() - RDI_Pathfinder msg: 1633895041.37 epoch sec; seqNo:115 2021-10-10T19:44:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.51 , -0.06 2021-10-10T19:44:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895041.38 epoch sec; seqNo:312; 4061487.91 north; 594187.48 east 2021-10-10T19:44:01Z- AHRS_M2 msg: 1633895041.77 epoch sec; seqNo:299 2021-10-10T19:44:01Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 1.09 psi 2021-10-10T19:44:01Z- handleDepth()-Depth_Keller msg: 1633895041779 epoch sec; seqNo:313; depth 1.72 2021-10-10T19:44:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895041.79 epoch sec; seqNo:313; 4061487.91 north; 594187.48 east 2021-10-10T19:44:02Z- AHRS_M2 msg: 1633895042.17 epoch sec; seqNo:300 2021-10-10T19:44:02Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 1.10 psi 2021-10-10T19:44:02Z- handleDepth()-Depth_Keller msg: 1633895042177 epoch sec; seqNo:314; depth 1.76 2021-10-10T19:44:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895042.19 epoch sec; seqNo:314; 4061487.91 north; 594187.48 east 2021-10-10T19:44:02Z- LcmTrn::handleMessages() - handling 43 messages took 0.65 ms and 130 calls... 2021-10-10T19:44:02Z- waiting for 1633895040.32, time is 1633895042.19 2021-10-10T19:44:02Z- LcmTrn::updateTrn() >>>> pose time 1633895042.19, meas time 1633895041.37 <<<< 2021-10-10T19:44:02Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895041.37, ping # 0. 2021-10-10T19:44:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895041.37 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:02Z- TerrainNav::motionUpdate() - currEstimate = (4061488, 594187.48, 1.76) 2021-10-10T19:44:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:02Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:02Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:02Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:02Z- TNavBF::Projecting Measurements 2021-10-10T19:44:02Z- TNavFilter::Measurement from time = 1633895041.37 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:44:02Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:02Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:02Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:44:02Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:44:02Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:44:02Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:44:02Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:02Z- Filter 0 NorthBias: -13.6 EastBias: -7.0 DepthBias: -14.1 NorthVariance: 943.8 EastVariance: 1141.3 DepthVariance: 2.0 this->DepthBiasCov: 1.9 2021-10-10T19:44:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:02Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:02Z- variances([0], [2], and psi_berg) = 943.591554 1141.404571 0.000000 2021-10-10T19:44:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:02Z- LcmTrn::publishEstimates() - MLE : 4061440.41 594147.98 1.76 2021-10-10T19:44:02Z- LcmTrn::publishEstimates() - MMSE : 4061474.34 594180.51 -12.35 2021-10-10T19:44:02Z- LcmTrn::publishEstimates() - COVAR: 943.59 1141.40 2.07 0.00 2021-10-10T19:44:02Z- handleDepth()-Depth_Keller msg: 1633895042600 epoch sec; seqNo:315; depth 1.79 2021-10-10T19:44:02Z- handleDvl() - RDI_Pathfinder msg: 1633895042.63 epoch sec; seqNo:116 2021-10-10T19:44:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.61 , 109.37 , 97.13 , 101.21 2021-10-10T19:44:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.08 , -0.59 2021-10-10T19:44:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895042.64 epoch sec; seqNo:315; 4061488.31 north; 594188.70 east 2021-10-10T19:44:02Z- AHRS_M2 msg: 1633895042.98 epoch sec; seqNo:301 2021-10-10T19:44:02Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 1.14 psi 2021-10-10T19:44:02Z- handleDepth()-Depth_Keller msg: 1633895042986 epoch sec; seqNo:316; depth 1.84 2021-10-10T19:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895043.00 epoch sec; seqNo:316; 4061488.31 north; 594188.70 east 2021-10-10T19:44:03Z- AHRS_M2 msg: 1633895043.38 epoch sec; seqNo:302 2021-10-10T19:44:03Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 1.15 psi 2021-10-10T19:44:03Z- handleDepth()-Depth_Keller msg: 1633895043388 epoch sec; seqNo:317; depth 1.88 2021-10-10T19:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895043.41 epoch sec; seqNo:317; 4061488.69 north; 594188.69 east 2021-10-10T19:44:03Z- AHRS_M2 msg: 1633895043.79 epoch sec; seqNo:303 2021-10-10T19:44:03Z- AHRS_M2 msg: -0.18 phi; -0.11 theta; 1.15 psi 2021-10-10T19:44:03Z- handleDepth()-Depth_Keller msg: 1633895043795 epoch sec; seqNo:318; depth 1.89 2021-10-10T19:44:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:03Z- handleDvl() - RDI_Pathfinder msg: 1633895043.80 epoch sec; seqNo:117 2021-10-10T19:44:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.08 , -0.59 2021-10-10T19:44:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895043.81 epoch sec; seqNo:318; 4061488.70 north; 594189.91 east 2021-10-10T19:44:04Z- AHRS_M2 msg: 1633895044.20 epoch sec; seqNo:304 2021-10-10T19:44:04Z- AHRS_M2 msg: -0.16 phi; -0.12 theta; 1.14 psi 2021-10-10T19:44:04Z- handleDepth()-Depth_Keller msg: 1633895044207 epoch sec; seqNo:319; depth 1.91 2021-10-10T19:44:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895044.27 epoch sec; seqNo:319; 4061489.08 north; 594189.91 east 2021-10-10T19:44:04Z- AHRS_M2 msg: 1633895044.59 epoch sec; seqNo:305 2021-10-10T19:44:04Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; 1.12 psi 2021-10-10T19:44:04Z- handleDepth()-Depth_Keller msg: 1633895044598 epoch sec; seqNo:320; depth 1.93 2021-10-10T19:44:04Z- handleDvl() - RDI_Pathfinder msg: 1633895044.64 epoch sec; seqNo:118 2021-10-10T19:44:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.75 , 109.50 , 91.83 , 102.71 2021-10-10T19:44:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.43 , -0.28 , 0.15 2021-10-10T19:44:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895044.66 epoch sec; seqNo:320; 4061489.08 north; 594189.91 east 2021-10-10T19:44:05Z- AHRS_M2 msg: 1633895045.00 epoch sec; seqNo:306 2021-10-10T19:44:05Z- AHRS_M2 msg: -0.16 phi; -0.15 theta; 1.10 psi 2021-10-10T19:44:05Z- handleDepth()-Depth_Keller msg: 1633895045004 epoch sec; seqNo:321; depth 1.96 2021-10-10T19:44:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:05Z- handleDvl() - RDI_Pathfinder msg: 1633895045.01 epoch sec; seqNo:119 2021-10-10T19:44:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.43 , -0.28 , 0.15 2021-10-10T19:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895045.02 epoch sec; seqNo:321; 4061489.46 north; 594189.90 east 2021-10-10T19:44:05Z- AHRS_M2 msg: 1633895045.40 epoch sec; seqNo:307 2021-10-10T19:44:05Z- AHRS_M2 msg: -0.18 phi; -0.16 theta; 1.08 psi 2021-10-10T19:44:05Z- handleDepth()-Depth_Keller msg: 1633895045408 epoch sec; seqNo:322; depth 1.95 2021-10-10T19:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895045.43 epoch sec; seqNo:322; 4061489.46 north; 594189.90 east 2021-10-10T19:44:05Z- AHRS_M2 msg: 1633895045.81 epoch sec; seqNo:308 2021-10-10T19:44:05Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 1.07 psi 2021-10-10T19:44:05Z- handleDepth()-Depth_Keller msg: 1633895045815 epoch sec; seqNo:323; depth 1.99 2021-10-10T19:44:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895045.84 epoch sec; seqNo:323; 4061489.84 north; 594189.90 east 2021-10-10T19:44:06Z- AHRS_M2 msg: 1633895046.23 epoch sec; seqNo:309 2021-10-10T19:44:06Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 1.07 psi 2021-10-10T19:44:06Z- handleDepth()-Depth_Keller msg: 1633895046274 epoch sec; seqNo:324; depth 2.03 2021-10-10T19:44:06Z- handleDvl() - RDI_Pathfinder msg: 1633895046.33 epoch sec; seqNo:120 2021-10-10T19:44:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.18 , 108.21 , 89.18 , 109.57 2021-10-10T19:44:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.36 , 0.22 2021-10-10T19:44:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895046.34 epoch sec; seqNo:324; 4061489.85 north; 594191.12 east 2021-10-10T19:44:06Z- AHRS_M2 msg: 1633895046.62 epoch sec; seqNo:310 2021-10-10T19:44:06Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.08 psi 2021-10-10T19:44:06Z- handleDepth()-Depth_Keller msg: 1633895046625 epoch sec; seqNo:325; depth 2.10 2021-10-10T19:44:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895046.64 epoch sec; seqNo:325; 4061489.85 north; 594191.12 east 2021-10-10T19:44:07Z- AHRS_M2 msg: 1633895047.02 epoch sec; seqNo:311 2021-10-10T19:44:07Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 1.10 psi 2021-10-10T19:44:07Z- handleDepth()-Depth_Keller msg: 1633895047023 epoch sec; seqNo:326; depth 2.15 2021-10-10T19:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895047.04 epoch sec; seqNo:326; 4061489.85 north; 594191.12 east 2021-10-10T19:44:07Z- AHRS_M2 msg: 1633895047.42 epoch sec; seqNo:312 2021-10-10T19:44:07Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 1.11 psi 2021-10-10T19:44:07Z- handleDepth()-Depth_Keller msg: 1633895047426 epoch sec; seqNo:327; depth 2.19 2021-10-10T19:44:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:07Z- handleDvl() - RDI_Pathfinder msg: 1633895047.43 epoch sec; seqNo:121 2021-10-10T19:44:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.36 , 0.22 2021-10-10T19:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895047.44 epoch sec; seqNo:327; 4061489.86 north; 594192.34 east 2021-10-10T19:44:07Z- LcmTrn::handleMessages() - handling 44 messages took 0.82 ms and 127 calls... 2021-10-10T19:44:07Z- waiting for 1633895045.19, time is 1633895047.44 2021-10-10T19:44:07Z- LcmTrn::updateTrn() equating pose 1633895047.44 and meas times 1633895047.44 2021-10-10T19:44:07Z- LcmTrn::updateTrn() >>>> pose time 1633895047.44, meas time 1633895047.44 <<<< 2021-10-10T19:44:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895047.44, ping # 0. 2021-10-10T19:44:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895047.44 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:07Z- TerrainNav::motionUpdate() - currEstimate = (4061490, 594192.34, 2.19) 2021-10-10T19:44:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:07Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:07Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:07Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:07Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895047.44 sec.; No relevant navigation data available 2021-10-10T19:44:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:07Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:07Z- variances([0], [2], and psi_berg) = 942.902733 1141.678308 0.000000 2021-10-10T19:44:07Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:07Z- LcmTrn::publishEstimates() - MLE : 4061442.36 594152.84 2.19 2021-10-10T19:44:07Z- LcmTrn::publishEstimates() - MMSE : 4061476.30 594185.39 -11.92 2021-10-10T19:44:07Z- LcmTrn::publishEstimates() - COVAR: 942.90 1141.68 2.34 0.00 2021-10-10T19:44:07Z- AHRS_M2 msg: 1633895047.83 epoch sec; seqNo:313 2021-10-10T19:44:07Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 1.12 psi 2021-10-10T19:44:07Z- handleDepth()-Depth_Keller msg: 1633895047840 epoch sec; seqNo:328; depth 2.25 2021-10-10T19:44:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895047.87 epoch sec; seqNo:328; 4061489.86 north; 594192.34 east 2021-10-10T19:44:08Z- AHRS_M2 msg: 1633895048.28 epoch sec; seqNo:314 2021-10-10T19:44:08Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 1.12 psi 2021-10-10T19:44:08Z- handleDepth()-Depth_Keller msg: 1633895048282 epoch sec; seqNo:329; depth 2.29 2021-10-10T19:44:08Z- handleDvl() - RDI_Pathfinder msg: 1633895048.32 epoch sec; seqNo:122 2021-10-10T19:44:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.75 , 110.86 , 97.27 , 104.07 2021-10-10T19:44:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.02 , -0.29 2021-10-10T19:44:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895048.34 epoch sec; seqNo:329; 4061490.24 north; 594192.34 east 2021-10-10T19:44:08Z- handleDepth()-Depth_Keller msg: 1633895048652 epoch sec; seqNo:330; depth 2.35 2021-10-10T19:44:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:08Z- handleDvl() - RDI_Pathfinder msg: 1633895048.65 epoch sec; seqNo:123 2021-10-10T19:44:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.02 , -0.29 2021-10-10T19:44:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895048.67 epoch sec; seqNo:330; 4061490.25 north; 594193.56 east 2021-10-10T19:44:09Z- AHRS_M2 msg: 1633895049.04 epoch sec; seqNo:315 2021-10-10T19:44:09Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 1.10 psi 2021-10-10T19:44:09Z- handleDepth()-Depth_Keller msg: 1633895049049 epoch sec; seqNo:331; depth 2.38 2021-10-10T19:44:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895049.06 epoch sec; seqNo:331; 4061490.25 north; 594193.56 east 2021-10-10T19:44:09Z- AHRS_M2 msg: 1633895049.45 epoch sec; seqNo:316 2021-10-10T19:44:09Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:09Z- handleDepth()-Depth_Keller msg: 1633895049453 epoch sec; seqNo:332; depth 2.41 2021-10-10T19:44:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895049.46 epoch sec; seqNo:332; 4061490.63 north; 594193.55 east 2021-10-10T19:44:09Z- AHRS_M2 msg: 1633895049.85 epoch sec; seqNo:317 2021-10-10T19:44:09Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:09Z- handleDepth()-Depth_Keller msg: 1633895049849 epoch sec; seqNo:333; depth 2.45 2021-10-10T19:44:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:09Z- handleDvl() - RDI_Pathfinder msg: 1633895049.85 epoch sec; seqNo:124 2021-10-10T19:44:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.02 , -0.29 2021-10-10T19:44:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895049.86 epoch sec; seqNo:333; 4061490.63 north; 594193.55 east 2021-10-10T19:44:10Z- AHRS_M2 msg: 1633895050.29 epoch sec; seqNo:318 2021-10-10T19:44:10Z- AHRS_M2 msg: -0.25 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:10Z- handleDepth()-Depth_Keller msg: 1633895050300 epoch sec; seqNo:334; depth 2.51 2021-10-10T19:44:10Z- handleDvl() - RDI_Pathfinder msg: 1633895050.32 epoch sec; seqNo:125 2021-10-10T19:44:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.68 , 112.15 , 87.68 , 113.51 2021-10-10T19:44:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.13 , 0.13 2021-10-10T19:44:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895050.36 epoch sec; seqNo:334; 4061491.03 north; 594194.77 east 2021-10-10T19:44:10Z- AHRS_M2 msg: 1633895050.67 epoch sec; seqNo:319 2021-10-10T19:44:10Z- AHRS_M2 msg: -0.25 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:10Z- handleDepth()-Depth_Keller msg: 1633895050673 epoch sec; seqNo:335; depth 2.58 2021-10-10T19:44:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895050.73 epoch sec; seqNo:335; 4061491.03 north; 594194.77 east 2021-10-10T19:44:11Z- AHRS_M2 msg: 1633895051.06 epoch sec; seqNo:320 2021-10-10T19:44:11Z- AHRS_M2 msg: -0.25 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:11Z- handleDepth()-Depth_Keller msg: 1633895051068 epoch sec; seqNo:336; depth 2.63 2021-10-10T19:44:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:11Z- handleDvl() - RDI_Pathfinder msg: 1633895051.08 epoch sec; seqNo:126 2021-10-10T19:44:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.13 , 0.13 2021-10-10T19:44:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895051.09 epoch sec; seqNo:336; 4061491.03 north; 594194.77 east 2021-10-10T19:44:11Z- AHRS_M2 msg: 1633895051.47 epoch sec; seqNo:321 2021-10-10T19:44:11Z- AHRS_M2 msg: -0.25 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:11Z- handleDepth()-Depth_Keller msg: 1633895051472 epoch sec; seqNo:337; depth 2.70 2021-10-10T19:44:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895051.48 epoch sec; seqNo:337; 4061491.03 north; 594194.77 east 2021-10-10T19:44:11Z- AHRS_M2 msg: 1633895051.87 epoch sec; seqNo:322 2021-10-10T19:44:11Z- AHRS_M2 msg: -0.25 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:11Z- handleDepth()-Depth_Keller msg: 1633895051877 epoch sec; seqNo:338; depth 2.76 2021-10-10T19:44:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895051.89 epoch sec; seqNo:338; 4061491.42 north; 594195.99 east 2021-10-10T19:44:12Z- handleDepth()-Depth_Keller msg: 1633895052312 epoch sec; seqNo:339; depth 2.82 2021-10-10T19:44:12Z- handleDvl() - RDI_Pathfinder msg: 1633895052.33 epoch sec; seqNo:127 2021-10-10T19:44:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.25 , 113.45 , 88.97 , 112.09 2021-10-10T19:44:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.07 , 0.08 2021-10-10T19:44:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895052.35 epoch sec; seqNo:339; 4061491.42 north; 594195.99 east 2021-10-10T19:44:12Z- LcmTrn::handleMessages() - handling 40 messages took 0.67 ms and 127 calls... 2021-10-10T19:44:12Z- waiting for 1633895050.44, time is 1633895052.35 2021-10-10T19:44:12Z- LcmTrn::updateTrn() equating pose 1633895052.35 and meas times 1633895052.35 2021-10-10T19:44:12Z- LcmTrn::updateTrn() >>>> pose time 1633895052.35, meas time 1633895052.35 <<<< 2021-10-10T19:44:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895052.35 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:12Z- TerrainNav::motionUpdate() - currEstimate = (4061491, 594195.99, 2.82) 2021-10-10T19:44:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:12Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:12Z- TNavBF::Projecting Measurements 2021-10-10T19:44:12Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:44:12Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:44:12Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:44:12Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:44:12Z- TNavFilter::4 good beams. 2021-10-10T19:44:12Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:12Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:12Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:44:12Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:44:12Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:44:12Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:44:12Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:12Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:12Z- TerrainMapOctree: (vehN, vehE ) = (4061491.42, 594195.99). 2021-10-10T19:44:12Z- TerrainMapOctree: Min Distance = 247.39. 2021-10-10T19:44:12Z- TerrainMapOctree: Using tile 1. 2021-10-10T19:44:12Z- Forcing Subcloud Comparison 2021-10-10T19:44:12Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:44:12Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:12Z- Filter 0 partialDeltaRmsComputation: 37.616530 terrainVariance: 0.151343 1-SumSquareWeights: 0.999713 2021-10-10T19:44:12Z- Filter 0 meanExpectedMeasDiff: 6.120881 delta_rms_squared: 0.141345 alpha: 0.876042 2021-10-10T19:44:12Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:12Z- Filter 0 partialDeltaRmsComputation: 81.781739 terrainVariance: 0.553021 1-SumSquareWeights: 0.999713 2021-10-10T19:44:12Z- Filter 0 meanExpectedMeasDiff: -9.012698 delta_rms_squared: 0.543024 alpha: 0.964478 2021-10-10T19:44:12Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:12Z- Filter 0 partialDeltaRmsComputation: 121.811837 terrainVariance: 0.189081 1-SumSquareWeights: 0.999713 2021-10-10T19:44:12Z- Filter 0 meanExpectedMeasDiff: -11.028271 delta_rms_squared: 0.179084 alpha: 0.899540 2021-10-10T19:44:12Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:12Z- Filter 0 partialDeltaRmsComputation: 273.854214 terrainVariance: 0.365216 1-SumSquareWeights: 0.999713 2021-10-10T19:44:12Z- Filter 0 meanExpectedMeasDiff: 16.537503 delta_rms_squared: 0.355219 alpha: 0.946698 2021-10-10T19:44:12Z- Filter 0 SubcloudNIS: 0.316432 2021-10-10T19:44:12Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:44:12Z- TNavBF:: Filter 0 sumWeights = 0.000009 2021-10-10T19:44:12Z- Filter 0 NorthBias: -21.5 EastBias: -14.1 DepthBias: -14.1 NorthVariance: 843.7 EastVariance: 1151.9 DepthVariance: 1.7 this->DepthBiasCov: 1.5 2021-10-10T19:44:12Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895052.35 sec. 2021-10-10T19:44:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:12Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:12Z- variances([0], [2], and psi_berg) = 843.677379 1151.907044 0.000000 2021-10-10T19:44:12Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:12Z- LcmTrn::publishEstimates() - MLE : 4061445.92 594149.49 2.82 2021-10-10T19:44:12Z- LcmTrn::publishEstimates() - MMSE : 4061469.87 594181.91 -11.31 2021-10-10T19:44:12Z- LcmTrn::publishEstimates() - COVAR: 843.68 1151.91 1.69 0.00 2021-10-10T19:44:12Z- AHRS_M2 msg: 1633895052.68 epoch sec; seqNo:323 2021-10-10T19:44:12Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 1.11 psi 2021-10-10T19:44:12Z- handleDepth()-Depth_Keller msg: 1633895052688 epoch sec; seqNo:340; depth 2.90 2021-10-10T19:44:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895052.72 epoch sec; seqNo:340; 4061491.42 north; 594195.99 east 2021-10-10T19:44:13Z- AHRS_M2 msg: 1633895053.08 epoch sec; seqNo:324 2021-10-10T19:44:13Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.11 psi 2021-10-10T19:44:13Z- handleDepth()-Depth_Keller msg: 1633895053088 epoch sec; seqNo:341; depth 2.95 2021-10-10T19:44:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895053.10 epoch sec; seqNo:341; 4061491.80 north; 594195.98 east 2021-10-10T19:44:13Z- AHRS_M2 msg: 1633895053.49 epoch sec; seqNo:325 2021-10-10T19:44:13Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 1.11 psi 2021-10-10T19:44:13Z- handleDepth()-Depth_Keller msg: 1633895053492 epoch sec; seqNo:342; depth 3.03 2021-10-10T19:44:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:13Z- handleDvl() - RDI_Pathfinder msg: 1633895053.49 epoch sec; seqNo:128 2021-10-10T19:44:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.07 , 0.08 2021-10-10T19:44:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895053.51 epoch sec; seqNo:342; 4061491.81 north; 594197.20 east 2021-10-10T19:44:13Z- AHRS_M2 msg: 1633895053.89 epoch sec; seqNo:326 2021-10-10T19:44:13Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.11 psi 2021-10-10T19:44:13Z- handleDepth()-Depth_Keller msg: 1633895053903 epoch sec; seqNo:343; depth 3.07 2021-10-10T19:44:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895053.91 epoch sec; seqNo:343; 4061491.81 north; 594197.20 east 2021-10-10T19:44:14Z- AHRS_M2 msg: 1633895054.31 epoch sec; seqNo:327 2021-10-10T19:44:14Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.10 psi 2021-10-10T19:44:14Z- handleDepth()-Depth_Keller msg: 1633895054312 epoch sec; seqNo:344; depth 3.13 2021-10-10T19:44:14Z- handleDvl() - RDI_Pathfinder msg: 1633895054.33 epoch sec; seqNo:129 2021-10-10T19:44:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 87.61 , 108.01 , 88.97 , 110.73 2021-10-10T19:44:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.15 , 0.20 2021-10-10T19:44:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895054.36 epoch sec; seqNo:344; 4061491.81 north; 594197.20 east 2021-10-10T19:44:14Z- AHRS_M2 msg: 1633895054.70 epoch sec; seqNo:328 2021-10-10T19:44:14Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 1.09 psi 2021-10-10T19:44:14Z- handleDepth()-Depth_Keller msg: 1633895054707 epoch sec; seqNo:345; depth 3.18 2021-10-10T19:44:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:14Z- handleDvl() - RDI_Pathfinder msg: 1633895054.71 epoch sec; seqNo:130 2021-10-10T19:44:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.15 , 0.20 2021-10-10T19:44:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895054.73 epoch sec; seqNo:345; 4061492.20 north; 594198.42 east 2021-10-10T19:44:15Z- AHRS_M2 msg: 1633895055.11 epoch sec; seqNo:329 2021-10-10T19:44:15Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 1.08 psi 2021-10-10T19:44:15Z- handleDepth()-Depth_Keller msg: 1633895055113 epoch sec; seqNo:346; depth 3.25 2021-10-10T19:44:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895055.13 epoch sec; seqNo:346; 4061492.20 north; 594198.42 east 2021-10-10T19:44:15Z- AHRS_M2 msg: 1633895055.51 epoch sec; seqNo:330 2021-10-10T19:44:15Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.07 psi 2021-10-10T19:44:15Z- handleDepth()-Depth_Keller msg: 1633895055511 epoch sec; seqNo:347; depth 3.30 2021-10-10T19:44:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895055.52 epoch sec; seqNo:347; 4061492.20 north; 594198.42 east 2021-10-10T19:44:15Z- AHRS_M2 msg: 1633895055.92 epoch sec; seqNo:331 2021-10-10T19:44:15Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.07 psi 2021-10-10T19:44:15Z- handleDepth()-Depth_Keller msg: 1633895055930 epoch sec; seqNo:348; depth 3.36 2021-10-10T19:44:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:15Z- handleDvl() - RDI_Pathfinder msg: 1633895055.93 epoch sec; seqNo:131 2021-10-10T19:44:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.15 , 0.20 2021-10-10T19:44:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895055.94 epoch sec; seqNo:348; 4061492.20 north; 594198.42 east 2021-10-10T19:44:16Z- AHRS_M2 msg: 1633895056.32 epoch sec; seqNo:332 2021-10-10T19:44:16Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 1.08 psi 2021-10-10T19:44:16Z- handleDepth()-Depth_Keller msg: 1633895056336 epoch sec; seqNo:349; depth 3.43 2021-10-10T19:44:16Z- handleDvl() - RDI_Pathfinder msg: 1633895056.36 epoch sec; seqNo:132 2021-10-10T19:44:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 89.11 , 110.86 , 86.39 , 113.58 2021-10-10T19:44:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.43 , -0.20 2021-10-10T19:44:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895056.39 epoch sec; seqNo:349; 4061492.22 north; 594199.64 east 2021-10-10T19:44:16Z- AHRS_M2 msg: 1633895056.72 epoch sec; seqNo:333 2021-10-10T19:44:16Z- AHRS_M2 msg: -0.25 phi; -0.20 theta; 1.09 psi 2021-10-10T19:44:16Z- handleDepth()-Depth_Keller msg: 1633895056727 epoch sec; seqNo:350; depth 3.49 2021-10-10T19:44:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895056.76 epoch sec; seqNo:350; 4061492.59 north; 594199.63 east 2021-10-10T19:44:17Z- AHRS_M2 msg: 1633895057.13 epoch sec; seqNo:334 2021-10-10T19:44:17Z- AHRS_M2 msg: -0.26 phi; -0.20 theta; 1.10 psi 2021-10-10T19:44:17Z- handleDepth()-Depth_Keller msg: 1633895057138 epoch sec; seqNo:351; depth 3.58 2021-10-10T19:44:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:17Z- handleDvl() - RDI_Pathfinder msg: 1633895057.14 epoch sec; seqNo:133 2021-10-10T19:44:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.43 , -0.20 2021-10-10T19:44:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895057.15 epoch sec; seqNo:351; 4061492.59 north; 594199.63 east 2021-10-10T19:44:17Z- AHRS_M2 msg: 1633895057.53 epoch sec; seqNo:335 2021-10-10T19:44:17Z- AHRS_M2 msg: -0.25 phi; -0.20 theta; 1.12 psi 2021-10-10T19:44:17Z- handleDepth()-Depth_Keller msg: 1633895057536 epoch sec; seqNo:352; depth 3.63 2021-10-10T19:44:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895057.55 epoch sec; seqNo:352; 4061492.61 north; 594200.85 east 2021-10-10T19:44:17Z- LcmTrn::handleMessages() - handling 45 messages took 0.71 ms and 130 calls... 2021-10-10T19:44:17Z- waiting for 1633895055.35, time is 1633895057.55 2021-10-10T19:44:17Z- LcmTrn::updateTrn() >>>> pose time 1633895057.55, meas time 1633895057.14 <<<< 2021-10-10T19:44:17Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895057.14, ping # 0. 2021-10-10T19:44:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895057.14 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:17Z- TerrainNav::motionUpdate() - currEstimate = (4061493, 594200.85, 3.63) 2021-10-10T19:44:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:17Z- TerrainNav:: SubcloudNIS is 0.32, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:17Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:17Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:17Z- TNavBF::Projecting Measurements 2021-10-10T19:44:17Z- TNavFilter::Measurement from time = 1633895057.14 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:44:17Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:17Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:17Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:44:17Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:44:17Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:44:17Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:44:17Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:17Z- Filter 0 NorthBias: -21.5 EastBias: -14.0 DepthBias: -14.1 NorthVariance: 843.3 EastVariance: 1152.9 DepthVariance: 1.9 this->DepthBiasCov: 1.8 2021-10-10T19:44:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:17Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:17Z- variances([0], [2], and psi_berg) = 843.183622 1153.211484 0.000000 2021-10-10T19:44:17Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:17Z- LcmTrn::publishEstimates() - MLE : 4061448.11 594154.35 3.63 2021-10-10T19:44:17Z- LcmTrn::publishEstimates() - MMSE : 4061471.08 594186.83 -10.49 2021-10-10T19:44:17Z- LcmTrn::publishEstimates() - COVAR: 843.18 1153.21 1.95 0.00 2021-10-10T19:44:17Z- AHRS_M2 msg: 1633895057.93 epoch sec; seqNo:336 2021-10-10T19:44:17Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 1.13 psi 2021-10-10T19:44:17Z- handleDepth()-Depth_Keller msg: 1633895057936 epoch sec; seqNo:353; depth 3.72 2021-10-10T19:44:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895057.94 epoch sec; seqNo:353; 4061492.61 north; 594200.85 east 2021-10-10T19:44:18Z- AHRS_M2 msg: 1633895058.33 epoch sec; seqNo:337 2021-10-10T19:44:18Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.14 psi 2021-10-10T19:44:18Z- handleDepth()-Depth_Keller msg: 1633895058343 epoch sec; seqNo:354; depth 3.78 2021-10-10T19:44:18Z- handleDvl() - RDI_Pathfinder msg: 1633895058.38 epoch sec; seqNo:134 2021-10-10T19:44:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.32 , 113.51 , 0.00 , 110.79 2021-10-10T19:44:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.21 , -0.37 2021-10-10T19:44:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895058.39 epoch sec; seqNo:354; 4061492.99 north; 594200.85 east 2021-10-10T19:44:18Z- AHRS_M2 msg: 1633895058.74 epoch sec; seqNo:338 2021-10-10T19:44:18Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.14 psi 2021-10-10T19:44:18Z- handleDepth()-Depth_Keller msg: 1633895058751 epoch sec; seqNo:355; depth 3.86 2021-10-10T19:44:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895058.77 epoch sec; seqNo:355; 4061493.00 north; 594202.07 east 2021-10-10T19:44:19Z- AHRS_M2 msg: 1633895059.14 epoch sec; seqNo:339 2021-10-10T19:44:19Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 1.14 psi 2021-10-10T19:44:19Z- handleDepth()-Depth_Keller msg: 1633895059157 epoch sec; seqNo:356; depth 3.94 2021-10-10T19:44:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895059.18 epoch sec; seqNo:356; 4061493.38 north; 594202.07 east 2021-10-10T19:44:19Z- AHRS_M2 msg: 1633895059.55 epoch sec; seqNo:340 2021-10-10T19:44:19Z- AHRS_M2 msg: -0.19 phi; -0.22 theta; 1.13 psi 2021-10-10T19:44:19Z- handleDepth()-Depth_Keller msg: 1633895059552 epoch sec; seqNo:357; depth 3.98 2021-10-10T19:44:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:19Z- handleDvl() - RDI_Pathfinder msg: 1633895059.55 epoch sec; seqNo:135 2021-10-10T19:44:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.21 , -0.37 2021-10-10T19:44:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895059.58 epoch sec; seqNo:357; 4061493.76 north; 594202.06 east 2021-10-10T19:44:19Z- AHRS_M2 msg: 1633895059.95 epoch sec; seqNo:341 2021-10-10T19:44:19Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.11 psi 2021-10-10T19:44:19Z- handleDepth()-Depth_Keller msg: 1633895059963 epoch sec; seqNo:358; depth 4.05 2021-10-10T19:44:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895059.97 epoch sec; seqNo:358; 4061494.14 north; 594202.06 east 2021-10-10T19:44:20Z- AHRS_M2 msg: 1633895060.35 epoch sec; seqNo:342 2021-10-10T19:44:20Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.11 psi 2021-10-10T19:44:20Z- handleDepth()-Depth_Keller msg: 1633895060368 epoch sec; seqNo:359; depth 4.12 2021-10-10T19:44:20Z- handleDvl() - RDI_Pathfinder msg: 1633895060.39 epoch sec; seqNo:136 2021-10-10T19:44:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.98 , 106.92 , 85.98 , 111.41 2021-10-10T19:44:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.17 , 0.13 2021-10-10T19:44:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895060.42 epoch sec; seqNo:359; 4061494.15 north; 594203.28 east 2021-10-10T19:44:20Z- AHRS_M2 msg: 1633895060.76 epoch sec; seqNo:343 2021-10-10T19:44:20Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 1.10 psi 2021-10-10T19:44:20Z- handleDepth()-Depth_Keller msg: 1633895060763 epoch sec; seqNo:360; depth 4.19 2021-10-10T19:44:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:20Z- handleDvl() - RDI_Pathfinder msg: 1633895060.77 epoch sec; seqNo:137 2021-10-10T19:44:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.17 , 0.13 2021-10-10T19:44:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895060.80 epoch sec; seqNo:360; 4061494.15 north; 594203.28 east 2021-10-10T19:44:21Z- AHRS_M2 msg: 1633895061.16 epoch sec; seqNo:344 2021-10-10T19:44:21Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 1.10 psi 2021-10-10T19:44:21Z- handleDepth()-Depth_Keller msg: 1633895061172 epoch sec; seqNo:361; depth 4.24 2021-10-10T19:44:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895061.21 epoch sec; seqNo:361; 4061494.53 north; 594203.27 east 2021-10-10T19:44:21Z- AHRS_M2 msg: 1633895061.57 epoch sec; seqNo:345 2021-10-10T19:44:21Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 1.09 psi 2021-10-10T19:44:21Z- handleDepth()-Depth_Keller msg: 1633895061578 epoch sec; seqNo:362; depth 4.31 2021-10-10T19:44:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895061.59 epoch sec; seqNo:362; 4061494.53 north; 594203.27 east 2021-10-10T19:44:21Z- AHRS_M2 msg: 1633895061.97 epoch sec; seqNo:346 2021-10-10T19:44:21Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 1.08 psi 2021-10-10T19:44:21Z- handleDepth()-Depth_Keller msg: 1633895061976 epoch sec; seqNo:363; depth 4.35 2021-10-10T19:44:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:21Z- handleDvl() - RDI_Pathfinder msg: 1633895061.98 epoch sec; seqNo:138 2021-10-10T19:44:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.17 , 0.13 2021-10-10T19:44:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895061.99 epoch sec; seqNo:363; 4061494.91 north; 594203.27 east 2021-10-10T19:44:22Z- AHRS_M2 msg: 1633895062.37 epoch sec; seqNo:347 2021-10-10T19:44:22Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:44:22Z- handleDepth()-Depth_Keller msg: 1633895062379 epoch sec; seqNo:364; depth 4.43 2021-10-10T19:44:22Z- handleDvl() - RDI_Pathfinder msg: 1633895062.41 epoch sec; seqNo:139 2021-10-10T19:44:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.53 , 108.28 , 0.00 , 108.28 2021-10-10T19:44:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.20 , 0.25 2021-10-10T19:44:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895062.43 epoch sec; seqNo:364; 4061494.91 north; 594203.27 east 2021-10-10T19:44:22Z- AHRS_M2 msg: 1633895062.79 epoch sec; seqNo:348 2021-10-10T19:44:22Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:44:22Z- handleDepth()-Depth_Keller msg: 1633895062790 epoch sec; seqNo:365; depth 4.49 2021-10-10T19:44:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895062.81 epoch sec; seqNo:365; 4061494.92 north; 594204.49 east 2021-10-10T19:44:22Z- LcmTrn::handleMessages() - handling 45 messages took 0.73 ms and 130 calls... 2021-10-10T19:44:22Z- waiting for 1633895060.55, time is 1633895062.81 2021-10-10T19:44:22Z- LcmTrn::updateTrn() >>>> pose time 1633895062.81, meas time 1633895062.41 <<<< 2021-10-10T19:44:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895062.41 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:22Z- TerrainNav::motionUpdate() - currEstimate = (4061495, 594204.49, 4.49) 2021-10-10T19:44:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:22Z- TerrainNav:: SubcloudNIS is 0.32, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:22Z- TNavBF::Projecting Measurements 2021-10-10T19:44:22Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:44:22Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:44:22Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:44:22Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T19:44:22Z- TNavFilter::3 good beams. 2021-10-10T19:44:22Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:22Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:22Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:44:22Z- TNavBF:: beamIndex[2] = 3 2021-10-10T19:44:22Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:44:22Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T19:44:22Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:22Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:22Z- TerrainMapOctree: (vehN, vehE ) = (4061494.75, 594204.22). 2021-10-10T19:44:22Z- TerrainMapOctree: Min Distance = 248.99. 2021-10-10T19:44:22Z- TerrainMapOctree: Using tile 1. 2021-10-10T19:44:23Z- Forcing Subcloud Comparison 2021-10-10T19:44:23Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:44:23Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:23Z- Filter 0 partialDeltaRmsComputation: 39.255677 terrainVariance: 0.133674 1-SumSquareWeights: 0.999332 2021-10-10T19:44:23Z- Filter 0 meanExpectedMeasDiff: 6.254758 delta_rms_squared: 0.123680 alpha: 0.860802 2021-10-10T19:44:23Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:23Z- Filter 0 partialDeltaRmsComputation: 76.861318 terrainVariance: 0.367452 1-SumSquareWeights: 0.999332 2021-10-10T19:44:23Z- Filter 0 meanExpectedMeasDiff: -8.746077 delta_rms_squared: 0.357459 alpha: 0.947014 2021-10-10T19:44:23Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:23Z- Filter 0 partialDeltaRmsComputation: 186.955467 terrainVariance: 0.150535 1-SumSquareWeights: 0.999332 2021-10-10T19:44:23Z- Filter 0 meanExpectedMeasDiff: 13.667660 delta_rms_squared: 0.140542 alpha: 0.875422 2021-10-10T19:44:23Z- Filter 0 SubcloudNIS: 0.447501 2021-10-10T19:44:23Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:44:23Z- TNavBF:: Filter 0 sumWeights = 0.001599 2021-10-10T19:44:23Z- Filter 0 NorthBias: -27.2 EastBias: -17.4 DepthBias: -12.8 NorthVariance: 671.3 EastVariance: 966.9 DepthVariance: 1.6 this->DepthBiasCov: 1.5 2021-10-10T19:44:23Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895062.41 sec. 2021-10-10T19:44:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:23Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:23Z- variances([0], [2], and psi_berg) = 671.228832 967.314415 0.000000 2021-10-10T19:44:23Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:23Z- LcmTrn::publishEstimates() - MLE : 4061449.42 594154.99 4.49 2021-10-10T19:44:23Z- LcmTrn::publishEstimates() - MMSE : 4061467.75 594187.10 -8.27 2021-10-10T19:44:23Z- LcmTrn::publishEstimates() - COVAR: 671.23 967.31 1.64 0.00 2021-10-10T19:44:23Z- AHRS_M2 msg: 1633895063.18 epoch sec; seqNo:349 2021-10-10T19:44:23Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 1.07 psi 2021-10-10T19:44:23Z- handleDepth()-Depth_Keller msg: 1633895063190 epoch sec; seqNo:366; depth 4.54 2021-10-10T19:44:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:23Z- handleDvl() - RDI_Pathfinder msg: 1633895063.19 epoch sec; seqNo:140 2021-10-10T19:44:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.20 , 0.25 2021-10-10T19:44:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895063.20 epoch sec; seqNo:366; 4061494.92 north; 594204.49 east 2021-10-10T19:44:23Z- AHRS_M2 msg: 1633895063.59 epoch sec; seqNo:350 2021-10-10T19:44:23Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 1.06 psi 2021-10-10T19:44:23Z- handleDepth()-Depth_Keller msg: 1633895063606 epoch sec; seqNo:367; depth 4.62 2021-10-10T19:44:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895063.62 epoch sec; seqNo:367; 4061494.92 north; 594204.49 east 2021-10-10T19:44:24Z- AHRS_M2 msg: 1633895063.99 epoch sec; seqNo:351 2021-10-10T19:44:24Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 1.06 psi 2021-10-10T19:44:24Z- handleDepth()-Depth_Keller msg: 1633895063995 epoch sec; seqNo:368; depth 4.66 2021-10-10T19:44:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895064.01 epoch sec; seqNo:368; 4061495.31 north; 594205.71 east 2021-10-10T19:44:24Z- AHRS_M2 msg: 1633895064.39 epoch sec; seqNo:352 2021-10-10T19:44:24Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 1.07 psi 2021-10-10T19:44:24Z- handleDepth()-Depth_Keller msg: 1633895064401 epoch sec; seqNo:369; depth 4.74 2021-10-10T19:44:24Z- handleDvl() - RDI_Pathfinder msg: 1633895064.42 epoch sec; seqNo:141 2021-10-10T19:44:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.18 , 107.94 , 87.54 , 106.58 2021-10-10T19:44:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.38 , 0.07 2021-10-10T19:44:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895064.46 epoch sec; seqNo:369; 4061495.31 north; 594205.71 east 2021-10-10T19:44:24Z- AHRS_M2 msg: 1633895064.80 epoch sec; seqNo:353 2021-10-10T19:44:24Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.07 psi 2021-10-10T19:44:24Z- handleDepth()-Depth_Keller msg: 1633895064813 epoch sec; seqNo:370; depth 4.79 2021-10-10T19:44:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895064.84 epoch sec; seqNo:370; 4061495.31 north; 594205.71 east 2021-10-10T19:44:25Z- AHRS_M2 msg: 1633895065.20 epoch sec; seqNo:354 2021-10-10T19:44:25Z- AHRS_M2 msg: -0.23 phi; -0.11 theta; 1.08 psi 2021-10-10T19:44:25Z- handleDepth()-Depth_Keller msg: 1633895065207 epoch sec; seqNo:371; depth 4.87 2021-10-10T19:44:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895065.24 epoch sec; seqNo:371; 4061495.33 north; 594206.93 east 2021-10-10T19:44:25Z- AHRS_M2 msg: 1633895065.61 epoch sec; seqNo:355 2021-10-10T19:44:25Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.09 psi 2021-10-10T19:44:25Z- handleDepth()-Depth_Keller msg: 1633895065613 epoch sec; seqNo:372; depth 4.95 2021-10-10T19:44:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:25Z- handleDvl() - RDI_Pathfinder msg: 1633895065.62 epoch sec; seqNo:142 2021-10-10T19:44:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.38 , 0.07 2021-10-10T19:44:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895065.63 epoch sec; seqNo:372; 4061495.33 north; 594206.93 east 2021-10-10T19:44:26Z- AHRS_M2 msg: 1633895066.02 epoch sec; seqNo:356 2021-10-10T19:44:26Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 1.11 psi 2021-10-10T19:44:26Z- handleDepth()-Depth_Keller msg: 1633895066028 epoch sec; seqNo:373; depth 4.99 2021-10-10T19:44:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895066.04 epoch sec; seqNo:373; 4061495.33 north; 594206.93 east 2021-10-10T19:44:26Z- AHRS_M2 msg: 1633895066.42 epoch sec; seqNo:357 2021-10-10T19:44:26Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 1.12 psi 2021-10-10T19:44:26Z- handleDepth()-Depth_Keller msg: 1633895066429 epoch sec; seqNo:374; depth 5.05 2021-10-10T19:44:26Z- handleDvl() - RDI_Pathfinder msg: 1633895066.45 epoch sec; seqNo:143 2021-10-10T19:44:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.81 , 108.28 , 97.40 , 101.48 2021-10-10T19:44:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.02 , -0.32 2021-10-10T19:44:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895066.46 epoch sec; seqNo:374; 4061495.72 north; 594208.14 east 2021-10-10T19:44:26Z- AHRS_M2 msg: 1633895066.82 epoch sec; seqNo:358 2021-10-10T19:44:26Z- AHRS_M2 msg: -0.19 phi; -0.12 theta; 1.12 psi 2021-10-10T19:44:26Z- handleDepth()-Depth_Keller msg: 1633895066828 epoch sec; seqNo:375; depth 5.09 2021-10-10T19:44:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:26Z- handleDvl() - RDI_Pathfinder msg: 1633895066.83 epoch sec; seqNo:144 2021-10-10T19:44:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.02 , -0.32 2021-10-10T19:44:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895066.86 epoch sec; seqNo:375; 4061495.72 north; 594208.14 east 2021-10-10T19:44:27Z- AHRS_M2 msg: 1633895067.23 epoch sec; seqNo:359 2021-10-10T19:44:27Z- AHRS_M2 msg: -0.19 phi; -0.12 theta; 1.11 psi 2021-10-10T19:44:27Z- handleDepth()-Depth_Keller msg: 1633895067235 epoch sec; seqNo:376; depth 5.14 2021-10-10T19:44:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895067.25 epoch sec; seqNo:376; 4061496.10 north; 594208.14 east 2021-10-10T19:44:27Z- AHRS_M2 msg: 1633895067.63 epoch sec; seqNo:360 2021-10-10T19:44:27Z- AHRS_M2 msg: -0.18 phi; -0.12 theta; 1.10 psi 2021-10-10T19:44:27Z- handleDepth()-Depth_Keller msg: 1633895067635 epoch sec; seqNo:377; depth 5.18 2021-10-10T19:44:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895067.65 epoch sec; seqNo:377; 4061496.10 north; 594208.14 east 2021-10-10T19:44:28Z- AHRS_M2 msg: 1633895068.03 epoch sec; seqNo:361 2021-10-10T19:44:28Z- AHRS_M2 msg: -0.18 phi; -0.11 theta; 1.09 psi 2021-10-10T19:44:28Z- handleDepth()-Depth_Keller msg: 1633895068035 epoch sec; seqNo:378; depth 5.23 2021-10-10T19:44:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:28Z- handleDvl() - RDI_Pathfinder msg: 1633895068.04 epoch sec; seqNo:145 2021-10-10T19:44:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.02 , -0.32 2021-10-10T19:44:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895068.06 epoch sec; seqNo:378; 4061496.49 north; 594209.36 east 2021-10-10T19:44:28Z- LcmTrn::handleMessages() - handling 45 messages took 0.76 ms and 129 calls... 2021-10-10T19:44:28Z- waiting for 1633895065.81, time is 1633895068.06 2021-10-10T19:44:28Z- LcmTrn::updateTrn() equating pose 1633895068.06 and meas times 1633895068.06 2021-10-10T19:44:28Z- LcmTrn::updateTrn() >>>> pose time 1633895068.06, meas time 1633895068.06 <<<< 2021-10-10T19:44:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895068.06, ping # 0. 2021-10-10T19:44:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895068.06 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:28Z- TerrainNav::motionUpdate() - currEstimate = (4061496, 594209.36, 5.23) 2021-10-10T19:44:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:28Z- TerrainNav:: SubcloudNIS is 0.45, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:28Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:28Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:28Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895068.06 sec.; No relevant navigation data available 2021-10-10T19:44:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:28Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:28Z- variances([0], [2], and psi_berg) = 671.022998 969.064583 0.000000 2021-10-10T19:44:28Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:28Z- LcmTrn::publishEstimates() - MLE : 4061450.99 594159.86 5.23 2021-10-10T19:44:28Z- LcmTrn::publishEstimates() - MMSE : 4061469.34 594192.02 -7.53 2021-10-10T19:44:28Z- LcmTrn::publishEstimates() - COVAR: 671.02 969.06 1.90 0.00 2021-10-10T19:44:28Z- AHRS_M2 msg: 1633895068.43 epoch sec; seqNo:362 2021-10-10T19:44:28Z- AHRS_M2 msg: -0.18 phi; -0.10 theta; 1.08 psi 2021-10-10T19:44:28Z- handleDepth()-Depth_Keller msg: 1633895068439 epoch sec; seqNo:379; depth 5.25 2021-10-10T19:44:28Z- handleDvl() - RDI_Pathfinder msg: 1633895068.46 epoch sec; seqNo:146 2021-10-10T19:44:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.45 , 105.49 , 87.81 , 101.41 2021-10-10T19:44:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.05 , 0.27 2021-10-10T19:44:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895068.49 epoch sec; seqNo:379; 4061496.49 north; 594209.36 east 2021-10-10T19:44:28Z- handleDepth()-Depth_Keller msg: 1633895068860 epoch sec; seqNo:380; depth 5.27 2021-10-10T19:44:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895068.88 epoch sec; seqNo:380; 4061496.87 north; 594209.35 east 2021-10-10T19:44:29Z- AHRS_M2 msg: 1633895069.27 epoch sec; seqNo:363 2021-10-10T19:44:29Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 1.07 psi 2021-10-10T19:44:29Z- handleDepth()-Depth_Keller msg: 1633895069277 epoch sec; seqNo:381; depth 5.32 2021-10-10T19:44:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:29Z- handleDvl() - RDI_Pathfinder msg: 1633895069.28 epoch sec; seqNo:147 2021-10-10T19:44:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.05 , 0.27 2021-10-10T19:44:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895069.29 epoch sec; seqNo:381; 4061496.87 north; 594209.35 east 2021-10-10T19:44:29Z- AHRS_M2 msg: 1633895069.65 epoch sec; seqNo:364 2021-10-10T19:44:29Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 1.07 psi 2021-10-10T19:44:29Z- handleDepth()-Depth_Keller msg: 1633895069652 epoch sec; seqNo:382; depth 5.35 2021-10-10T19:44:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895069.66 epoch sec; seqNo:382; 4061496.88 north; 594210.57 east 2021-10-10T19:44:30Z- AHRS_M2 msg: 1633895070.05 epoch sec; seqNo:365 2021-10-10T19:44:30Z- AHRS_M2 msg: -0.21 phi; -0.08 theta; 1.07 psi 2021-10-10T19:44:30Z- handleDepth()-Depth_Keller msg: 1633895070060 epoch sec; seqNo:383; depth 5.38 2021-10-10T19:44:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895070.07 epoch sec; seqNo:383; 4061496.88 north; 594210.57 east 2021-10-10T19:44:30Z- AHRS_M2 msg: 1633895070.45 epoch sec; seqNo:366 2021-10-10T19:44:30Z- AHRS_M2 msg: -0.22 phi; -0.07 theta; 1.08 psi 2021-10-10T19:44:30Z- handleDepth()-Depth_Keller msg: 1633895070460 epoch sec; seqNo:384; depth 5.42 2021-10-10T19:44:30Z- handleDvl() - RDI_Pathfinder msg: 1633895070.48 epoch sec; seqNo:148 2021-10-10T19:44:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.37 , 104.40 , 88.09 , 98.97 2021-10-10T19:44:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.34 , 0.00 2021-10-10T19:44:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895070.51 epoch sec; seqNo:384; 4061497.26 north; 594210.57 east 2021-10-10T19:44:30Z- AHRS_M2 msg: 1633895070.86 epoch sec; seqNo:367 2021-10-10T19:44:30Z- AHRS_M2 msg: -0.22 phi; -0.06 theta; 1.08 psi 2021-10-10T19:44:30Z- handleDepth()-Depth_Keller msg: 1633895070866 epoch sec; seqNo:385; depth 5.46 2021-10-10T19:44:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895070.88 epoch sec; seqNo:385; 4061497.28 north; 594211.79 east 2021-10-10T19:44:31Z- AHRS_M2 msg: 1633895071.26 epoch sec; seqNo:368 2021-10-10T19:44:31Z- AHRS_M2 msg: -0.22 phi; -0.06 theta; 1.09 psi 2021-10-10T19:44:31Z- handleDepth()-Depth_Keller msg: 1633895071272 epoch sec; seqNo:386; depth 5.50 2021-10-10T19:44:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895071.29 epoch sec; seqNo:386; 4061497.28 north; 594211.79 east 2021-10-10T19:44:31Z- AHRS_M2 msg: 1633895071.67 epoch sec; seqNo:369 2021-10-10T19:44:31Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 1.10 psi 2021-10-10T19:44:31Z- handleDepth()-Depth_Keller msg: 1633895071679 epoch sec; seqNo:387; depth 5.53 2021-10-10T19:44:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:31Z- handleDvl() - RDI_Pathfinder msg: 1633895071.68 epoch sec; seqNo:149 2021-10-10T19:44:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.34 , 0.00 2021-10-10T19:44:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895071.69 epoch sec; seqNo:387; 4061497.28 north; 594211.79 east 2021-10-10T19:44:32Z- AHRS_M2 msg: 1633895072.08 epoch sec; seqNo:370 2021-10-10T19:44:32Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 1.11 psi 2021-10-10T19:44:32Z- handleDepth()-Depth_Keller msg: 1633895072080 epoch sec; seqNo:388; depth 5.57 2021-10-10T19:44:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895072.09 epoch sec; seqNo:388; 4061497.29 north; 594213.01 east 2021-10-10T19:44:32Z- AHRS_M2 msg: 1633895072.47 epoch sec; seqNo:371 2021-10-10T19:44:32Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 1.12 psi 2021-10-10T19:44:32Z- handleDepth()-Depth_Keller msg: 1633895072479 epoch sec; seqNo:389; depth 5.58 2021-10-10T19:44:32Z- handleDvl() - RDI_Pathfinder msg: 1633895072.51 epoch sec; seqNo:150 2021-10-10T19:44:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.07 , 105.83 , 97.67 , 97.67 2021-10-10T19:44:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , -0.25 2021-10-10T19:44:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895072.53 epoch sec; seqNo:389; 4061497.67 north; 594213.00 east 2021-10-10T19:44:32Z- AHRS_M2 msg: 1633895072.88 epoch sec; seqNo:372 2021-10-10T19:44:32Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 1.12 psi 2021-10-10T19:44:32Z- handleDepth()-Depth_Keller msg: 1633895072884 epoch sec; seqNo:390; depth 5.65 2021-10-10T19:44:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:32Z- handleDvl() - RDI_Pathfinder msg: 1633895072.89 epoch sec; seqNo:151 2021-10-10T19:44:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , -0.25 2021-10-10T19:44:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895072.90 epoch sec; seqNo:390; 4061497.67 north; 594213.00 east 2021-10-10T19:44:33Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls... 2021-10-10T19:44:33Z- waiting for 1633895071.06, time is 1633895072.90 2021-10-10T19:44:33Z- LcmTrn::updateTrn() equating pose 1633895072.90 and meas times 1633895072.90 2021-10-10T19:44:33Z- LcmTrn::updateTrn() >>>> pose time 1633895072.90, meas time 1633895072.90 <<<< 2021-10-10T19:44:33Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895072.90, ping # 0. 2021-10-10T19:44:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895072.90 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:33Z- TerrainNav::motionUpdate() - currEstimate = (4061498, 594213.00, 5.65) 2021-10-10T19:44:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:33Z- TerrainNav:: SubcloudNIS is 0.45, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:33Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:33Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:33Z- TNavBF::Projecting Measurements 2021-10-10T19:44:33Z- TNavFilter::Measurement from time = 1633895072.90 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:44:33Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:33Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:33Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:44:33Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:44:33Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:44:33Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:44:33Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:33Z- Filter 0 NorthBias: -27.1 EastBias: -17.3 DepthBias: -12.8 NorthVariance: 670.8 EastVariance: 970.5 DepthVariance: 2.1 this->DepthBiasCov: 2.0 2021-10-10T19:44:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:33Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:33Z- variances([0], [2], and psi_berg) = 670.847337 970.520358 0.000000 2021-10-10T19:44:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:33Z- LcmTrn::publishEstimates() - MLE : 4061451.17 594163.50 5.65 2021-10-10T19:44:33Z- LcmTrn::publishEstimates() - MMSE : 4061470.53 594195.71 -7.11 2021-10-10T19:44:33Z- LcmTrn::publishEstimates() - COVAR: 670.85 970.52 2.09 0.00 2021-10-10T19:44:33Z- AHRS_M2 msg: 1633895073.30 epoch sec; seqNo:373 2021-10-10T19:44:33Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 1.12 psi 2021-10-10T19:44:33Z- handleDepth()-Depth_Keller msg: 1633895073302 epoch sec; seqNo:391; depth 5.66 2021-10-10T19:44:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895073.31 epoch sec; seqNo:391; 4061498.06 north; 594214.22 east 2021-10-10T19:44:33Z- AHRS_M2 msg: 1633895073.69 epoch sec; seqNo:374 2021-10-10T19:44:33Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 1.11 psi 2021-10-10T19:44:33Z- handleDepth()-Depth_Keller msg: 1633895073698 epoch sec; seqNo:392; depth 5.68 2021-10-10T19:44:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895073.71 epoch sec; seqNo:392; 4061498.06 north; 594214.22 east 2021-10-10T19:44:34Z- AHRS_M2 msg: 1633895074.09 epoch sec; seqNo:375 2021-10-10T19:44:34Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 1.10 psi 2021-10-10T19:44:34Z- handleDepth()-Depth_Keller msg: 1633895074094 epoch sec; seqNo:393; depth 5.69 2021-10-10T19:44:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:34Z- handleDvl() - RDI_Pathfinder msg: 1633895074.10 epoch sec; seqNo:152 2021-10-10T19:44:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , -0.25 2021-10-10T19:44:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895074.11 epoch sec; seqNo:393; 4061498.44 north; 594214.22 east 2021-10-10T19:44:34Z- AHRS_M2 msg: 1633895074.49 epoch sec; seqNo:376 2021-10-10T19:44:34Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 1.09 psi 2021-10-10T19:44:34Z- handleDepth()-Depth_Keller msg: 1633895074500 epoch sec; seqNo:394; depth 5.71 2021-10-10T19:44:34Z- handleDvl() - RDI_Pathfinder msg: 1633895074.53 epoch sec; seqNo:153 2021-10-10T19:44:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 85.23 , 102.91 , 89.31 , 97.47 2021-10-10T19:44:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.06 2021-10-10T19:44:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895074.55 epoch sec; seqNo:394; 4061498.44 north; 594214.22 east 2021-10-10T19:44:34Z- AHRS_M2 msg: 1633895074.90 epoch sec; seqNo:377 2021-10-10T19:44:34Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 1.08 psi 2021-10-10T19:44:34Z- handleDepth()-Depth_Keller msg: 1633895074903 epoch sec; seqNo:395; depth 5.72 2021-10-10T19:44:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895074.92 epoch sec; seqNo:395; 4061498.83 north; 594215.43 east 2021-10-10T19:44:35Z- AHRS_M2 msg: 1633895075.31 epoch sec; seqNo:378 2021-10-10T19:44:35Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 1.08 psi 2021-10-10T19:44:35Z- handleDepth()-Depth_Keller msg: 1633895075317 epoch sec; seqNo:396; depth 5.75 2021-10-10T19:44:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:35Z- handleDvl() - RDI_Pathfinder msg: 1633895075.32 epoch sec; seqNo:154 2021-10-10T19:44:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.06 2021-10-10T19:44:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895075.34 epoch sec; seqNo:396; 4061498.83 north; 594215.43 east 2021-10-10T19:44:35Z- AHRS_M2 msg: 1633895075.73 epoch sec; seqNo:379 2021-10-10T19:44:35Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 1.08 psi 2021-10-10T19:44:35Z- handleDepth()-Depth_Keller msg: 1633895075740 epoch sec; seqNo:397; depth 5.77 2021-10-10T19:44:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895075.75 epoch sec; seqNo:397; 4061499.21 north; 594215.43 east 2021-10-10T19:44:36Z- AHRS_M2 msg: 1633895076.11 epoch sec; seqNo:380 2021-10-10T19:44:36Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 1.09 psi 2021-10-10T19:44:36Z- handleDepth()-Depth_Keller msg: 1633895076115 epoch sec; seqNo:398; depth 5.80 2021-10-10T19:44:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895076.14 epoch sec; seqNo:398; 4061499.21 north; 594215.43 east 2021-10-10T19:44:36Z- AHRS_M2 msg: 1633895076.51 epoch sec; seqNo:381 2021-10-10T19:44:36Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 1.09 psi 2021-10-10T19:44:36Z- handleDepth()-Depth_Keller msg: 1633895076520 epoch sec; seqNo:399; depth 5.82 2021-10-10T19:44:36Z- handleDvl() - RDI_Pathfinder msg: 1633895076.55 epoch sec; seqNo:155 2021-10-10T19:44:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.14 , 103.18 , 89.58 , 97.74 2021-10-10T19:44:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.20 , 0.00 2021-10-10T19:44:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895076.56 epoch sec; seqNo:399; 4061499.22 north; 594216.65 east 2021-10-10T19:44:36Z- AHRS_M2 msg: 1633895076.92 epoch sec; seqNo:382 2021-10-10T19:44:36Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 1.10 psi 2021-10-10T19:44:36Z- handleDepth()-Depth_Keller msg: 1633895076928 epoch sec; seqNo:400; depth 5.86 2021-10-10T19:44:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895076.94 epoch sec; seqNo:400; 4061499.60 north; 594216.64 east 2021-10-10T19:44:37Z- AHRS_M2 msg: 1633895077.33 epoch sec; seqNo:383 2021-10-10T19:44:37Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 1.11 psi 2021-10-10T19:44:37Z- handleDepth()-Depth_Keller msg: 1633895077331 epoch sec; seqNo:401; depth 5.87 2021-10-10T19:44:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895077.35 epoch sec; seqNo:401; 4061499.60 north; 594216.64 east 2021-10-10T19:44:37Z- AHRS_M2 msg: 1633895077.73 epoch sec; seqNo:384 2021-10-10T19:44:37Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 1.11 psi 2021-10-10T19:44:37Z- handleDepth()-Depth_Keller msg: 1633895077730 epoch sec; seqNo:402; depth 5.90 2021-10-10T19:44:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:37Z- handleDvl() - RDI_Pathfinder msg: 1633895077.73 epoch sec; seqNo:156 2021-10-10T19:44:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.20 , 0.00 2021-10-10T19:44:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895077.75 epoch sec; seqNo:402; 4061499.60 north; 594216.64 east 2021-10-10T19:44:38Z- AHRS_M2 msg: 1633895078.13 epoch sec; seqNo:385 2021-10-10T19:44:38Z- AHRS_M2 msg: -0.21 phi; -0.08 theta; 1.11 psi 2021-10-10T19:44:38Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T19:44:38Z- waiting for 1633895075.90, time is 1633895078.13 2021-10-10T19:44:38Z- LcmTrn::updateTrn() >>>> pose time 1633895078.13, meas time 1633895077.73 <<<< 2021-10-10T19:44:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895077.73, ping # 0. 2021-10-10T19:44:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895077.73 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:38Z- TerrainNav::motionUpdate() - currEstimate = (4061500, 594216.64, 5.90) 2021-10-10T19:44:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:38Z- TerrainNav:: SubcloudNIS is 0.45, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:38Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:38Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:38Z- TNavBF::Projecting Measurements 2021-10-10T19:44:38Z- TNavFilter::Measurement from time = 1633895077.73 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:44:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:38Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:38Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:44:38Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:44:38Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:44:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:44:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:38Z- Filter 0 NorthBias: -27.1 EastBias: -17.2 DepthBias: -12.8 NorthVariance: 670.7 EastVariance: 971.9 DepthVariance: 2.3 this->DepthBiasCov: 2.1 2021-10-10T19:44:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:38Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:38Z- variances([0], [2], and psi_berg) = 670.625435 972.312026 0.000000 2021-10-10T19:44:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:38Z- LcmTrn::publishEstimates() - MLE : 4061453.10 594167.14 5.90 2021-10-10T19:44:38Z- LcmTrn::publishEstimates() - MMSE : 4061472.48 594199.41 -6.86 2021-10-10T19:44:38Z- LcmTrn::publishEstimates() - COVAR: 670.63 972.31 2.30 0.00 2021-10-10T19:44:38Z- handleDepth()-Depth_Keller msg: 1633895078135 epoch sec; seqNo:403; depth 5.92 2021-10-10T19:44:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895078.14 epoch sec; seqNo:403; 4061499.62 north; 594217.86 east 2021-10-10T19:44:38Z- AHRS_M2 msg: 1633895078.54 epoch sec; seqNo:386 2021-10-10T19:44:38Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 1.11 psi 2021-10-10T19:44:38Z- handleDepth()-Depth_Keller msg: 1633895078543 epoch sec; seqNo:404; depth 5.93 2021-10-10T19:44:38Z- handleDvl() - RDI_Pathfinder msg: 1633895078.56 epoch sec; seqNo:157 2021-10-10T19:44:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.14 , 108.61 , 89.58 , 96.38 2021-10-10T19:44:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.13 , -0.12 2021-10-10T19:44:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895078.59 epoch sec; seqNo:404; 4061499.99 north; 594217.86 east 2021-10-10T19:44:38Z- AHRS_M2 msg: 1633895078.94 epoch sec; seqNo:387 2021-10-10T19:44:38Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 1.10 psi 2021-10-10T19:44:38Z- handleDepth()-Depth_Keller msg: 1633895078952 epoch sec; seqNo:405; depth 5.94 2021-10-10T19:44:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:38Z- handleDvl() - RDI_Pathfinder msg: 1633895078.95 epoch sec; seqNo:158 2021-10-10T19:44:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.13 , -0.12 2021-10-10T19:44:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895078.97 epoch sec; seqNo:405; 4061499.99 north; 594217.86 east 2021-10-10T19:44:39Z- AHRS_M2 msg: 1633895079.34 epoch sec; seqNo:388 2021-10-10T19:44:39Z- AHRS_M2 msg: -0.23 phi; -0.08 theta; 1.09 psi 2021-10-10T19:44:39Z- handleDepth()-Depth_Keller msg: 1633895079345 epoch sec; seqNo:406; depth 5.96 2021-10-10T19:44:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895079.36 epoch sec; seqNo:406; 4061500.01 north; 594219.08 east 2021-10-10T19:44:39Z- AHRS_M2 msg: 1633895079.75 epoch sec; seqNo:389 2021-10-10T19:44:39Z- AHRS_M2 msg: -0.23 phi; -0.08 theta; 1.08 psi 2021-10-10T19:44:39Z- handleDepth()-Depth_Keller msg: 1633895079752 epoch sec; seqNo:407; depth 5.97 2021-10-10T19:44:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895079.76 epoch sec; seqNo:407; 4061500.39 north; 594219.08 east 2021-10-10T19:44:40Z- AHRS_M2 msg: 1633895080.15 epoch sec; seqNo:390 2021-10-10T19:44:40Z- AHRS_M2 msg: -0.24 phi; -0.08 theta; 1.07 psi 2021-10-10T19:44:40Z- handleDepth()-Depth_Keller msg: 1633895080157 epoch sec; seqNo:408; depth 6.01 2021-10-10T19:44:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:40Z- handleDvl() - RDI_Pathfinder msg: 1633895080.16 epoch sec; seqNo:159 2021-10-10T19:44:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.13 , -0.12 2021-10-10T19:44:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895080.17 epoch sec; seqNo:408; 4061500.39 north; 594219.08 east 2021-10-10T19:44:40Z- AHRS_M2 msg: 1633895080.55 epoch sec; seqNo:391 2021-10-10T19:44:40Z- AHRS_M2 msg: -0.24 phi; -0.08 theta; 1.07 psi 2021-10-10T19:44:40Z- handleDepth()-Depth_Keller msg: 1633895080563 epoch sec; seqNo:409; depth 6.03 2021-10-10T19:44:40Z- handleDvl() - RDI_Pathfinder msg: 1633895080.59 epoch sec; seqNo:160 2021-10-10T19:44:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.01 , 107.12 , 89.44 , 98.96 2021-10-10T19:44:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , 0.18 2021-10-10T19:44:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895080.61 epoch sec; seqNo:409; 4061500.39 north; 594219.08 east 2021-10-10T19:44:40Z- AHRS_M2 msg: 1633895080.96 epoch sec; seqNo:392 2021-10-10T19:44:40Z- AHRS_M2 msg: -0.23 phi; -0.07 theta; 1.06 psi 2021-10-10T19:44:40Z- handleDepth()-Depth_Keller msg: 1633895080972 epoch sec; seqNo:410; depth 6.06 2021-10-10T19:44:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895080.99 epoch sec; seqNo:410; 4061500.78 north; 594220.29 east 2021-10-10T19:44:41Z- AHRS_M2 msg: 1633895081.36 epoch sec; seqNo:393 2021-10-10T19:44:41Z- AHRS_M2 msg: -0.23 phi; -0.07 theta; 1.06 psi 2021-10-10T19:44:41Z- handleDepth()-Depth_Keller msg: 1633895081381 epoch sec; seqNo:411; depth 6.10 2021-10-10T19:44:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:41Z- handleDvl() - RDI_Pathfinder msg: 1633895081.38 epoch sec; seqNo:161 2021-10-10T19:44:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , 0.18 2021-10-10T19:44:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895081.39 epoch sec; seqNo:411; 4061500.78 north; 594220.29 east 2021-10-10T19:44:41Z- AHRS_M2 msg: 1633895081.77 epoch sec; seqNo:394 2021-10-10T19:44:41Z- AHRS_M2 msg: -0.22 phi; -0.07 theta; 1.06 psi 2021-10-10T19:44:41Z- handleDepth()-Depth_Keller msg: 1633895081772 epoch sec; seqNo:412; depth 6.12 2021-10-10T19:44:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895081.78 epoch sec; seqNo:412; 4061501.16 north; 594220.29 east 2021-10-10T19:44:42Z- AHRS_M2 msg: 1633895082.17 epoch sec; seqNo:395 2021-10-10T19:44:42Z- AHRS_M2 msg: -0.22 phi; -0.07 theta; 1.06 psi 2021-10-10T19:44:42Z- handleDepth()-Depth_Keller msg: 1633895082175 epoch sec; seqNo:413; depth 6.15 2021-10-10T19:44:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895082.20 epoch sec; seqNo:413; 4061501.17 north; 594221.51 east 2021-10-10T19:44:42Z- AHRS_M2 msg: 1633895082.57 epoch sec; seqNo:396 2021-10-10T19:44:42Z- AHRS_M2 msg: -0.22 phi; -0.06 theta; 1.07 psi 2021-10-10T19:44:42Z- handleDepth()-Depth_Keller msg: 1633895082583 epoch sec; seqNo:414; depth 6.18 2021-10-10T19:44:42Z- handleDvl() - RDI_Pathfinder msg: 1633895082.61 epoch sec; seqNo:162 2021-10-10T19:44:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.01 , 105.76 , 89.44 , 98.96 2021-10-10T19:44:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.26 , 0.01 2021-10-10T19:44:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895082.62 epoch sec; seqNo:414; 4061501.17 north; 594221.51 east 2021-10-10T19:44:42Z- AHRS_M2 msg: 1633895082.98 epoch sec; seqNo:397 2021-10-10T19:44:42Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 1.08 psi 2021-10-10T19:44:42Z- handleDepth()-Depth_Keller msg: 1633895082990 epoch sec; seqNo:415; depth 6.22 2021-10-10T19:44:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895083.03 epoch sec; seqNo:415; 4061501.55 north; 594221.50 east 2021-10-10T19:44:43Z- LcmTrn::handleMessages() - handling 44 messages took 0.78 ms and 128 calls... 2021-10-10T19:44:43Z- waiting for 1633895081.13, time is 1633895083.03 2021-10-10T19:44:43Z- LcmTrn::updateTrn() >>>> pose time 1633895083.03, meas time 1633895082.61 <<<< 2021-10-10T19:44:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895082.61 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:43Z- TerrainNav::motionUpdate() - currEstimate = (4061502, 594221.50, 6.22) 2021-10-10T19:44:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:43Z- TerrainNav:: SubcloudNIS is 0.45, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:43Z- TNavBF::Projecting Measurements 2021-10-10T19:44:43Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:44:43Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:44:43Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:44:43Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:44:43Z- TNavFilter::4 good beams. 2021-10-10T19:44:43Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:43Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:43Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:44:43Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:44:43Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:44:43Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:44:43Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:43Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:43Z- TerrainMapOctree: (vehN, vehE ) = (4061501.38, 594221.09). 2021-10-10T19:44:43Z- TerrainMapOctree: Min Distance = 250.29. 2021-10-10T19:44:43Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:44:43Z- TerrainMapOctree: Switching to tile 4. 2021-10-10T19:44:44Z- TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo took 1.196128 seconds. 2021-10-10T19:44:44Z- Forcing Subcloud Comparison 2021-10-10T19:44:44Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:44:44Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:44Z- Filter 0 partialDeltaRmsComputation: 5.799886 terrainVariance: 0.071482 1-SumSquareWeights: 0.999276 2021-10-10T19:44:44Z- Filter 0 meanExpectedMeasDiff: 2.393409 delta_rms_squared: 0.061489 alpha: 0.754569 2021-10-10T19:44:44Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:44Z- Filter 0 partialDeltaRmsComputation: 0.811769 terrainVariance: 0.732294 1-SumSquareWeights: 0.999276 2021-10-10T19:44:44Z- Filter 0 meanExpectedMeasDiff: 0.281912 delta_rms_squared: 0.722301 alpha: 0.973057 2021-10-10T19:44:44Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:44Z- Filter 0 partialDeltaRmsComputation: 90.310119 terrainVariance: 0.287204 1-SumSquareWeights: 0.999276 2021-10-10T19:44:44Z- Filter 0 meanExpectedMeasDiff: -9.488041 delta_rms_squared: 0.277211 alpha: 0.932708 2021-10-10T19:44:44Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:44:44Z- Filter 0 partialDeltaRmsComputation: 152.018987 terrainVariance: 0.110797 1-SumSquareWeights: 0.999276 2021-10-10T19:44:44Z- Filter 0 meanExpectedMeasDiff: 12.325104 delta_rms_squared: 0.100804 alpha: 0.834443 2021-10-10T19:44:44Z- Filter 0 SubcloudNIS: 0.540917 2021-10-10T19:44:44Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:44:44Z- TNavBF:: Filter 0 sumWeights = 0.002325 2021-10-10T19:44:44Z- Filter 0 NorthBias: -18.9 EastBias: -4.2 DepthBias: -12.0 NorthVariance: 915.1 EastVariance: 1265.5 DepthVariance: 1.6 this->DepthBiasCov: 1.5 2021-10-10T19:44:44Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895082.61 sec. 2021-10-10T19:44:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:44Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:44Z- variances([0], [2], and psi_berg) = 914.937580 1265.468259 0.000000 2021-10-10T19:44:44Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:44Z- LcmTrn::publishEstimates() - MLE : 4061455.05 594172.00 6.22 2021-10-10T19:44:44Z- LcmTrn::publishEstimates() - MMSE : 4061482.70 594217.35 -5.81 2021-10-10T19:44:44Z- LcmTrn::publishEstimates() - COVAR: 914.94 1265.47 1.62 0.00 2021-10-10T19:44:44Z- AHRS_M2 msg: 1633895083.39 epoch sec; seqNo:398 2021-10-10T19:44:44Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 1.09 psi 2021-10-10T19:44:44Z- handleDepth()-Depth_Keller msg: 1633895083398 epoch sec; seqNo:416; depth 6.23 2021-10-10T19:44:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895083.41 epoch sec; seqNo:416; 4061501.56 north; 594222.72 east 2021-10-10T19:44:44Z- AHRS_M2 msg: 1633895083.79 epoch sec; seqNo:399 2021-10-10T19:44:44Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 1.10 psi 2021-10-10T19:44:44Z- handleDepth()-Depth_Keller msg: 1633895083802 epoch sec; seqNo:417; depth 6.27 2021-10-10T19:44:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:44Z- handleDvl() - RDI_Pathfinder msg: 1633895083.80 epoch sec; seqNo:163 2021-10-10T19:44:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.26 , 0.01 2021-10-10T19:44:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895083.81 epoch sec; seqNo:417; 4061501.56 north; 594222.72 east 2021-10-10T19:44:44Z- AHRS_M2 msg: 1633895084.19 epoch sec; seqNo:400 2021-10-10T19:44:44Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 1.11 psi 2021-10-10T19:44:44Z- handleDepth()-Depth_Keller msg: 1633895084200 epoch sec; seqNo:418; depth 6.30 2021-10-10T19:44:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895084.28 epoch sec; seqNo:418; 4061501.94 north; 594222.72 east 2021-10-10T19:44:44Z- AHRS_M2 msg: 1633895084.60 epoch sec; seqNo:401 2021-10-10T19:44:44Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 1.11 psi 2021-10-10T19:44:44Z- handleDepth()-Depth_Keller msg: 1633895084607 epoch sec; seqNo:419; depth 6.33 2021-10-10T19:44:44Z- handleDvl() - RDI_Pathfinder msg: 1633895084.64 epoch sec; seqNo:164 2021-10-10T19:44:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.72 , 104.47 , 89.51 , 97.67 2021-10-10T19:44:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.14 , -0.29 2021-10-10T19:44:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895084.65 epoch sec; seqNo:419; 4061501.96 north; 594223.94 east 2021-10-10T19:44:45Z- AHRS_M2 msg: 1633895085.00 epoch sec; seqNo:402 2021-10-10T19:44:45Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 1.11 psi 2021-10-10T19:44:45Z- handleDepth()-Depth_Keller msg: 1633895085005 epoch sec; seqNo:420; depth 6.36 2021-10-10T19:44:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:45Z- handleDvl() - RDI_Pathfinder msg: 1633895085.01 epoch sec; seqNo:165 2021-10-10T19:44:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.14 , -0.29 2021-10-10T19:44:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895085.02 epoch sec; seqNo:420; 4061501.96 north; 594223.94 east 2021-10-10T19:44:45Z- AHRS_M2 msg: 1633895085.40 epoch sec; seqNo:403 2021-10-10T19:44:45Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 1.10 psi 2021-10-10T19:44:45Z- handleDepth()-Depth_Keller msg: 1633895085417 epoch sec; seqNo:421; depth 6.37 2021-10-10T19:44:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895085.44 epoch sec; seqNo:421; 4061502.33 north; 594223.94 east 2021-10-10T19:44:45Z- AHRS_M2 msg: 1633895085.81 epoch sec; seqNo:404 2021-10-10T19:44:45Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.10 psi 2021-10-10T19:44:45Z- handleDepth()-Depth_Keller msg: 1633895085816 epoch sec; seqNo:422; depth 6.40 2021-10-10T19:44:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895085.83 epoch sec; seqNo:422; 4061502.33 north; 594223.94 east 2021-10-10T19:44:46Z- AHRS_M2 msg: 1633895086.26 epoch sec; seqNo:405 2021-10-10T19:44:46Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.09 psi 2021-10-10T19:44:46Z- handleDepth()-Depth_Keller msg: 1633895086274 epoch sec; seqNo:423; depth 6.41 2021-10-10T19:44:46Z- handleDvl() - RDI_Pathfinder msg: 1633895086.30 epoch sec; seqNo:166 2021-10-10T19:44:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.78 , 105.89 , 86.86 , 96.38 2021-10-10T19:44:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.06 , 0.04 2021-10-10T19:44:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895086.34 epoch sec; seqNo:423; 4061502.73 north; 594225.15 east 2021-10-10T19:44:46Z- AHRS_M2 msg: 1633895086.62 epoch sec; seqNo:406 2021-10-10T19:44:46Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.08 psi 2021-10-10T19:44:46Z- handleDepth()-Depth_Keller msg: 1633895086628 epoch sec; seqNo:424; depth 6.45 2021-10-10T19:44:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895086.64 epoch sec; seqNo:424; 4061502.73 north; 594225.15 east 2021-10-10T19:44:47Z- AHRS_M2 msg: 1633895087.02 epoch sec; seqNo:407 2021-10-10T19:44:47Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.07 psi 2021-10-10T19:44:47Z- handleDepth()-Depth_Keller msg: 1633895087022 epoch sec; seqNo:425; depth 6.46 2021-10-10T19:44:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895087.03 epoch sec; seqNo:425; 4061502.73 north; 594225.15 east 2021-10-10T19:44:47Z- AHRS_M2 msg: 1633895087.42 epoch sec; seqNo:408 2021-10-10T19:44:47Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.07 psi 2021-10-10T19:44:47Z- handleDepth()-Depth_Keller msg: 1633895087426 epoch sec; seqNo:426; depth 6.50 2021-10-10T19:44:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:47Z- handleDvl() - RDI_Pathfinder msg: 1633895087.43 epoch sec; seqNo:167 2021-10-10T19:44:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.06 , 0.04 2021-10-10T19:44:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895087.44 epoch sec; seqNo:426; 4061503.11 north; 594225.15 east 2021-10-10T19:44:47Z- AHRS_M2 msg: 1633895087.83 epoch sec; seqNo:409 2021-10-10T19:44:47Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.06 psi 2021-10-10T19:44:47Z- handleDepth()-Depth_Keller msg: 1633895087834 epoch sec; seqNo:427; depth 6.51 2021-10-10T19:44:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895087.85 epoch sec; seqNo:427; 4061503.11 north; 594225.15 east 2021-10-10T19:44:48Z- AHRS_M2 msg: 1633895088.27 epoch sec; seqNo:410 2021-10-10T19:44:48Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 1.06 psi 2021-10-10T19:44:48Z- handleDepth()-Depth_Keller msg: 1633895088280 epoch sec; seqNo:428; depth 6.55 2021-10-10T19:44:48Z- handleDvl() - RDI_Pathfinder msg: 1633895088.31 epoch sec; seqNo:168 2021-10-10T19:44:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.86 , 104.61 , 0.00 , 100.53 2021-10-10T19:44:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.14 , 0.20 2021-10-10T19:44:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895088.36 epoch sec; seqNo:428; 4061503.12 north; 594226.37 east 2021-10-10T19:44:48Z- AHRS_M2 msg: 1633895088.64 epoch sec; seqNo:411 2021-10-10T19:44:48Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 1.07 psi 2021-10-10T19:44:48Z- handleDepth()-Depth_Keller msg: 1633895088660 epoch sec; seqNo:429; depth 6.60 2021-10-10T19:44:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:48Z- handleDvl() - RDI_Pathfinder msg: 1633895088.66 epoch sec; seqNo:169 2021-10-10T19:44:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.14 , 0.20 2021-10-10T19:44:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895088.68 epoch sec; seqNo:429; 4061503.50 north; 594226.37 east 2021-10-10T19:44:49Z- AHRS_M2 msg: 1633895089.04 epoch sec; seqNo:412 2021-10-10T19:44:49Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.07 psi 2021-10-10T19:44:49Z- handleDepth()-Depth_Keller msg: 1633895089048 epoch sec; seqNo:430; depth 6.63 2021-10-10T19:44:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895089.06 epoch sec; seqNo:430; 4061503.50 north; 594226.37 east 2021-10-10T19:44:49Z- AHRS_M2 msg: 1633895089.44 epoch sec; seqNo:413 2021-10-10T19:44:49Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 1.09 psi 2021-10-10T19:44:49Z- handleDepth()-Depth_Keller msg: 1633895089450 epoch sec; seqNo:431; depth 6.68 2021-10-10T19:44:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895089.46 epoch sec; seqNo:431; 4061503.51 north; 594227.59 east 2021-10-10T19:44:49Z- LcmTrn::handleMessages() - handling 55 messages took 0.62 ms and 142 calls... 2021-10-10T19:44:49Z- waiting for 1633895086.03, time is 1633895089.46 2021-10-10T19:44:49Z- LcmTrn::updateTrn() >>>> pose time 1633895089.46, meas time 1633895088.66 <<<< 2021-10-10T19:44:49Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895088.66, ping # 0. 2021-10-10T19:44:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895088.66 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:49Z- TerrainNav::motionUpdate() - currEstimate = (4061504, 594227.59, 6.68) 2021-10-10T19:44:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:49Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:49Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:49Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:49Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895088.66 sec.; No relevant navigation data available 2021-10-10T19:44:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:49Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:49Z- variances([0], [2], and psi_berg) = 914.425983 1265.353318 0.000000 2021-10-10T19:44:49Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:49Z- LcmTrn::publishEstimates() - MLE : 4061459.01 594181.09 6.68 2021-10-10T19:44:49Z- LcmTrn::publishEstimates() - MMSE : 4061484.67 594223.44 -5.36 2021-10-10T19:44:49Z- LcmTrn::publishEstimates() - COVAR: 914.43 1265.35 1.95 0.00 2021-10-10T19:44:49Z- AHRS_M2 msg: 1633895089.85 epoch sec; seqNo:414 2021-10-10T19:44:49Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 1.09 psi 2021-10-10T19:44:49Z- handleDepth()-Depth_Keller msg: 1633895089856 epoch sec; seqNo:432; depth 6.71 2021-10-10T19:44:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:49Z- handleDvl() - RDI_Pathfinder msg: 1633895089.86 epoch sec; seqNo:170 2021-10-10T19:44:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.14 , 0.20 2021-10-10T19:44:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895089.87 epoch sec; seqNo:432; 4061503.89 north; 594227.58 east 2021-10-10T19:44:50Z- AHRS_M2 msg: 1633895090.29 epoch sec; seqNo:415 2021-10-10T19:44:50Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 1.09 psi 2021-10-10T19:44:50Z- handleDepth()-Depth_Keller msg: 1633895090290 epoch sec; seqNo:433; depth 6.75 2021-10-10T19:44:50Z- handleDvl() - RDI_Pathfinder msg: 1633895090.32 epoch sec; seqNo:171 2021-10-10T19:44:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.94 , 105.69 , 86.66 , 100.26 2021-10-10T19:44:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.14 , -0.12 2021-10-10T19:44:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895090.35 epoch sec; seqNo:433; 4061503.89 north; 594227.58 east 2021-10-10T19:44:50Z- AHRS_M2 msg: 1633895090.65 epoch sec; seqNo:416 2021-10-10T19:44:50Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.09 psi 2021-10-10T19:44:50Z- handleDepth()-Depth_Keller msg: 1633895090658 epoch sec; seqNo:434; depth 6.80 2021-10-10T19:44:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895090.69 epoch sec; seqNo:434; 4061503.90 north; 594228.80 east 2021-10-10T19:44:51Z- AHRS_M2 msg: 1633895091.07 epoch sec; seqNo:417 2021-10-10T19:44:51Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 1.09 psi 2021-10-10T19:44:51Z- handleDepth()-Depth_Keller msg: 1633895091074 epoch sec; seqNo:435; depth 6.82 2021-10-10T19:44:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:51Z- handleDvl() - RDI_Pathfinder msg: 1633895091.08 epoch sec; seqNo:172 2021-10-10T19:44:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.14 , -0.12 2021-10-10T19:44:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895091.09 epoch sec; seqNo:435; 4061504.28 north; 594228.80 east 2021-10-10T19:44:51Z- AHRS_M2 msg: 1633895091.46 epoch sec; seqNo:418 2021-10-10T19:44:51Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 1.08 psi 2021-10-10T19:44:51Z- handleDepth()-Depth_Keller msg: 1633895091468 epoch sec; seqNo:436; depth 6.87 2021-10-10T19:44:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895091.48 epoch sec; seqNo:436; 4061504.28 north; 594228.80 east 2021-10-10T19:44:51Z- AHRS_M2 msg: 1633895091.87 epoch sec; seqNo:419 2021-10-10T19:44:51Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 1.07 psi 2021-10-10T19:44:51Z- handleDepth()-Depth_Keller msg: 1633895091875 epoch sec; seqNo:437; depth 6.90 2021-10-10T19:44:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895091.89 epoch sec; seqNo:437; 4061504.67 north; 594230.01 east 2021-10-10T19:44:52Z- AHRS_M2 msg: 1633895092.29 epoch sec; seqNo:420 2021-10-10T19:44:52Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 1.06 psi 2021-10-10T19:44:52Z- handleDepth()-Depth_Keller msg: 1633895092293 epoch sec; seqNo:438; depth 6.94 2021-10-10T19:44:52Z- handleDvl() - RDI_Pathfinder msg: 1633895092.32 epoch sec; seqNo:173 2021-10-10T19:44:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.72 , 104.47 , 85.44 , 96.32 2021-10-10T19:44:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.19 , 0.09 2021-10-10T19:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895092.34 epoch sec; seqNo:438; 4061504.67 north; 594230.01 east 2021-10-10T19:44:52Z- AHRS_M2 msg: 1633895092.67 epoch sec; seqNo:421 2021-10-10T19:44:52Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.06 psi 2021-10-10T19:44:52Z- handleDepth()-Depth_Keller msg: 1633895092679 epoch sec; seqNo:439; depth 7.00 2021-10-10T19:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895092.71 epoch sec; seqNo:439; 4061504.67 north; 594230.01 east 2021-10-10T19:44:53Z- AHRS_M2 msg: 1633895093.08 epoch sec; seqNo:422 2021-10-10T19:44:53Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.07 psi 2021-10-10T19:44:53Z- handleDepth()-Depth_Keller msg: 1633895093084 epoch sec; seqNo:440; depth 7.03 2021-10-10T19:44:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895093.09 epoch sec; seqNo:440; 4061504.67 north; 594230.01 east 2021-10-10T19:44:53Z- AHRS_M2 msg: 1633895093.49 epoch sec; seqNo:423 2021-10-10T19:44:53Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.07 psi 2021-10-10T19:44:53Z- handleDepth()-Depth_Keller msg: 1633895093491 epoch sec; seqNo:441; depth 7.07 2021-10-10T19:44:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:53Z- handleDvl() - RDI_Pathfinder msg: 1633895093.49 epoch sec; seqNo:174 2021-10-10T19:44:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.19 , 0.09 2021-10-10T19:44:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895093.50 epoch sec; seqNo:441; 4061505.07 north; 594231.23 east 2021-10-10T19:44:53Z- AHRS_M2 msg: 1633895093.89 epoch sec; seqNo:424 2021-10-10T19:44:53Z- AHRS_M2 msg: -0.23 phi; -0.13 theta; 1.08 psi 2021-10-10T19:44:53Z- handleDepth()-Depth_Keller msg: 1633895093890 epoch sec; seqNo:442; depth 7.14 2021-10-10T19:44:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895093.91 epoch sec; seqNo:442; 4061505.07 north; 594231.23 east 2021-10-10T19:44:54Z- AHRS_M2 msg: 1633895094.30 epoch sec; seqNo:425 2021-10-10T19:44:54Z- AHRS_M2 msg: -0.23 phi; -0.13 theta; 1.09 psi 2021-10-10T19:44:54Z- handleDepth()-Depth_Keller msg: 1633895094306 epoch sec; seqNo:443; depth 7.18 2021-10-10T19:44:54Z- handleDvl() - RDI_Pathfinder msg: 1633895094.34 epoch sec; seqNo:175 2021-10-10T19:44:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.86 , 105.97 , 85.58 , 100.53 2021-10-10T19:44:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.12 , -0.19 2021-10-10T19:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895094.35 epoch sec; seqNo:443; 4061505.07 north; 594231.23 east 2021-10-10T19:44:54Z- AHRS_M2 msg: 1633895094.69 epoch sec; seqNo:426 2021-10-10T19:44:54Z- AHRS_M2 msg: -0.23 phi; -0.14 theta; 1.10 psi 2021-10-10T19:44:54Z- handleDepth()-Depth_Keller msg: 1633895094701 epoch sec; seqNo:444; depth 7.22 2021-10-10T19:44:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:54Z- handleDvl() - RDI_Pathfinder msg: 1633895094.70 epoch sec; seqNo:176 2021-10-10T19:44:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.12 , -0.19 2021-10-10T19:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895094.72 epoch sec; seqNo:444; 4061505.46 north; 594232.45 east 2021-10-10T19:44:54Z- LcmTrn::handleMessages() - handling 46 messages took 0.78 ms and 130 calls... 2021-10-10T19:44:54Z- waiting for 1633895092.46, time is 1633895094.72 2021-10-10T19:44:54Z- LcmTrn::updateTrn() equating pose 1633895094.72 and meas times 1633895094.72 2021-10-10T19:44:54Z- LcmTrn::updateTrn() >>>> pose time 1633895094.72, meas time 1633895094.72 <<<< 2021-10-10T19:44:54Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895094.72, ping # 0. 2021-10-10T19:44:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895094.72 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:54Z- TerrainNav::motionUpdate() - currEstimate = (4061505, 594232.45, 7.22) 2021-10-10T19:44:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:54Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:54Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:54Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:54Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895094.72 sec.; No relevant navigation data available 2021-10-10T19:44:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:54Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:54Z- variances([0], [2], and psi_berg) = 913.970048 1265.254645 0.000000 2021-10-10T19:44:54Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:54Z- LcmTrn::publishEstimates() - MLE : 4061460.96 594185.95 7.22 2021-10-10T19:44:54Z- LcmTrn::publishEstimates() - MMSE : 4061486.63 594228.30 -4.81 2021-10-10T19:44:54Z- LcmTrn::publishEstimates() - COVAR: 913.97 1265.25 2.22 0.00 2021-10-10T19:44:55Z- AHRS_M2 msg: 1633895095.10 epoch sec; seqNo:427 2021-10-10T19:44:55Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 1.10 psi 2021-10-10T19:44:55Z- handleDepth()-Depth_Keller msg: 1633895095107 epoch sec; seqNo:445; depth 7.27 2021-10-10T19:44:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895095.12 epoch sec; seqNo:445; 4061505.46 north; 594232.45 east 2021-10-10T19:44:55Z- AHRS_M2 msg: 1633895095.50 epoch sec; seqNo:428 2021-10-10T19:44:55Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 1.10 psi 2021-10-10T19:44:55Z- handleDepth()-Depth_Keller msg: 1633895095516 epoch sec; seqNo:446; depth 7.31 2021-10-10T19:44:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895095.54 epoch sec; seqNo:446; 4061505.84 north; 594232.44 east 2021-10-10T19:44:55Z- AHRS_M2 msg: 1633895095.90 epoch sec; seqNo:429 2021-10-10T19:44:55Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 1.10 psi 2021-10-10T19:44:55Z- handleDepth()-Depth_Keller msg: 1633895095910 epoch sec; seqNo:447; depth 7.35 2021-10-10T19:44:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:55Z- handleDvl() - RDI_Pathfinder msg: 1633895095.91 epoch sec; seqNo:177 2021-10-10T19:44:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.12 , -0.19 2021-10-10T19:44:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895095.93 epoch sec; seqNo:447; 4061505.85 north; 594233.66 east 2021-10-10T19:44:56Z- AHRS_M2 msg: 1633895096.32 epoch sec; seqNo:430 2021-10-10T19:44:56Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 1.09 psi 2021-10-10T19:44:56Z- handleDepth()-Depth_Keller msg: 1633895096321 epoch sec; seqNo:448; depth 7.39 2021-10-10T19:44:56Z- handleDvl() - RDI_Pathfinder msg: 1633895096.34 epoch sec; seqNo:178 2021-10-10T19:44:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.79 , 105.90 , 85.51 , 101.82 2021-10-10T19:44:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.04 , 0.07 2021-10-10T19:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895096.38 epoch sec; seqNo:448; 4061505.85 north; 594233.66 east 2021-10-10T19:44:56Z- AHRS_M2 msg: 1633895096.71 epoch sec; seqNo:431 2021-10-10T19:44:56Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 1.08 psi 2021-10-10T19:44:56Z- handleDepth()-Depth_Keller msg: 1633895096726 epoch sec; seqNo:449; depth 7.43 2021-10-10T19:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895096.74 epoch sec; seqNo:449; 4061506.23 north; 594233.66 east 2021-10-10T19:44:57Z- AHRS_M2 msg: 1633895097.12 epoch sec; seqNo:432 2021-10-10T19:44:57Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 1.07 psi 2021-10-10T19:44:57Z- handleDepth()-Depth_Keller msg: 1633895097123 epoch sec; seqNo:450; depth 7.48 2021-10-10T19:44:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:57Z- handleDvl() - RDI_Pathfinder msg: 1633895097.12 epoch sec; seqNo:179 2021-10-10T19:44:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.04 , 0.07 2021-10-10T19:44:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895097.15 epoch sec; seqNo:450; 4061506.23 north; 594233.66 east 2021-10-10T19:44:57Z- AHRS_M2 msg: 1633895097.52 epoch sec; seqNo:433 2021-10-10T19:44:57Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 1.06 psi 2021-10-10T19:44:57Z- handleDepth()-Depth_Keller msg: 1633895097527 epoch sec; seqNo:451; depth 7.52 2021-10-10T19:44:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895097.54 epoch sec; seqNo:451; 4061506.61 north; 594233.65 east 2021-10-10T19:44:57Z- AHRS_M2 msg: 1633895097.93 epoch sec; seqNo:434 2021-10-10T19:44:57Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 1.05 psi 2021-10-10T19:44:57Z- handleDepth()-Depth_Keller msg: 1633895097937 epoch sec; seqNo:452; depth 7.56 2021-10-10T19:44:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895097.95 epoch sec; seqNo:452; 4061506.62 north; 594234.87 east 2021-10-10T19:44:58Z- AHRS_M2 msg: 1633895098.33 epoch sec; seqNo:435 2021-10-10T19:44:58Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 1.05 psi 2021-10-10T19:44:58Z- handleDepth()-Depth_Keller msg: 1633895098335 epoch sec; seqNo:453; depth 7.59 2021-10-10T19:44:58Z- handleDvl() - RDI_Pathfinder msg: 1633895098.37 epoch sec; seqNo:180 2021-10-10T19:44:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 84.08 , 104.47 , 84.08 , 103.11 2021-10-10T19:44:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.26 , 0.16 2021-10-10T19:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895098.39 epoch sec; seqNo:453; 4061506.62 north; 594234.87 east 2021-10-10T19:44:58Z- AHRS_M2 msg: 1633895098.73 epoch sec; seqNo:436 2021-10-10T19:44:58Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 1.05 psi 2021-10-10T19:44:58Z- handleDepth()-Depth_Keller msg: 1633895098741 epoch sec; seqNo:454; depth 7.66 2021-10-10T19:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895098.76 epoch sec; seqNo:454; 4061506.62 north; 594234.87 east 2021-10-10T19:44:59Z- AHRS_M2 msg: 1633895099.14 epoch sec; seqNo:437 2021-10-10T19:44:59Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 1.05 psi 2021-10-10T19:44:59Z- handleDepth()-Depth_Keller msg: 1633895099142 epoch sec; seqNo:455; depth 7.70 2021-10-10T19:44:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895099.17 epoch sec; seqNo:455; 4061507.01 north; 594236.09 east 2021-10-10T19:44:59Z- handleDepth()-Depth_Keller msg: 1633895099568 epoch sec; seqNo:456; depth 7.75 2021-10-10T19:44:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:44:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:44:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:44:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:44:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:44:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:44:59Z- handleDvl() - RDI_Pathfinder msg: 1633895099.57 epoch sec; seqNo:181 2021-10-10T19:44:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:44:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.26 , 0.16 2021-10-10T19:44:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895099.58 epoch sec; seqNo:456; 4061507.01 north; 594236.09 east 2021-10-10T19:44:59Z- LcmTrn::handleMessages() - handling 40 messages took 0.76 ms and 124 calls... 2021-10-10T19:44:59Z- waiting for 1633895097.72, time is 1633895099.58 2021-10-10T19:44:59Z- LcmTrn::updateTrn() equating pose 1633895099.58 and meas times 1633895099.58 2021-10-10T19:44:59Z- LcmTrn::updateTrn() >>>> pose time 1633895099.58, meas time 1633895099.58 <<<< 2021-10-10T19:44:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895099.58, ping # 0. 2021-10-10T19:44:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895099.58 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:44:59Z- TerrainNav::motionUpdate() - currEstimate = (4061507, 594236.09, 7.75) 2021-10-10T19:44:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:44:59Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:44:59Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:44:59Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:44:59Z- TNavBF::Projecting Measurements 2021-10-10T19:44:59Z- TNavFilter::Measurement from time = 1633895099.58 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:44:59Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:44:59Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:44:59Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:44:59Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:44:59Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:44:59Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:44:59Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:44:59Z- Filter 0 NorthBias: -18.8 EastBias: -4.1 DepthBias: -12.0 NorthVariance: 913.6 EastVariance: 1265.2 DepthVariance: 2.4 this->DepthBiasCov: 2.3 2021-10-10T19:44:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:44:59Z- TNavBF::mmse selected from filter -1 2021-10-10T19:44:59Z- variances([0], [2], and psi_berg) = 913.578931 1265.172738 0.000000 2021-10-10T19:44:59Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:44:59Z- LcmTrn::publishEstimates() - MLE : 4061462.51 594189.59 7.75 2021-10-10T19:44:59Z- LcmTrn::publishEstimates() - MMSE : 4061488.20 594231.95 -4.28 2021-10-10T19:44:59Z- LcmTrn::publishEstimates() - COVAR: 913.58 1265.17 2.42 0.00 2021-10-10T19:44:59Z- AHRS_M2 msg: 1633895099.96 epoch sec; seqNo:438 2021-10-10T19:44:59Z- AHRS_M2 msg: -0.24 phi; -0.15 theta; 1.07 psi 2021-10-10T19:44:59Z- handleDepth()-Depth_Keller msg: 1633895099966 epoch sec; seqNo:457; depth 7.82 2021-10-10T19:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895099.98 epoch sec; seqNo:457; 4061507.01 north; 594236.09 east 2021-10-10T19:45:00Z- AHRS_M2 msg: 1633895100.36 epoch sec; seqNo:439 2021-10-10T19:45:00Z- AHRS_M2 msg: -0.24 phi; -0.15 theta; 1.08 psi 2021-10-10T19:45:00Z- handleDepth()-Depth_Keller msg: 1633895100364 epoch sec; seqNo:458; depth 7.88 2021-10-10T19:45:00Z- handleDvl() - RDI_Pathfinder msg: 1633895100.39 epoch sec; seqNo:182 2021-10-10T19:45:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.72 , 105.83 , 84.08 , 103.11 2021-10-10T19:45:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.17 , -0.22 2021-10-10T19:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895100.40 epoch sec; seqNo:458; 4061507.41 north; 594237.31 east 2021-10-10T19:45:00Z- AHRS_M2 msg: 1633895100.77 epoch sec; seqNo:440 2021-10-10T19:45:00Z- AHRS_M2 msg: -0.23 phi; -0.15 theta; 1.08 psi 2021-10-10T19:45:00Z- handleDepth()-Depth_Keller msg: 1633895100781 epoch sec; seqNo:459; depth 7.94 2021-10-10T19:45:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:00Z- handleDvl() - RDI_Pathfinder msg: 1633895100.78 epoch sec; seqNo:183 2021-10-10T19:45:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.17 , -0.22 2021-10-10T19:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895100.80 epoch sec; seqNo:459; 4061507.41 north; 594237.31 east 2021-10-10T19:45:01Z- AHRS_M2 msg: 1633895101.16 epoch sec; seqNo:441 2021-10-10T19:45:01Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 1.09 psi 2021-10-10T19:45:01Z- handleDepth()-Depth_Keller msg: 1633895101171 epoch sec; seqNo:460; depth 7.99 2021-10-10T19:45:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895101.18 epoch sec; seqNo:460; 4061507.41 north; 594237.31 east 2021-10-10T19:45:01Z- AHRS_M2 msg: 1633895101.57 epoch sec; seqNo:442 2021-10-10T19:45:01Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 1.10 psi 2021-10-10T19:45:01Z- handleDepth()-Depth_Keller msg: 1633895101572 epoch sec; seqNo:461; depth 8.06 2021-10-10T19:45:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895101.58 epoch sec; seqNo:461; 4061507.80 north; 594238.52 east 2021-10-10T19:45:01Z- AHRS_M2 msg: 1633895101.97 epoch sec; seqNo:443 2021-10-10T19:45:01Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 1.10 psi 2021-10-10T19:45:01Z- handleDepth()-Depth_Keller msg: 1633895101985 epoch sec; seqNo:462; depth 8.12 2021-10-10T19:45:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:01Z- handleDvl() - RDI_Pathfinder msg: 1633895101.99 epoch sec; seqNo:184 2021-10-10T19:45:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.17 , -0.22 2021-10-10T19:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895102.00 epoch sec; seqNo:462; 4061507.80 north; 594238.52 east 2021-10-10T19:45:02Z- AHRS_M2 msg: 1633895102.38 epoch sec; seqNo:444 2021-10-10T19:45:02Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 1.10 psi 2021-10-10T19:45:02Z- handleDepth()-Depth_Keller msg: 1633895102380 epoch sec; seqNo:463; depth 8.17 2021-10-10T19:45:02Z- handleDvl() - RDI_Pathfinder msg: 1633895102.41 epoch sec; seqNo:185 2021-10-10T19:45:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.75 , 104.47 , 84.08 , 96.31 2021-10-10T19:45:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.08 , -0.18 2021-10-10T19:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895102.43 epoch sec; seqNo:463; 4061508.18 north; 594238.52 east 2021-10-10T19:45:02Z- AHRS_M2 msg: 1633895102.78 epoch sec; seqNo:445 2021-10-10T19:45:02Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 1.09 psi 2021-10-10T19:45:02Z- handleDepth()-Depth_Keller msg: 1633895102784 epoch sec; seqNo:464; depth 8.22 2021-10-10T19:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895102.80 epoch sec; seqNo:464; 4061508.18 north; 594238.52 east 2021-10-10T19:45:03Z- AHRS_M2 msg: 1633895103.18 epoch sec; seqNo:446 2021-10-10T19:45:03Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.08 psi 2021-10-10T19:45:03Z- handleDepth()-Depth_Keller msg: 1633895103188 epoch sec; seqNo:465; depth 8.27 2021-10-10T19:45:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895103.20 epoch sec; seqNo:465; 4061508.57 north; 594239.73 east 2021-10-10T19:45:03Z- AHRS_M2 msg: 1633895103.59 epoch sec; seqNo:447 2021-10-10T19:45:03Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:03Z- handleDepth()-Depth_Keller msg: 1633895103598 epoch sec; seqNo:466; depth 8.31 2021-10-10T19:45:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895103.61 epoch sec; seqNo:466; 4061508.57 north; 594239.73 east 2021-10-10T19:45:04Z- AHRS_M2 msg: 1633895103.99 epoch sec; seqNo:448 2021-10-10T19:45:04Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 1.06 psi 2021-10-10T19:45:04Z- handleDepth()-Depth_Keller msg: 1633895103998 epoch sec; seqNo:467; depth 8.36 2021-10-10T19:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895104.01 epoch sec; seqNo:467; 4061508.95 north; 594239.73 east 2021-10-10T19:45:04Z- AHRS_M2 msg: 1633895104.40 epoch sec; seqNo:449 2021-10-10T19:45:04Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 1.05 psi 2021-10-10T19:45:04Z- handleDepth()-Depth_Keller msg: 1633895104402 epoch sec; seqNo:468; depth 8.40 2021-10-10T19:45:04Z- handleDvl() - RDI_Pathfinder msg: 1633895104.42 epoch sec; seqNo:186 2021-10-10T19:45:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 81.90 , 96.58 , 80.68 , 102.70 2021-10-10T19:45:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , 0.03 , 0.19 2021-10-10T19:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895104.47 epoch sec; seqNo:468; 4061508.95 north; 594239.73 east 2021-10-10T19:45:04Z- handleDepth()-Depth_Keller msg: 1633895104827 epoch sec; seqNo:469; depth 8.46 2021-10-10T19:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895104.85 epoch sec; seqNo:469; 4061508.95 north; 594239.73 east 2021-10-10T19:45:04Z- LcmTrn::handleMessages() - handling 43 messages took 0.90 ms and 125 calls... 2021-10-10T19:45:04Z- waiting for 1633895102.58, time is 1633895104.85 2021-10-10T19:45:04Z- LcmTrn::updateTrn() >>>> pose time 1633895104.85, meas time 1633895104.42 <<<< 2021-10-10T19:45:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895104.42 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:04Z- TerrainNav::motionUpdate() - currEstimate = (4061509, 594239.73, 8.46) 2021-10-10T19:45:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:04Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:04Z- TNavBF::Projecting Measurements 2021-10-10T19:45:04Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:45:04Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:45:04Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:45:04Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:45:04Z- TNavFilter::4 good beams. 2021-10-10T19:45:04Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:04Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:04Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:45:04Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:45:04Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:45:04Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:04Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:04Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:04Z- TerrainMapOctree: (vehN, vehE ) = (4061508.79, 594239.44). 2021-10-10T19:45:04Z- TerrainMapOctree: Min Distance = 241.44. 2021-10-10T19:45:04Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:45:05Z- Forcing Subcloud Comparison 2021-10-10T19:45:05Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:45:05Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:05Z- Filter 0 partialDeltaRmsComputation: 43.690956 terrainVariance: 0.056847 1-SumSquareWeights: 0.999558 2021-10-10T19:45:05Z- Filter 0 meanExpectedMeasDiff: 6.605612 delta_rms_squared: 0.046852 alpha: 0.700831 2021-10-10T19:45:05Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:05Z- Filter 0 partialDeltaRmsComputation: 207.029310 terrainVariance: 0.818066 1-SumSquareWeights: 0.999558 2021-10-10T19:45:05Z- Filter 0 meanExpectedMeasDiff: -14.360057 delta_rms_squared: 0.808071 alpha: 0.975847 2021-10-10T19:45:05Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:05Z- Filter 0 partialDeltaRmsComputation: 104.192640 terrainVariance: 0.536978 1-SumSquareWeights: 0.999558 2021-10-10T19:45:05Z- Filter 0 meanExpectedMeasDiff: -10.181142 delta_rms_squared: 0.526982 alpha: 0.963436 2021-10-10T19:45:05Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:05Z- Filter 0 partialDeltaRmsComputation: 174.928036 terrainVariance: 0.122367 1-SumSquareWeights: 0.999558 2021-10-10T19:45:05Z- Filter 0 meanExpectedMeasDiff: 13.221410 delta_rms_squared: 0.112371 alpha: 0.848910 2021-10-10T19:45:05Z- Filter 0 SubcloudNIS: 0.581037 2021-10-10T19:45:05Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:45:05Z- TNavBF:: Filter 0 sumWeights = 0.000001 2021-10-10T19:45:05Z- Filter 0 NorthBias: -19.2 EastBias: -4.3 DepthBias: -13.2 NorthVariance: 986.3 EastVariance: 1435.1 DepthVariance: 1.6 this->DepthBiasCov: 1.5 2021-10-10T19:45:05Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895104.42 sec. 2021-10-10T19:45:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:05Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:05Z- variances([0], [2], and psi_berg) = 986.201768 1435.086702 0.000000 2021-10-10T19:45:05Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:05Z- LcmTrn::publishEstimates() - MLE : 4061464.45 594193.23 8.46 2021-10-10T19:45:05Z- LcmTrn::publishEstimates() - MMSE : 4061489.80 594235.38 -4.69 2021-10-10T19:45:05Z- LcmTrn::publishEstimates() - COVAR: 986.20 1435.09 1.62 0.00 2021-10-10T19:45:05Z- AHRS_M2 msg: 1633895105.20 epoch sec; seqNo:450 2021-10-10T19:45:05Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 1.04 psi 2021-10-10T19:45:05Z- handleDepth()-Depth_Keller msg: 1633895105208 epoch sec; seqNo:470; depth 8.50 2021-10-10T19:45:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895105.24 epoch sec; seqNo:470; 4061509.34 north; 594240.95 east 2021-10-10T19:45:05Z- AHRS_M2 msg: 1633895105.61 epoch sec; seqNo:451 2021-10-10T19:45:05Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 1.03 psi 2021-10-10T19:45:05Z- handleDepth()-Depth_Keller msg: 1633895105613 epoch sec; seqNo:471; depth 8.54 2021-10-10T19:45:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:05Z- handleDvl() - RDI_Pathfinder msg: 1633895105.62 epoch sec; seqNo:187 2021-10-10T19:45:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , 0.03 , 0.19 2021-10-10T19:45:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895105.63 epoch sec; seqNo:471; 4061509.34 north; 594240.95 east 2021-10-10T19:45:06Z- AHRS_M2 msg: 1633895106.02 epoch sec; seqNo:452 2021-10-10T19:45:06Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 1.03 psi 2021-10-10T19:45:06Z- handleDepth()-Depth_Keller msg: 1633895106025 epoch sec; seqNo:472; depth 8.60 2021-10-10T19:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895106.04 epoch sec; seqNo:472; 4061509.34 north; 594240.95 east 2021-10-10T19:45:06Z- AHRS_M2 msg: 1633895106.41 epoch sec; seqNo:453 2021-10-10T19:45:06Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 1.04 psi 2021-10-10T19:45:06Z- handleDepth()-Depth_Keller msg: 1633895106424 epoch sec; seqNo:473; depth 8.65 2021-10-10T19:45:06Z- handleDvl() - RDI_Pathfinder msg: 1633895106.44 epoch sec; seqNo:188 2021-10-10T19:45:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 143.13 , 96.65 , 81.97 , 103.99 2021-10-10T19:45:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , 0.09 2021-10-10T19:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895106.46 epoch sec; seqNo:473; 4061509.72 north; 594240.94 east 2021-10-10T19:45:06Z- AHRS_M2 msg: 1633895106.82 epoch sec; seqNo:454 2021-10-10T19:45:06Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 1.05 psi 2021-10-10T19:45:06Z- handleDepth()-Depth_Keller msg: 1633895106826 epoch sec; seqNo:474; depth 8.72 2021-10-10T19:45:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:06Z- handleDvl() - RDI_Pathfinder msg: 1633895106.83 epoch sec; seqNo:189 2021-10-10T19:45:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , 0.09 2021-10-10T19:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895106.86 epoch sec; seqNo:474; 4061509.73 north; 594242.16 east 2021-10-10T19:45:07Z- AHRS_M2 msg: 1633895107.22 epoch sec; seqNo:455 2021-10-10T19:45:07Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 1.06 psi 2021-10-10T19:45:07Z- handleDepth()-Depth_Keller msg: 1633895107228 epoch sec; seqNo:475; depth 8.79 2021-10-10T19:45:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895107.24 epoch sec; seqNo:475; 4061510.11 north; 594242.16 east 2021-10-10T19:45:07Z- AHRS_M2 msg: 1633895107.63 epoch sec; seqNo:456 2021-10-10T19:45:07Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 1.06 psi 2021-10-10T19:45:07Z- handleDepth()-Depth_Keller msg: 1633895107635 epoch sec; seqNo:476; depth 8.85 2021-10-10T19:45:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895107.65 epoch sec; seqNo:476; 4061510.49 north; 594242.15 east 2021-10-10T19:45:08Z- AHRS_M2 msg: 1633895108.03 epoch sec; seqNo:457 2021-10-10T19:45:08Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 1.07 psi 2021-10-10T19:45:08Z- handleDepth()-Depth_Keller msg: 1633895108036 epoch sec; seqNo:477; depth 8.90 2021-10-10T19:45:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:08Z- handleDvl() - RDI_Pathfinder msg: 1633895108.04 epoch sec; seqNo:190 2021-10-10T19:45:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.06 , 0.09 2021-10-10T19:45:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895108.06 epoch sec; seqNo:477; 4061510.49 north; 594242.15 east 2021-10-10T19:45:08Z- AHRS_M2 msg: 1633895108.43 epoch sec; seqNo:458 2021-10-10T19:45:08Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:08Z- handleDepth()-Depth_Keller msg: 1633895108439 epoch sec; seqNo:478; depth 8.96 2021-10-10T19:45:08Z- handleDvl() - RDI_Pathfinder msg: 1633895108.46 epoch sec; seqNo:191 2021-10-10T19:45:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.57 , 105.14 , 84.21 , 102.15 2021-10-10T19:45:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.15 , -0.07 2021-10-10T19:45:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895108.49 epoch sec; seqNo:478; 4061510.50 north; 594243.38 east 2021-10-10T19:45:08Z- AHRS_M2 msg: 1633895108.84 epoch sec; seqNo:459 2021-10-10T19:45:08Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:08Z- handleDepth()-Depth_Keller msg: 1633895108846 epoch sec; seqNo:479; depth 9.04 2021-10-10T19:45:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895108.87 epoch sec; seqNo:479; 4061510.88 north; 594243.37 east 2021-10-10T19:45:09Z- AHRS_M2 msg: 1633895109.24 epoch sec; seqNo:460 2021-10-10T19:45:09Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:09Z- handleDepth()-Depth_Keller msg: 1633895109251 epoch sec; seqNo:480; depth 9.09 2021-10-10T19:45:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:09Z- handleDvl() - RDI_Pathfinder msg: 1633895109.25 epoch sec; seqNo:192 2021-10-10T19:45:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.15 , -0.07 2021-10-10T19:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895109.26 epoch sec; seqNo:480; 4061510.88 north; 594243.37 east 2021-10-10T19:45:09Z- AHRS_M2 msg: 1633895109.65 epoch sec; seqNo:461 2021-10-10T19:45:09Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:09Z- handleDepth()-Depth_Keller msg: 1633895109652 epoch sec; seqNo:481; depth 9.15 2021-10-10T19:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895109.67 epoch sec; seqNo:481; 4061511.28 north; 594244.59 east 2021-10-10T19:45:10Z- AHRS_M2 msg: 1633895110.05 epoch sec; seqNo:462 2021-10-10T19:45:10Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:10Z- handleDepth()-Depth_Keller msg: 1633895110063 epoch sec; seqNo:482; depth 9.21 2021-10-10T19:45:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895110.08 epoch sec; seqNo:482; 4061511.28 north; 594244.59 east 2021-10-10T19:45:10Z- LcmTrn::handleMessages() - handling 45 messages took 0.69 ms and 131 calls... 2021-10-10T19:45:10Z- waiting for 1633895107.85, time is 1633895110.08 2021-10-10T19:45:10Z- LcmTrn::updateTrn() >>>> pose time 1633895110.08, meas time 1633895109.25 <<<< 2021-10-10T19:45:10Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895109.25, ping # 0. 2021-10-10T19:45:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895109.25 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:10Z- TerrainNav::motionUpdate() - currEstimate = (4061511, 594244.59, 9.21) 2021-10-10T19:45:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:10Z- TerrainNav:: SubcloudNIS is 0.58, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:10Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:45:10Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:45:10Z- TNavBF::Projecting Measurements 2021-10-10T19:45:10Z- TNavFilter::Measurement from time = 1633895109.25 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:45:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:10Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:10Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:45:10Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:45:10Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:45:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:10Z- Filter 0 NorthBias: -19.1 EastBias: -4.3 DepthBias: -13.2 NorthVariance: 985.7 EastVariance: 1435.1 DepthVariance: 1.9 this->DepthBiasCov: 1.7 2021-10-10T19:45:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:10Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:10Z- variances([0], [2], and psi_berg) = 985.508998 1435.049692 0.000000 2021-10-10T19:45:10Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:10Z- LcmTrn::publishEstimates() - MLE : 4061466.78 594198.09 9.21 2021-10-10T19:45:10Z- LcmTrn::publishEstimates() - MMSE : 4061492.14 594240.25 -3.95 2021-10-10T19:45:10Z- LcmTrn::publishEstimates() - COVAR: 985.51 1435.05 1.90 0.00 2021-10-10T19:45:10Z- AHRS_M2 msg: 1633895110.45 epoch sec; seqNo:463 2021-10-10T19:45:10Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:10Z- handleDepth()-Depth_Keller msg: 1633895110459 epoch sec; seqNo:483; depth 9.26 2021-10-10T19:45:10Z- handleDvl() - RDI_Pathfinder msg: 1633895110.49 epoch sec; seqNo:193 2021-10-10T19:45:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.97 , 96.45 , 81.50 , 101.88 2021-10-10T19:45:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.08 , -0.04 2021-10-10T19:45:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895110.51 epoch sec; seqNo:483; 4061511.28 north; 594244.59 east 2021-10-10T19:45:10Z- AHRS_M2 msg: 1633895110.86 epoch sec; seqNo:464 2021-10-10T19:45:10Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:10Z- handleDepth()-Depth_Keller msg: 1633895110865 epoch sec; seqNo:484; depth 9.31 2021-10-10T19:45:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895110.88 epoch sec; seqNo:484; 4061511.67 north; 594245.80 east 2021-10-10T19:45:11Z- AHRS_M2 msg: 1633895111.26 epoch sec; seqNo:465 2021-10-10T19:45:11Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:11Z- handleDepth()-Depth_Keller msg: 1633895111269 epoch sec; seqNo:485; depth 9.36 2021-10-10T19:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895111.29 epoch sec; seqNo:485; 4061511.67 north; 594245.80 east 2021-10-10T19:45:11Z- AHRS_M2 msg: 1633895111.67 epoch sec; seqNo:466 2021-10-10T19:45:11Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:11Z- handleDepth()-Depth_Keller msg: 1633895111677 epoch sec; seqNo:486; depth 9.43 2021-10-10T19:45:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:11Z- handleDvl() - RDI_Pathfinder msg: 1633895111.68 epoch sec; seqNo:194 2021-10-10T19:45:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.08 , -0.04 2021-10-10T19:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895111.69 epoch sec; seqNo:486; 4061512.05 north; 594245.80 east 2021-10-10T19:45:12Z- AHRS_M2 msg: 1633895112.07 epoch sec; seqNo:467 2021-10-10T19:45:12Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:12Z- handleDepth()-Depth_Keller msg: 1633895112080 epoch sec; seqNo:487; depth 9.47 2021-10-10T19:45:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895112.10 epoch sec; seqNo:487; 4061512.05 north; 594245.80 east 2021-10-10T19:45:12Z- AHRS_M2 msg: 1633895112.47 epoch sec; seqNo:468 2021-10-10T19:45:12Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:12Z- handleDepth()-Depth_Keller msg: 1633895112482 epoch sec; seqNo:488; depth 9.54 2021-10-10T19:45:12Z- handleDvl() - RDI_Pathfinder msg: 1633895112.51 epoch sec; seqNo:195 2021-10-10T19:45:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.56 , 101.54 , 81.97 , 100.32 2021-10-10T19:45:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.13 , 0.00 2021-10-10T19:45:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895112.52 epoch sec; seqNo:488; 4061512.06 north; 594247.02 east 2021-10-10T19:45:12Z- AHRS_M2 msg: 1633895112.88 epoch sec; seqNo:469 2021-10-10T19:45:12Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:12Z- handleDepth()-Depth_Keller msg: 1633895112881 epoch sec; seqNo:489; depth 9.59 2021-10-10T19:45:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:12Z- handleDvl() - RDI_Pathfinder msg: 1633895112.88 epoch sec; seqNo:196 2021-10-10T19:45:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.13 , 0.00 2021-10-10T19:45:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895112.90 epoch sec; seqNo:489; 4061512.44 north; 594247.02 east 2021-10-10T19:45:13Z- AHRS_M2 msg: 1633895113.29 epoch sec; seqNo:470 2021-10-10T19:45:13Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:13Z- handleDepth()-Depth_Keller msg: 1633895113296 epoch sec; seqNo:490; depth 9.65 2021-10-10T19:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895113.31 epoch sec; seqNo:490; 4061512.44 north; 594247.02 east 2021-10-10T19:45:13Z- AHRS_M2 msg: 1633895113.69 epoch sec; seqNo:471 2021-10-10T19:45:13Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:13Z- handleDepth()-Depth_Keller msg: 1633895113691 epoch sec; seqNo:491; depth 9.69 2021-10-10T19:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895113.72 epoch sec; seqNo:491; 4061512.44 north; 594247.02 east 2021-10-10T19:45:14Z- AHRS_M2 msg: 1633895114.09 epoch sec; seqNo:472 2021-10-10T19:45:14Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:14Z- handleDepth()-Depth_Keller msg: 1633895114096 epoch sec; seqNo:492; depth 9.74 2021-10-10T19:45:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:14Z- handleDvl() - RDI_Pathfinder msg: 1633895114.10 epoch sec; seqNo:197 2021-10-10T19:45:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.13 , 0.00 2021-10-10T19:45:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895114.11 epoch sec; seqNo:492; 4061512.83 north; 594248.23 east 2021-10-10T19:45:14Z- AHRS_M2 msg: 1633895114.50 epoch sec; seqNo:473 2021-10-10T19:45:14Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:14Z- handleDepth()-Depth_Keller msg: 1633895114503 epoch sec; seqNo:493; depth 9.80 2021-10-10T19:45:14Z- handleDvl() - RDI_Pathfinder msg: 1633895114.53 epoch sec; seqNo:198 2021-10-10T19:45:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.68 , 96.58 , 78.33 , 102.69 2021-10-10T19:45:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.03 , 0.00 2021-10-10T19:45:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895114.54 epoch sec; seqNo:493; 4061512.83 north; 594248.23 east 2021-10-10T19:45:14Z- AHRS_M2 msg: 1633895114.90 epoch sec; seqNo:474 2021-10-10T19:45:14Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:14Z- handleDepth()-Depth_Keller msg: 1633895114905 epoch sec; seqNo:494; depth 9.86 2021-10-10T19:45:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895114.93 epoch sec; seqNo:494; 4061512.83 north; 594248.23 east 2021-10-10T19:45:15Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls... 2021-10-10T19:45:15Z- waiting for 1633895113.08, time is 1633895114.93 2021-10-10T19:45:15Z- LcmTrn::updateTrn() >>>> pose time 1633895114.93, meas time 1633895114.53 <<<< 2021-10-10T19:45:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895114.53 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:15Z- TerrainNav::motionUpdate() - currEstimate = (4061513, 594248.23, 9.86) 2021-10-10T19:45:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:15Z- TerrainNav:: SubcloudNIS is 0.58, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:15Z- TNavBF::Projecting Measurements 2021-10-10T19:45:15Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:45:15Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:45:15Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:45:15Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:45:15Z- TNavFilter::4 good beams. 2021-10-10T19:45:15Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:15Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:15Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:45:15Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:45:15Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:45:15Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:15Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:15Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:15Z- TerrainMapOctree: (vehN, vehE ) = (4061512.70, 594247.93). 2021-10-10T19:45:15Z- TerrainMapOctree: Min Distance = 237.31. 2021-10-10T19:45:15Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:45:15Z- Forcing Subcloud Comparison 2021-10-10T19:45:15Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:45:15Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:15Z- Filter 0 partialDeltaRmsComputation: 51.116311 terrainVariance: 0.045462 1-SumSquareWeights: 0.999374 2021-10-10T19:45:15Z- Filter 0 meanExpectedMeasDiff: 7.146387 delta_rms_squared: 0.035468 alpha: 0.639433 2021-10-10T19:45:15Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:15Z- Filter 0 partialDeltaRmsComputation: 137.134052 terrainVariance: 0.667581 1-SumSquareWeights: 0.999374 2021-10-10T19:45:15Z- Filter 0 meanExpectedMeasDiff: -11.681886 delta_rms_squared: 0.657587 alpha: 0.970484 2021-10-10T19:45:15Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:15Z- Filter 0 partialDeltaRmsComputation: 114.783266 terrainVariance: 0.625868 1-SumSquareWeights: 0.999374 2021-10-10T19:45:15Z- Filter 0 meanExpectedMeasDiff: -10.684447 delta_rms_squared: 0.615875 alpha: 0.968547 2021-10-10T19:45:15Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:15Z- Filter 0 partialDeltaRmsComputation: 248.165106 terrainVariance: 0.158575 1-SumSquareWeights: 0.999374 2021-10-10T19:45:15Z- Filter 0 meanExpectedMeasDiff: 15.748223 delta_rms_squared: 0.148581 alpha: 0.881363 2021-10-10T19:45:15Z- Filter 0 SubcloudNIS: 0.707171 2021-10-10T19:45:15Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:45:15Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-10T19:45:15Z- Filter 0 NorthBias: -9.4 EastBias: 9.9 DepthBias: -13.4 NorthVariance: 1195.9 EastVariance: 1455.4 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T19:45:15Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895114.53 sec. 2021-10-10T19:45:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:15Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:15Z- variances([0], [2], and psi_berg) = 1195.769357 1455.498218 0.000000 2021-10-10T19:45:15Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:15Z- LcmTrn::publishEstimates() - MLE : 4061542.33 594294.73 9.86 2021-10-10T19:45:15Z- LcmTrn::publishEstimates() - MMSE : 4061503.48 594258.10 -3.50 2021-10-10T19:45:15Z- LcmTrn::publishEstimates() - COVAR: 1195.77 1455.50 1.44 0.00 2021-10-10T19:45:15Z- AHRS_M2 msg: 1633895115.31 epoch sec; seqNo:475 2021-10-10T19:45:15Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:15Z- handleDepth()-Depth_Keller msg: 1633895115319 epoch sec; seqNo:495; depth 9.93 2021-10-10T19:45:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895115.33 epoch sec; seqNo:495; 4061513.22 north; 594249.45 east 2021-10-10T19:45:15Z- AHRS_M2 msg: 1633895115.71 epoch sec; seqNo:476 2021-10-10T19:45:15Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 1.07 psi 2021-10-10T19:45:15Z- handleDepth()-Depth_Keller msg: 1633895115714 epoch sec; seqNo:496; depth 9.99 2021-10-10T19:45:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895115.73 epoch sec; seqNo:496; 4061513.22 north; 594249.45 east 2021-10-10T19:45:16Z- handleDepth()-Depth_Keller msg: 1633895116131 epoch sec; seqNo:497; depth 10.03 2021-10-10T19:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895116.15 epoch sec; seqNo:497; 4061513.60 north; 594249.44 east 2021-10-10T19:45:16Z- AHRS_M2 msg: 1633895116.51 epoch sec; seqNo:477 2021-10-10T19:45:16Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.08 psi 2021-10-10T19:45:16Z- handleDepth()-Depth_Keller msg: 1633895116524 epoch sec; seqNo:498; depth 10.11 2021-10-10T19:45:16Z- handleDvl() - RDI_Pathfinder msg: 1633895116.56 epoch sec; seqNo:199 2021-10-10T19:45:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.15 , 96.71 , 79.15 , 100.38 2021-10-10T19:45:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.10 , 0.01 2021-10-10T19:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895116.57 epoch sec; seqNo:498; 4061513.60 north; 594249.44 east 2021-10-10T19:45:16Z- AHRS_M2 msg: 1633895116.92 epoch sec; seqNo:478 2021-10-10T19:45:16Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.08 psi 2021-10-10T19:45:16Z- handleDepth()-Depth_Keller msg: 1633895116927 epoch sec; seqNo:499; depth 10.17 2021-10-10T19:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895116.95 epoch sec; seqNo:499; 4061513.62 north; 594250.66 east 2021-10-10T19:45:17Z- AHRS_M2 msg: 1633895117.32 epoch sec; seqNo:479 2021-10-10T19:45:17Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.08 psi 2021-10-10T19:45:17Z- handleDepth()-Depth_Keller msg: 1633895117338 epoch sec; seqNo:500; depth 10.22 2021-10-10T19:45:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895117.35 epoch sec; seqNo:500; 4061514.00 north; 594250.66 east 2021-10-10T19:45:17Z- AHRS_M2 msg: 1633895117.73 epoch sec; seqNo:480 2021-10-10T19:45:17Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.08 psi 2021-10-10T19:45:17Z- handleDepth()-Depth_Keller msg: 1633895117738 epoch sec; seqNo:501; depth 10.27 2021-10-10T19:45:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:17Z- handleDvl() - RDI_Pathfinder msg: 1633895117.74 epoch sec; seqNo:200 2021-10-10T19:45:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.10 , 0.01 2021-10-10T19:45:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895117.75 epoch sec; seqNo:501; 4061514.00 north; 594250.66 east 2021-10-10T19:45:18Z- AHRS_M2 msg: 1633895118.14 epoch sec; seqNo:481 2021-10-10T19:45:18Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 1.08 psi 2021-10-10T19:45:18Z- handleDepth()-Depth_Keller msg: 1633895118146 epoch sec; seqNo:502; depth 10.34 2021-10-10T19:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895118.16 epoch sec; seqNo:502; 4061514.37 north; 594250.66 east 2021-10-10T19:45:18Z- AHRS_M2 msg: 1633895118.54 epoch sec; seqNo:482 2021-10-10T19:45:18Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 1.08 psi 2021-10-10T19:45:18Z- handleDepth()-Depth_Keller msg: 1633895118539 epoch sec; seqNo:503; depth 10.38 2021-10-10T19:45:18Z- handleDvl() - RDI_Pathfinder msg: 1633895118.57 epoch sec; seqNo:201 2021-10-10T19:45:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.88 , 100.45 , 77.51 , 96.78 2021-10-10T19:45:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.16 , -0.05 2021-10-10T19:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895118.59 epoch sec; seqNo:503; 4061514.39 north; 594251.88 east 2021-10-10T19:45:18Z- AHRS_M2 msg: 1633895118.94 epoch sec; seqNo:483 2021-10-10T19:45:18Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.08 psi 2021-10-10T19:45:18Z- handleDepth()-Depth_Keller msg: 1633895118943 epoch sec; seqNo:504; depth 10.45 2021-10-10T19:45:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:18Z- handleDvl() - RDI_Pathfinder msg: 1633895118.94 epoch sec; seqNo:202 2021-10-10T19:45:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.16 , -0.05 2021-10-10T19:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895118.96 epoch sec; seqNo:504; 4061514.39 north; 594251.88 east 2021-10-10T19:45:19Z- AHRS_M2 msg: 1633895119.34 epoch sec; seqNo:484 2021-10-10T19:45:19Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.08 psi 2021-10-10T19:45:19Z- handleDepth()-Depth_Keller msg: 1633895119351 epoch sec; seqNo:505; depth 10.50 2021-10-10T19:45:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895119.37 epoch sec; seqNo:505; 4061514.39 north; 594251.88 east 2021-10-10T19:45:19Z- AHRS_M2 msg: 1633895119.75 epoch sec; seqNo:485 2021-10-10T19:45:19Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.07 psi 2021-10-10T19:45:19Z- handleDepth()-Depth_Keller msg: 1633895119751 epoch sec; seqNo:506; depth 10.56 2021-10-10T19:45:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895119.76 epoch sec; seqNo:506; 4061514.78 north; 594253.09 east 2021-10-10T19:45:20Z- AHRS_M2 msg: 1633895120.16 epoch sec; seqNo:486 2021-10-10T19:45:20Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.07 psi 2021-10-10T19:45:20Z- handleDepth()-Depth_Keller msg: 1633895120164 epoch sec; seqNo:507; depth 10.61 2021-10-10T19:45:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:20Z- handleDvl() - RDI_Pathfinder msg: 1633895120.17 epoch sec; seqNo:203 2021-10-10T19:45:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.16 , -0.05 2021-10-10T19:45:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895120.18 epoch sec; seqNo:507; 4061514.78 north; 594253.09 east 2021-10-10T19:45:20Z- LcmTrn::handleMessages() - handling 43 messages took 0.69 ms and 129 calls... 2021-10-10T19:45:20Z- waiting for 1633895117.93, time is 1633895120.18 2021-10-10T19:45:20Z- LcmTrn::updateTrn() equating pose 1633895120.18 and meas times 1633895120.18 2021-10-10T19:45:20Z- LcmTrn::updateTrn() >>>> pose time 1633895120.18, meas time 1633895120.18 <<<< 2021-10-10T19:45:20Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895120.18, ping # 0. 2021-10-10T19:45:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895120.18 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:20Z- TerrainNav::motionUpdate() - currEstimate = (4061515, 594253.09, 10.61) 2021-10-10T19:45:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:20Z- TerrainNav:: SubcloudNIS is 0.71, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:20Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:45:20Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:45:20Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895120.18 sec.; No relevant navigation data available 2021-10-10T19:45:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:20Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:20Z- variances([0], [2], and psi_berg) = 1195.099012 1456.035349 0.000000 2021-10-10T19:45:20Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:20Z- LcmTrn::publishEstimates() - MLE : 4061544.28 594299.59 10.61 2021-10-10T19:45:20Z- LcmTrn::publishEstimates() - MMSE : 4061505.44 594262.93 -2.74 2021-10-10T19:45:20Z- LcmTrn::publishEstimates() - COVAR: 1195.10 1456.04 1.70 0.00 2021-10-10T19:45:20Z- AHRS_M2 msg: 1633895120.56 epoch sec; seqNo:487 2021-10-10T19:45:20Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.06 psi 2021-10-10T19:45:20Z- handleDepth()-Depth_Keller msg: 1633895120571 epoch sec; seqNo:508; depth 10.67 2021-10-10T19:45:20Z- handleDvl() - RDI_Pathfinder msg: 1633895120.59 epoch sec; seqNo:204 2021-10-10T19:45:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.88 , 101.68 , 79.66 , 101.68 2021-10-10T19:45:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.09 , 0.00 2021-10-10T19:45:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895120.61 epoch sec; seqNo:508; 4061514.78 north; 594253.09 east 2021-10-10T19:45:20Z- AHRS_M2 msg: 1633895120.96 epoch sec; seqNo:488 2021-10-10T19:45:20Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.06 psi 2021-10-10T19:45:20Z- handleDepth()-Depth_Keller msg: 1633895120963 epoch sec; seqNo:509; depth 10.73 2021-10-10T19:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895121.00 epoch sec; seqNo:509; 4061515.16 north; 594253.09 east 2021-10-10T19:45:21Z- AHRS_M2 msg: 1633895121.37 epoch sec; seqNo:489 2021-10-10T19:45:21Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.06 psi 2021-10-10T19:45:21Z- handleDepth()-Depth_Keller msg: 1633895121380 epoch sec; seqNo:510; depth 10.79 2021-10-10T19:45:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:21Z- handleDvl() - RDI_Pathfinder msg: 1633895121.38 epoch sec; seqNo:205 2021-10-10T19:45:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.09 , 0.00 2021-10-10T19:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895121.39 epoch sec; seqNo:510; 4061515.17 north; 594254.31 east 2021-10-10T19:45:21Z- AHRS_M2 msg: 1633895121.77 epoch sec; seqNo:490 2021-10-10T19:45:21Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.05 psi 2021-10-10T19:45:21Z- handleDepth()-Depth_Keller msg: 1633895121778 epoch sec; seqNo:511; depth 10.85 2021-10-10T19:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895121.79 epoch sec; seqNo:511; 4061515.55 north; 594254.30 east 2021-10-10T19:45:22Z- AHRS_M2 msg: 1633895122.17 epoch sec; seqNo:491 2021-10-10T19:45:22Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.05 psi 2021-10-10T19:45:22Z- handleDepth()-Depth_Keller msg: 1633895122180 epoch sec; seqNo:512; depth 10.92 2021-10-10T19:45:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895122.24 epoch sec; seqNo:512; 4061515.55 north; 594254.30 east 2021-10-10T19:45:22Z- AHRS_M2 msg: 1633895122.57 epoch sec; seqNo:492 2021-10-10T19:45:22Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.05 psi 2021-10-10T19:45:22Z- handleDepth()-Depth_Keller msg: 1633895122579 epoch sec; seqNo:513; depth 10.98 2021-10-10T19:45:22Z- handleDvl() - RDI_Pathfinder msg: 1633895122.61 epoch sec; seqNo:206 2021-10-10T19:45:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.33 , 102.69 , 77.10 , 96.58 2021-10-10T19:45:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.15 , 0.07 2021-10-10T19:45:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895122.63 epoch sec; seqNo:513; 4061515.56 north; 594255.52 east 2021-10-10T19:45:22Z- AHRS_M2 msg: 1633895122.98 epoch sec; seqNo:493 2021-10-10T19:45:22Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.06 psi 2021-10-10T19:45:22Z- handleDepth()-Depth_Keller msg: 1633895122984 epoch sec; seqNo:514; depth 11.06 2021-10-10T19:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895123.00 epoch sec; seqNo:514; 4061515.94 north; 594255.52 east 2021-10-10T19:45:23Z- AHRS_M2 msg: 1633895123.38 epoch sec; seqNo:494 2021-10-10T19:45:23Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 1.06 psi 2021-10-10T19:45:23Z- handleDepth()-Depth_Keller msg: 1633895123388 epoch sec; seqNo:515; depth 11.12 2021-10-10T19:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895123.40 epoch sec; seqNo:515; 4061515.94 north; 594255.52 east 2021-10-10T19:45:23Z- AHRS_M2 msg: 1633895123.79 epoch sec; seqNo:495 2021-10-10T19:45:23Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.07 psi 2021-10-10T19:45:23Z- handleDepth()-Depth_Keller msg: 1633895123796 epoch sec; seqNo:516; depth 11.18 2021-10-10T19:45:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:23Z- handleDvl() - RDI_Pathfinder msg: 1633895123.80 epoch sec; seqNo:207 2021-10-10T19:45:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.15 , 0.07 2021-10-10T19:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895123.82 epoch sec; seqNo:516; 4061515.94 north; 594255.52 east 2021-10-10T19:45:24Z- AHRS_M2 msg: 1633895124.20 epoch sec; seqNo:496 2021-10-10T19:45:24Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.07 psi 2021-10-10T19:45:24Z- handleDepth()-Depth_Keller msg: 1633895124202 epoch sec; seqNo:517; depth 11.24 2021-10-10T19:45:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895124.27 epoch sec; seqNo:517; 4061516.34 north; 594256.74 east 2021-10-10T19:45:24Z- AHRS_M2 msg: 1633895124.60 epoch sec; seqNo:497 2021-10-10T19:45:24Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.08 psi 2021-10-10T19:45:24Z- handleDepth()-Depth_Keller msg: 1633895124604 epoch sec; seqNo:518; depth 11.32 2021-10-10T19:45:24Z- handleDvl() - RDI_Pathfinder msg: 1633895124.62 epoch sec; seqNo:208 2021-10-10T19:45:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.51 , 101.68 , 80.88 , 100.45 2021-10-10T19:45:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.14 , -0.09 2021-10-10T19:45:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895124.66 epoch sec; seqNo:518; 4061516.34 north; 594256.74 east 2021-10-10T19:45:25Z- AHRS_M2 msg: 1633895125.00 epoch sec; seqNo:498 2021-10-10T19:45:25Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.08 psi 2021-10-10T19:45:25Z- handleDepth()-Depth_Keller msg: 1633895125006 epoch sec; seqNo:519; depth 11.37 2021-10-10T19:45:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:25Z- handleDvl() - RDI_Pathfinder msg: 1633895125.01 epoch sec; seqNo:209 2021-10-10T19:45:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.14 , -0.09 2021-10-10T19:45:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895125.03 epoch sec; seqNo:519; 4061516.34 north; 594256.74 east 2021-10-10T19:45:25Z- AHRS_M2 msg: 1633895125.40 epoch sec; seqNo:499 2021-10-10T19:45:25Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.08 psi 2021-10-10T19:45:25Z- handleDepth()-Depth_Keller msg: 1633895125408 epoch sec; seqNo:520; depth 11.42 2021-10-10T19:45:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895125.43 epoch sec; seqNo:520; 4061516.73 north; 594257.95 east 2021-10-10T19:45:25Z- LcmTrn::handleMessages() - handling 45 messages took 0.84 ms and 128 calls... 2021-10-10T19:45:25Z- waiting for 1633895123.18, time is 1633895125.43 2021-10-10T19:45:25Z- LcmTrn::updateTrn() >>>> pose time 1633895125.43, meas time 1633895125.01 <<<< 2021-10-10T19:45:25Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895125.01, ping # 0. 2021-10-10T19:45:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895125.01 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:25Z- TerrainNav::motionUpdate() - currEstimate = (4061517, 594257.95, 11.42) 2021-10-10T19:45:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:25Z- TerrainNav:: SubcloudNIS is 0.71, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:25Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:45:25Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:45:25Z- TNavBF::Projecting Measurements 2021-10-10T19:45:25Z- TNavFilter::Measurement from time = 1633895125.01 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:45:25Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:25Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:25Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:45:25Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:45:25Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:45:25Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:25Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:25Z- Filter 0 NorthBias: -9.3 EastBias: 9.8 DepthBias: -13.4 NorthVariance: 1194.5 EastVariance: 1456.5 DepthVariance: 1.9 this->DepthBiasCov: 1.8 2021-10-10T19:45:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:25Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:25Z- variances([0], [2], and psi_berg) = 1194.277938 1456.640699 0.000000 2021-10-10T19:45:25Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:25Z- LcmTrn::publishEstimates() - MLE : 4061546.23 594304.45 11.42 2021-10-10T19:45:25Z- LcmTrn::publishEstimates() - MMSE : 4061507.40 594267.75 -1.93 2021-10-10T19:45:25Z- LcmTrn::publishEstimates() - COVAR: 1194.28 1456.64 1.97 0.00 2021-10-10T19:45:25Z- AHRS_M2 msg: 1633895125.81 epoch sec; seqNo:500 2021-10-10T19:45:25Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 1.07 psi 2021-10-10T19:45:25Z- handleDepth()-Depth_Keller msg: 1633895125812 epoch sec; seqNo:521; depth 11.49 2021-10-10T19:45:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895125.83 epoch sec; seqNo:521; 4061516.73 north; 594257.95 east 2021-10-10T19:45:26Z- AHRS_M2 msg: 1633895126.23 epoch sec; seqNo:501 2021-10-10T19:45:26Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 1.07 psi 2021-10-10T19:45:26Z- handleDepth()-Depth_Keller msg: 1633895126249 epoch sec; seqNo:522; depth 11.56 2021-10-10T19:45:26Z- handleDvl() - RDI_Pathfinder msg: 1633895126.31 epoch sec; seqNo:210 2021-10-10T19:45:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.87 , 101.54 , 77.92 , 101.54 2021-10-10T19:45:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.00 , -0.08 2021-10-10T19:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895126.35 epoch sec; seqNo:522; 4061517.11 north; 594257.95 east 2021-10-10T19:45:26Z- AHRS_M2 msg: 1633895126.61 epoch sec; seqNo:502 2021-10-10T19:45:26Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 1.06 psi 2021-10-10T19:45:26Z- handleDepth()-Depth_Keller msg: 1633895126620 epoch sec; seqNo:523; depth 11.64 2021-10-10T19:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895126.65 epoch sec; seqNo:523; 4061517.11 north; 594257.95 east 2021-10-10T19:45:27Z- AHRS_M2 msg: 1633895127.02 epoch sec; seqNo:503 2021-10-10T19:45:27Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 1.05 psi 2021-10-10T19:45:27Z- handleDepth()-Depth_Keller msg: 1633895127030 epoch sec; seqNo:524; depth 11.67 2021-10-10T19:45:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895127.05 epoch sec; seqNo:524; 4061517.12 north; 594259.17 east 2021-10-10T19:45:27Z- AHRS_M2 msg: 1633895127.42 epoch sec; seqNo:504 2021-10-10T19:45:27Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 1.05 psi 2021-10-10T19:45:27Z- handleDepth()-Depth_Keller msg: 1633895127426 epoch sec; seqNo:525; depth 11.76 2021-10-10T19:45:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:27Z- handleDvl() - RDI_Pathfinder msg: 1633895127.44 epoch sec; seqNo:211 2021-10-10T19:45:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.00 , -0.08 2021-10-10T19:45:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895127.45 epoch sec; seqNo:525; 4061517.50 north; 594259.16 east 2021-10-10T19:45:27Z- AHRS_M2 msg: 1633895127.83 epoch sec; seqNo:505 2021-10-10T19:45:27Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 1.04 psi 2021-10-10T19:45:27Z- handleDepth()-Depth_Keller msg: 1633895127836 epoch sec; seqNo:526; depth 11.80 2021-10-10T19:45:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895127.86 epoch sec; seqNo:526; 4061517.50 north; 594259.16 east 2021-10-10T19:45:28Z- AHRS_M2 msg: 1633895128.28 epoch sec; seqNo:506 2021-10-10T19:45:28Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 1.04 psi 2021-10-10T19:45:28Z- handleDepth()-Depth_Keller msg: 1633895128285 epoch sec; seqNo:527; depth 11.86 2021-10-10T19:45:28Z- handleDvl() - RDI_Pathfinder msg: 1633895128.33 epoch sec; seqNo:212 2021-10-10T19:45:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 101.60 , 77.09 , 101.60 2021-10-10T19:45:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.02 , 0.07 2021-10-10T19:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895128.36 epoch sec; seqNo:527; 4061517.88 north; 594259.16 east 2021-10-10T19:45:28Z- AHRS_M2 msg: 1633895128.63 epoch sec; seqNo:507 2021-10-10T19:45:28Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 1.03 psi 2021-10-10T19:45:28Z- handleDepth()-Depth_Keller msg: 1633895128639 epoch sec; seqNo:528; depth 11.94 2021-10-10T19:45:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:28Z- handleDvl() - RDI_Pathfinder msg: 1633895128.64 epoch sec; seqNo:213 2021-10-10T19:45:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.02 , 0.07 2021-10-10T19:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895128.67 epoch sec; seqNo:528; 4061517.88 north; 594259.16 east 2021-10-10T19:45:29Z- AHRS_M2 msg: 1633895129.04 epoch sec; seqNo:508 2021-10-10T19:45:29Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 1.03 psi 2021-10-10T19:45:29Z- handleDepth()-Depth_Keller msg: 1633895129045 epoch sec; seqNo:529; depth 11.99 2021-10-10T19:45:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895129.06 epoch sec; seqNo:529; 4061518.27 north; 594260.38 east 2021-10-10T19:45:29Z- AHRS_M2 msg: 1633895129.44 epoch sec; seqNo:509 2021-10-10T19:45:29Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 1.03 psi 2021-10-10T19:45:29Z- handleDepth()-Depth_Keller msg: 1633895129451 epoch sec; seqNo:530; depth 12.07 2021-10-10T19:45:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895129.46 epoch sec; seqNo:530; 4061518.27 north; 594260.38 east 2021-10-10T19:45:29Z- AHRS_M2 msg: 1633895129.85 epoch sec; seqNo:510 2021-10-10T19:45:29Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 1.04 psi 2021-10-10T19:45:29Z- handleDepth()-Depth_Keller msg: 1633895129852 epoch sec; seqNo:531; depth 12.14 2021-10-10T19:45:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:29Z- handleDvl() - RDI_Pathfinder msg: 1633895129.85 epoch sec; seqNo:214 2021-10-10T19:45:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.02 , 0.07 2021-10-10T19:45:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895129.87 epoch sec; seqNo:531; 4061518.27 north; 594260.38 east 2021-10-10T19:45:30Z- AHRS_M2 msg: 1633895130.28 epoch sec; seqNo:511 2021-10-10T19:45:30Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 1.04 psi 2021-10-10T19:45:30Z- handleDepth()-Depth_Keller msg: 1633895130286 epoch sec; seqNo:532; depth 12.20 2021-10-10T19:45:30Z- handleDvl() - RDI_Pathfinder msg: 1633895130.33 epoch sec; seqNo:215 2021-10-10T19:45:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.10 , 96.38 , 75.87 , 101.81 2021-10-10T19:45:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.14 , 0.06 2021-10-10T19:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895130.36 epoch sec; seqNo:532; 4061518.66 north; 594261.59 east 2021-10-10T19:45:30Z- LcmTrn::handleMessages() - handling 42 messages took 0.70 ms and 127 calls... 2021-10-10T19:45:30Z- waiting for 1633895128.43, time is 1633895130.36 2021-10-10T19:45:30Z- LcmTrn::updateTrn() equating pose 1633895130.36 and meas times 1633895130.36 2021-10-10T19:45:30Z- LcmTrn::updateTrn() >>>> pose time 1633895130.36, meas time 1633895130.36 <<<< 2021-10-10T19:45:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895130.36 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:30Z- TerrainNav::motionUpdate() - currEstimate = (4061519, 594261.59, 12.20) 2021-10-10T19:45:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:30Z- TerrainNav:: SubcloudNIS is 0.71, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:30Z- TNavBF::Projecting Measurements 2021-10-10T19:45:30Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:45:30Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:45:30Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:45:30Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:45:30Z- TNavFilter::4 good beams. 2021-10-10T19:45:30Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:30Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:30Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:45:30Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:45:30Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:45:30Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:30Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:30Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:30Z- TerrainMapOctree: (vehN, vehE ) = (4061518.66, 594261.59). 2021-10-10T19:45:30Z- TerrainMapOctree: Min Distance = 231.63. 2021-10-10T19:45:30Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:45:30Z- Forcing Subcloud Comparison 2021-10-10T19:45:30Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:45:30Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:30Z- Filter 0 partialDeltaRmsComputation: 49.605143 terrainVariance: 0.109118 1-SumSquareWeights: 0.999375 2021-10-10T19:45:30Z- Filter 0 meanExpectedMeasDiff: 7.035341 delta_rms_squared: 0.099124 alpha: 0.832108 2021-10-10T19:45:30Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:30Z- Filter 0 partialDeltaRmsComputation: 137.669000 terrainVariance: 0.259332 1-SumSquareWeights: 0.999375 2021-10-10T19:45:30Z- Filter 0 meanExpectedMeasDiff: -11.722187 delta_rms_squared: 0.249338 alpha: 0.925744 2021-10-10T19:45:30Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:30Z- Filter 0 partialDeltaRmsComputation: 96.492750 terrainVariance: 0.823826 1-SumSquareWeights: 0.999375 2021-10-10T19:45:30Z- Filter 0 meanExpectedMeasDiff: -9.781049 delta_rms_squared: 0.813832 alpha: 0.976014 2021-10-10T19:45:30Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:30Z- Filter 0 partialDeltaRmsComputation: 276.050233 terrainVariance: 0.248282 1-SumSquareWeights: 0.999375 2021-10-10T19:45:30Z- Filter 0 meanExpectedMeasDiff: 16.607286 delta_rms_squared: 0.238289 alpha: 0.922567 2021-10-10T19:45:30Z- Filter 0 SubcloudNIS: 0.730905 2021-10-10T19:45:30Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:45:30Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-10T19:45:30Z- Filter 0 NorthBias: 10.7 EastBias: 32.4 DepthBias: -13.1 NorthVariance: 972.2 EastVariance: 660.8 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T19:45:30Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895130.36 sec. 2021-10-10T19:45:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:30Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:30Z- variances([0], [2], and psi_berg) = 972.220740 660.844851 0.000000 2021-10-10T19:45:30Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:30Z- LcmTrn::publishEstimates() - MLE : 4061548.16 594308.09 12.20 2021-10-10T19:45:30Z- LcmTrn::publishEstimates() - MMSE : 4061529.32 594294.00 -0.93 2021-10-10T19:45:30Z- LcmTrn::publishEstimates() - COVAR: 972.22 660.84 1.44 0.00 2021-10-10T19:45:30Z- AHRS_M2 msg: 1633895130.66 epoch sec; seqNo:512 2021-10-10T19:45:30Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 1.04 psi 2021-10-10T19:45:30Z- handleDepth()-Depth_Keller msg: 1633895130660 epoch sec; seqNo:533; depth 12.29 2021-10-10T19:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895130.68 epoch sec; seqNo:533; 4061518.66 north; 594261.59 east 2021-10-10T19:45:31Z- handleDepth()-Depth_Keller msg: 1633895131090 epoch sec; seqNo:534; depth 12.34 2021-10-10T19:45:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:31Z- handleDvl() - RDI_Pathfinder msg: 1633895131.09 epoch sec; seqNo:216 2021-10-10T19:45:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.14 , 0.06 2021-10-10T19:45:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895131.11 epoch sec; seqNo:534; 4061518.66 north; 594261.59 east 2021-10-10T19:45:31Z- AHRS_M2 msg: 1633895131.46 epoch sec; seqNo:513 2021-10-10T19:45:31Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 1.05 psi 2021-10-10T19:45:31Z- handleDepth()-Depth_Keller msg: 1633895131469 epoch sec; seqNo:535; depth 12.43 2021-10-10T19:45:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895131.48 epoch sec; seqNo:535; 4061519.04 north; 594261.59 east 2021-10-10T19:45:31Z- handleDepth()-Depth_Keller msg: 1633895131888 epoch sec; seqNo:536; depth 12.48 2021-10-10T19:45:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895131.91 epoch sec; seqNo:536; 4061519.05 north; 594262.81 east 2021-10-10T19:45:32Z- AHRS_M2 msg: 1633895132.28 epoch sec; seqNo:514 2021-10-10T19:45:32Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 1.05 psi 2021-10-10T19:45:32Z- handleDepth()-Depth_Keller msg: 1633895132294 epoch sec; seqNo:537; depth 12.56 2021-10-10T19:45:32Z- handleDvl() - RDI_Pathfinder msg: 1633895132.32 epoch sec; seqNo:217 2021-10-10T19:45:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.73 , 96.85 , 78.50 , 100.52 2021-10-10T19:45:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.15 , 0.07 2021-10-10T19:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895132.36 epoch sec; seqNo:537; 4061519.05 north; 594262.81 east 2021-10-10T19:45:32Z- AHRS_M2 msg: 1633895132.68 epoch sec; seqNo:515 2021-10-10T19:45:32Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:32Z- handleDepth()-Depth_Keller msg: 1633895132681 epoch sec; seqNo:538; depth 12.63 2021-10-10T19:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895132.71 epoch sec; seqNo:538; 4061519.43 north; 594262.80 east 2021-10-10T19:45:33Z- AHRS_M2 msg: 1633895133.08 epoch sec; seqNo:516 2021-10-10T19:45:33Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:33Z- handleDepth()-Depth_Keller msg: 1633895133088 epoch sec; seqNo:539; depth 12.70 2021-10-10T19:45:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895133.10 epoch sec; seqNo:539; 4061519.43 north; 594262.80 east 2021-10-10T19:45:33Z- AHRS_M2 msg: 1633895133.48 epoch sec; seqNo:517 2021-10-10T19:45:33Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:33Z- handleDepth()-Depth_Keller msg: 1633895133488 epoch sec; seqNo:540; depth 12.76 2021-10-10T19:45:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:33Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:33Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:33Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:33Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:33Z- handleDvl() - RDI_Pathfinder msg: 1633895133.49 epoch sec; seqNo:218 2021-10-10T19:45:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.15 , 0.07 2021-10-10T19:45:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895133.50 epoch sec; seqNo:540; 4061519.45 north; 594264.03 east 2021-10-10T19:45:33Z- AHRS_M2 msg: 1633895133.89 epoch sec; seqNo:518 2021-10-10T19:45:33Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:33Z- handleDepth()-Depth_Keller msg: 1633895133896 epoch sec; seqNo:541; depth 12.83 2021-10-10T19:45:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895133.92 epoch sec; seqNo:541; 4061519.83 north; 594264.02 east 2021-10-10T19:45:34Z- AHRS_M2 msg: 1633895134.30 epoch sec; seqNo:519 2021-10-10T19:45:34Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:34Z- handleDepth()-Depth_Keller msg: 1633895134306 epoch sec; seqNo:542; depth 12.90 2021-10-10T19:45:34Z- handleDvl() - RDI_Pathfinder msg: 1633895134.34 epoch sec; seqNo:219 2021-10-10T19:45:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.66 , 99.22 , 75.86 , 100.45 2021-10-10T19:45:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.20 , 0.02 2021-10-10T19:45:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895134.36 epoch sec; seqNo:542; 4061519.83 north; 594264.02 east 2021-10-10T19:45:34Z- AHRS_M2 msg: 1633895134.70 epoch sec; seqNo:520 2021-10-10T19:45:34Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:34Z- handleDepth()-Depth_Keller msg: 1633895134707 epoch sec; seqNo:543; depth 12.97 2021-10-10T19:45:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:34Z- handleDvl() - RDI_Pathfinder msg: 1633895134.71 epoch sec; seqNo:220 2021-10-10T19:45:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.20 , 0.02 2021-10-10T19:45:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895134.73 epoch sec; seqNo:543; 4061519.84 north; 594265.24 east 2021-10-10T19:45:35Z- AHRS_M2 msg: 1633895135.10 epoch sec; seqNo:521 2021-10-10T19:45:35Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:35Z- handleDepth()-Depth_Keller msg: 1633895135122 epoch sec; seqNo:544; depth 13.04 2021-10-10T19:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895135.13 epoch sec; seqNo:544; 4061520.22 north; 594265.24 east 2021-10-10T19:45:35Z- AHRS_M2 msg: 1633895135.50 epoch sec; seqNo:522 2021-10-10T19:45:35Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:35Z- handleDepth()-Depth_Keller msg: 1633895135511 epoch sec; seqNo:545; depth 13.11 2021-10-10T19:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895135.54 epoch sec; seqNo:545; 4061520.22 north; 594265.24 east 2021-10-10T19:45:35Z- LcmTrn::handleMessages() - handling 42 messages took 0.58 ms and 130 calls... 2021-10-10T19:45:35Z- waiting for 1633895133.36, time is 1633895135.54 2021-10-10T19:45:35Z- LcmTrn::updateTrn() >>>> pose time 1633895135.54, meas time 1633895134.71 <<<< 2021-10-10T19:45:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895134.71, ping # 0. 2021-10-10T19:45:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895134.71 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:35Z- TerrainNav::motionUpdate() - currEstimate = (4061520, 594265.24, 13.11) 2021-10-10T19:45:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:35Z- TerrainNav:: SubcloudNIS is 0.73, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:35Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:45:35Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:45:35Z- TNavBF::Projecting Measurements 2021-10-10T19:45:35Z- TNavFilter::Measurement from time = 1633895134.71 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:45:35Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:35Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:35Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:45:35Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:45:35Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:45:35Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:35Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:35Z- Filter 0 NorthBias: 10.7 EastBias: 32.3 DepthBias: -13.1 NorthVariance: 971.7 EastVariance: 666.2 DepthVariance: 1.6 this->DepthBiasCov: 1.4 2021-10-10T19:45:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:35Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:35Z- variances([0], [2], and psi_berg) = 971.486874 668.532368 0.000000 2021-10-10T19:45:35Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:35Z- LcmTrn::publishEstimates() - MLE : 4061549.72 594311.74 13.11 2021-10-10T19:45:35Z- LcmTrn::publishEstimates() - MMSE : 4061530.88 594297.53 -0.03 2021-10-10T19:45:35Z- LcmTrn::publishEstimates() - COVAR: 971.49 668.53 1.64 0.00 2021-10-10T19:45:35Z- AHRS_M2 msg: 1633895135.91 epoch sec; seqNo:523 2021-10-10T19:45:35Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:35Z- handleDepth()-Depth_Keller msg: 1633895135916 epoch sec; seqNo:546; depth 13.16 2021-10-10T19:45:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:35Z- handleDvl() - RDI_Pathfinder msg: 1633895135.92 epoch sec; seqNo:221 2021-10-10T19:45:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.20 , 0.02 2021-10-10T19:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895135.93 epoch sec; seqNo:546; 4061520.23 north; 594266.46 east 2021-10-10T19:45:36Z- AHRS_M2 msg: 1633895136.32 epoch sec; seqNo:524 2021-10-10T19:45:36Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:36Z- handleDepth()-Depth_Keller msg: 1633895136325 epoch sec; seqNo:547; depth 13.24 2021-10-10T19:45:36Z- handleDvl() - RDI_Pathfinder msg: 1633895136.35 epoch sec; seqNo:222 2021-10-10T19:45:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.45 , 96.78 , 78.43 , 100.45 2021-10-10T19:45:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.09 , -0.11 2021-10-10T19:45:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895136.39 epoch sec; seqNo:547; 4061520.61 north; 594266.45 east 2021-10-10T19:45:36Z- AHRS_M2 msg: 1633895136.71 epoch sec; seqNo:525 2021-10-10T19:45:36Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:36Z- handleDepth()-Depth_Keller msg: 1633895136719 epoch sec; seqNo:548; depth 13.33 2021-10-10T19:45:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895136.74 epoch sec; seqNo:548; 4061520.61 north; 594266.45 east 2021-10-10T19:45:37Z- AHRS_M2 msg: 1633895137.12 epoch sec; seqNo:526 2021-10-10T19:45:37Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.04 psi 2021-10-10T19:45:37Z- handleDepth()-Depth_Keller msg: 1633895137122 epoch sec; seqNo:549; depth 13.39 2021-10-10T19:45:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:37Z- handleDvl() - RDI_Pathfinder msg: 1633895137.12 epoch sec; seqNo:223 2021-10-10T19:45:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.09 , -0.11 2021-10-10T19:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895137.13 epoch sec; seqNo:549; 4061520.99 north; 594266.45 east 2021-10-10T19:45:37Z- AHRS_M2 msg: 1633895137.53 epoch sec; seqNo:527 2021-10-10T19:45:37Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:37Z- handleDepth()-Depth_Keller msg: 1633895137530 epoch sec; seqNo:550; depth 13.45 2021-10-10T19:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895137.54 epoch sec; seqNo:550; 4061521.00 north; 594267.67 east 2021-10-10T19:45:37Z- AHRS_M2 msg: 1633895137.93 epoch sec; seqNo:528 2021-10-10T19:45:37Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:37Z- handleDepth()-Depth_Keller msg: 1633895137930 epoch sec; seqNo:551; depth 13.53 2021-10-10T19:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895137.95 epoch sec; seqNo:551; 4061521.38 north; 594267.67 east 2021-10-10T19:45:38Z- AHRS_M2 msg: 1633895138.33 epoch sec; seqNo:529 2021-10-10T19:45:38Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:38Z- handleDepth()-Depth_Keller msg: 1633895138334 epoch sec; seqNo:552; depth 13.61 2021-10-10T19:45:38Z- handleDvl() - RDI_Pathfinder msg: 1633895138.37 epoch sec; seqNo:224 2021-10-10T19:45:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.04 , 99.29 , 74.22 , 98.07 2021-10-10T19:45:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , -0.07 2021-10-10T19:45:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895138.39 epoch sec; seqNo:552; 4061521.38 north; 594267.67 east 2021-10-10T19:45:38Z- AHRS_M2 msg: 1633895138.73 epoch sec; seqNo:530 2021-10-10T19:45:38Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:38Z- handleDepth()-Depth_Keller msg: 1633895138740 epoch sec; seqNo:553; depth 13.68 2021-10-10T19:45:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895138.76 epoch sec; seqNo:553; 4061521.76 north; 594267.66 east 2021-10-10T19:45:39Z- AHRS_M2 msg: 1633895139.14 epoch sec; seqNo:531 2021-10-10T19:45:39Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:39Z- handleDepth()-Depth_Keller msg: 1633895139152 epoch sec; seqNo:554; depth 13.74 2021-10-10T19:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895139.16 epoch sec; seqNo:554; 4061521.77 north; 594268.88 east 2021-10-10T19:45:39Z- AHRS_M2 msg: 1633895139.54 epoch sec; seqNo:532 2021-10-10T19:45:39Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:39Z- handleDepth()-Depth_Keller msg: 1633895139548 epoch sec; seqNo:555; depth 13.82 2021-10-10T19:45:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:39Z- handleDvl() - RDI_Pathfinder msg: 1633895139.55 epoch sec; seqNo:225 2021-10-10T19:45:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , -0.07 2021-10-10T19:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895139.58 epoch sec; seqNo:555; 4061522.15 north; 594268.88 east 2021-10-10T19:45:39Z- AHRS_M2 msg: 1633895139.95 epoch sec; seqNo:533 2021-10-10T19:45:39Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:39Z- handleDepth()-Depth_Keller msg: 1633895139955 epoch sec; seqNo:556; depth 13.90 2021-10-10T19:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895139.96 epoch sec; seqNo:556; 4061522.15 north; 594268.88 east 2021-10-10T19:45:40Z- AHRS_M2 msg: 1633895140.35 epoch sec; seqNo:534 2021-10-10T19:45:40Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:40Z- handleDepth()-Depth_Keller msg: 1633895140360 epoch sec; seqNo:557; depth 13.95 2021-10-10T19:45:40Z- handleDvl() - RDI_Pathfinder msg: 1633895140.40 epoch sec; seqNo:226 2021-10-10T19:45:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.04 , 98.21 , 74.63 , 99.43 2021-10-10T19:45:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.03 , -0.07 2021-10-10T19:45:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895140.41 epoch sec; seqNo:557; 4061522.54 north; 594270.09 east 2021-10-10T19:45:40Z- AHRS_M2 msg: 1633895140.77 epoch sec; seqNo:535 2021-10-10T19:45:40Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.03 psi 2021-10-10T19:45:40Z- LcmTrn::handleMessages() - handling 43 messages took 0.81 ms and 126 calls... 2021-10-10T19:45:40Z- waiting for 1633895138.54, time is 1633895140.77 2021-10-10T19:45:40Z- LcmTrn::updateTrn() >>>> pose time 1633895140.77, meas time 1633895140.40 <<<< 2021-10-10T19:45:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895140.40 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:40Z- TerrainNav::motionUpdate() - currEstimate = (4061523, 594270.09, 13.95) 2021-10-10T19:45:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:40Z- TerrainNav:: SubcloudNIS is 0.73, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:40Z- TNavBF::Projecting Measurements 2021-10-10T19:45:40Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:45:40Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:45:40Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:45:40Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:45:40Z- TNavFilter::4 good beams. 2021-10-10T19:45:40Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:40Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:40Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:45:40Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:45:40Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:45:40Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:40Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:40Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:40Z- TerrainMapOctree: (vehN, vehE ) = (4061522.38, 594269.75). 2021-10-10T19:45:40Z- TerrainMapOctree: Min Distance = 228.48. 2021-10-10T19:45:40Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:45:40Z- Forcing Subcloud Comparison 2021-10-10T19:45:40Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:45:40Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:40Z- Filter 0 partialDeltaRmsComputation: 44.369143 terrainVariance: 0.084082 1-SumSquareWeights: 0.998633 2021-10-10T19:45:40Z- Filter 0 meanExpectedMeasDiff: 6.654702 delta_rms_squared: 0.074096 alpha: 0.787450 2021-10-10T19:45:40Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:40Z- Filter 0 partialDeltaRmsComputation: 63.468328 terrainVariance: 0.153527 1-SumSquareWeights: 0.998633 2021-10-10T19:45:40Z- Filter 0 meanExpectedMeasDiff: -7.957060 delta_rms_squared: 0.143541 alpha: 0.877706 2021-10-10T19:45:40Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:40Z- Filter 0 partialDeltaRmsComputation: 61.190545 terrainVariance: 0.353163 1-SumSquareWeights: 0.998633 2021-10-10T19:45:40Z- Filter 0 meanExpectedMeasDiff: -7.799832 delta_rms_squared: 0.343177 alpha: 0.944930 2021-10-10T19:45:40Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:40Z- Filter 0 partialDeltaRmsComputation: 227.435291 terrainVariance: 0.158452 1-SumSquareWeights: 0.998633 2021-10-10T19:45:40Z- Filter 0 meanExpectedMeasDiff: 15.075704 delta_rms_squared: 0.148466 alpha: 0.881281 2021-10-10T19:45:40Z- Filter 0 SubcloudNIS: 0.606561 2021-10-10T19:45:40Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:45:40Z- TNavBF:: Filter 0 sumWeights = 0.000023 2021-10-10T19:45:40Z- Filter 0 NorthBias: 14.1 EastBias: 38.3 DepthBias: -12.5 NorthVariance: 753.0 EastVariance: 269.4 DepthVariance: 1.3 this->DepthBiasCov: 1.1 2021-10-10T19:45:40Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895140.40 sec. 2021-10-10T19:45:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:40Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:40Z- variances([0], [2], and psi_berg) = 752.929668 271.891983 0.000000 2021-10-10T19:45:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:40Z- LcmTrn::publishEstimates() - MLE : 4061552.04 594316.59 13.95 2021-10-10T19:45:40Z- LcmTrn::publishEstimates() - MMSE : 4061536.62 594308.39 1.40 2021-10-10T19:45:40Z- LcmTrn::publishEstimates() - COVAR: 752.93 271.89 1.29 0.00 2021-10-10T19:45:40Z- handleDepth()-Depth_Keller msg: 1633895140791 epoch sec; seqNo:558; depth 14.04 2021-10-10T19:45:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:40Z- handleDvl() - RDI_Pathfinder msg: 1633895140.79 epoch sec; seqNo:227 2021-10-10T19:45:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.03 , -0.07 2021-10-10T19:45:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895140.81 epoch sec; seqNo:558; 4061522.54 north; 594270.09 east 2021-10-10T19:45:41Z- AHRS_M2 msg: 1633895141.16 epoch sec; seqNo:536 2021-10-10T19:45:41Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.02 psi 2021-10-10T19:45:41Z- handleDepth()-Depth_Keller msg: 1633895141180 epoch sec; seqNo:559; depth 14.12 2021-10-10T19:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895141.19 epoch sec; seqNo:559; 4061522.54 north; 594270.09 east 2021-10-10T19:45:41Z- AHRS_M2 msg: 1633895141.56 epoch sec; seqNo:537 2021-10-10T19:45:41Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.02 psi 2021-10-10T19:45:41Z- handleDepth()-Depth_Keller msg: 1633895141569 epoch sec; seqNo:560; depth 14.18 2021-10-10T19:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895141.58 epoch sec; seqNo:560; 4061522.92 north; 594270.09 east 2021-10-10T19:45:41Z- AHRS_M2 msg: 1633895141.96 epoch sec; seqNo:538 2021-10-10T19:45:41Z- AHRS_M2 msg: -0.23 phi; -0.21 theta; 1.02 psi 2021-10-10T19:45:41Z- handleDepth()-Depth_Keller msg: 1633895141970 epoch sec; seqNo:561; depth 14.25 2021-10-10T19:45:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:41Z- handleDvl() - RDI_Pathfinder msg: 1633895141.97 epoch sec; seqNo:228 2021-10-10T19:45:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.03 , -0.07 2021-10-10T19:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895141.98 epoch sec; seqNo:561; 4061522.92 north; 594270.09 east 2021-10-10T19:45:42Z- AHRS_M2 msg: 1633895142.37 epoch sec; seqNo:539 2021-10-10T19:45:42Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.01 psi 2021-10-10T19:45:42Z- handleDepth()-Depth_Keller msg: 1633895142384 epoch sec; seqNo:562; depth 14.33 2021-10-10T19:45:42Z- handleDvl() - RDI_Pathfinder msg: 1633895142.41 epoch sec; seqNo:229 2021-10-10T19:45:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.63 , 96.91 , 78.57 , 98.14 2021-10-10T19:45:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.01 , 0.00 2021-10-10T19:45:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895142.44 epoch sec; seqNo:562; 4061523.32 north; 594271.31 east 2021-10-10T19:45:42Z- AHRS_M2 msg: 1633895142.77 epoch sec; seqNo:540 2021-10-10T19:45:42Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.01 psi 2021-10-10T19:45:42Z- handleDepth()-Depth_Keller msg: 1633895142784 epoch sec; seqNo:563; depth 14.42 2021-10-10T19:45:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895142.81 epoch sec; seqNo:563; 4061523.32 north; 594271.31 east 2021-10-10T19:45:43Z- AHRS_M2 msg: 1633895143.18 epoch sec; seqNo:541 2021-10-10T19:45:43Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.01 psi 2021-10-10T19:45:43Z- handleDepth()-Depth_Keller msg: 1633895143192 epoch sec; seqNo:564; depth 14.49 2021-10-10T19:45:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:43Z- handleDvl() - RDI_Pathfinder msg: 1633895143.19 epoch sec; seqNo:230 2021-10-10T19:45:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.01 , 0.00 2021-10-10T19:45:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895143.20 epoch sec; seqNo:564; 4061523.69 north; 594271.30 east 2021-10-10T19:45:43Z- AHRS_M2 msg: 1633895143.58 epoch sec; seqNo:542 2021-10-10T19:45:43Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.01 psi 2021-10-10T19:45:43Z- handleDepth()-Depth_Keller msg: 1633895143588 epoch sec; seqNo:565; depth 14.55 2021-10-10T19:45:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895143.60 epoch sec; seqNo:565; 4061523.69 north; 594271.30 east 2021-10-10T19:45:44Z- AHRS_M2 msg: 1633895143.99 epoch sec; seqNo:543 2021-10-10T19:45:44Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.01 psi 2021-10-10T19:45:44Z- handleDepth()-Depth_Keller msg: 1633895144003 epoch sec; seqNo:566; depth 14.65 2021-10-10T19:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895144.02 epoch sec; seqNo:566; 4061524.09 north; 594272.52 east 2021-10-10T19:45:44Z- AHRS_M2 msg: 1633895144.39 epoch sec; seqNo:544 2021-10-10T19:45:44Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:44Z- handleDepth()-Depth_Keller msg: 1633895144396 epoch sec; seqNo:567; depth 14.72 2021-10-10T19:45:44Z- handleDvl() - RDI_Pathfinder msg: 1633895144.43 epoch sec; seqNo:231 2021-10-10T19:45:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.63 , 96.91 , 72.99 , 99.36 2021-10-10T19:45:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.12 , 0.08 2021-10-10T19:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895144.45 epoch sec; seqNo:567; 4061524.09 north; 594272.52 east 2021-10-10T19:45:44Z- AHRS_M2 msg: 1633895144.80 epoch sec; seqNo:545 2021-10-10T19:45:44Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:44Z- handleDepth()-Depth_Keller msg: 1633895144804 epoch sec; seqNo:568; depth 14.80 2021-10-10T19:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895144.82 epoch sec; seqNo:568; 4061524.09 north; 594272.52 east 2021-10-10T19:45:45Z- AHRS_M2 msg: 1633895145.20 epoch sec; seqNo:546 2021-10-10T19:45:45Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:45Z- handleDepth()-Depth_Keller msg: 1633895145205 epoch sec; seqNo:569; depth 14.86 2021-10-10T19:45:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895145.22 epoch sec; seqNo:569; 4061524.47 north; 594272.51 east 2021-10-10T19:45:45Z- AHRS_M2 msg: 1633895145.60 epoch sec; seqNo:547 2021-10-10T19:45:45Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:45Z- handleDepth()-Depth_Keller msg: 1633895145618 epoch sec; seqNo:570; depth 14.94 2021-10-10T19:45:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:45Z- handleDvl() - RDI_Pathfinder msg: 1633895145.62 epoch sec; seqNo:232 2021-10-10T19:45:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.12 , 0.08 2021-10-10T19:45:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895145.63 epoch sec; seqNo:570; 4061524.48 north; 594273.73 east 2021-10-10T19:45:45Z- LcmTrn::handleMessages() - handling 44 messages took 0.77 ms and 128 calls... 2021-10-10T19:45:45Z- waiting for 1633895143.77, time is 1633895145.63 2021-10-10T19:45:45Z- LcmTrn::updateTrn() equating pose 1633895145.63 and meas times 1633895145.63 2021-10-10T19:45:45Z- LcmTrn::updateTrn() >>>> pose time 1633895145.63, meas time 1633895145.63 <<<< 2021-10-10T19:45:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895145.63, ping # 0. 2021-10-10T19:45:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895145.63 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:45Z- TerrainNav::motionUpdate() - currEstimate = (4061524, 594273.73, 14.94) 2021-10-10T19:45:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:45Z- TerrainNav:: SubcloudNIS is 0.61, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:45Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:45:45Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:45:46Z- TNavBF::Projecting Measurements 2021-10-10T19:45:46Z- TNavFilter::Measurement from time = 1633895145.63 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:45:46Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:46Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:46Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:45:46Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:45:46Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:45:46Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:46Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:46Z- Filter 0 NorthBias: 14.1 EastBias: 38.2 DepthBias: -12.6 NorthVariance: 752.6 EastVariance: 280.1 DepthVariance: 1.5 this->DepthBiasCov: 1.4 2021-10-10T19:45:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:46Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:46Z- variances([0], [2], and psi_berg) = 752.575124 280.084920 0.000000 2021-10-10T19:45:46Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:46Z- LcmTrn::publishEstimates() - MLE : 4061553.98 594320.23 14.94 2021-10-10T19:45:46Z- LcmTrn::publishEstimates() - MMSE : 4061538.55 594311.93 2.39 2021-10-10T19:45:46Z- LcmTrn::publishEstimates() - COVAR: 752.58 280.08 1.51 0.00 2021-10-10T19:45:46Z- AHRS_M2 msg: 1633895146.01 epoch sec; seqNo:548 2021-10-10T19:45:46Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:46Z- handleDepth()-Depth_Keller msg: 1633895146011 epoch sec; seqNo:571; depth 15.03 2021-10-10T19:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895146.02 epoch sec; seqNo:571; 4061524.86 north; 594273.73 east 2021-10-10T19:45:46Z- AHRS_M2 msg: 1633895146.41 epoch sec; seqNo:549 2021-10-10T19:45:46Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:46Z- handleDepth()-Depth_Keller msg: 1633895146418 epoch sec; seqNo:572; depth 15.10 2021-10-10T19:45:46Z- handleDvl() - RDI_Pathfinder msg: 1633895146.44 epoch sec; seqNo:233 2021-10-10T19:45:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.04 , 96.98 , 72.99 , 98.21 2021-10-10T19:45:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.17 , -0.01 2021-10-10T19:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895146.48 epoch sec; seqNo:572; 4061524.86 north; 594273.73 east 2021-10-10T19:45:46Z- AHRS_M2 msg: 1633895146.82 epoch sec; seqNo:550 2021-10-10T19:45:46Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:46Z- handleDepth()-Depth_Keller msg: 1633895146824 epoch sec; seqNo:573; depth 15.21 2021-10-10T19:45:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:46Z- handleDvl() - RDI_Pathfinder msg: 1633895146.83 epoch sec; seqNo:234 2021-10-10T19:45:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.17 , -0.01 2021-10-10T19:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895146.84 epoch sec; seqNo:573; 4061524.87 north; 594274.95 east 2021-10-10T19:45:47Z- AHRS_M2 msg: 1633895147.22 epoch sec; seqNo:551 2021-10-10T19:45:47Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:47Z- handleDepth()-Depth_Keller msg: 1633895147223 epoch sec; seqNo:574; depth 15.27 2021-10-10T19:45:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895147.23 epoch sec; seqNo:574; 4061525.25 north; 594274.95 east 2021-10-10T19:45:47Z- AHRS_M2 msg: 1633895147.62 epoch sec; seqNo:552 2021-10-10T19:45:47Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:47Z- handleDepth()-Depth_Keller msg: 1633895147630 epoch sec; seqNo:575; depth 15.34 2021-10-10T19:45:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895147.64 epoch sec; seqNo:575; 4061525.25 north; 594274.95 east 2021-10-10T19:45:48Z- AHRS_M2 msg: 1633895148.03 epoch sec; seqNo:553 2021-10-10T19:45:48Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.00 psi 2021-10-10T19:45:48Z- handleDepth()-Depth_Keller msg: 1633895148032 epoch sec; seqNo:576; depth 15.43 2021-10-10T19:45:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:48Z- handleDvl() - RDI_Pathfinder msg: 1633895148.04 epoch sec; seqNo:235 2021-10-10T19:45:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.17 , -0.01 2021-10-10T19:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895148.05 epoch sec; seqNo:576; 4061525.25 north; 594274.95 east 2021-10-10T19:45:48Z- AHRS_M2 msg: 1633895148.43 epoch sec; seqNo:554 2021-10-10T19:45:48Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 0.99 psi 2021-10-10T19:45:48Z- handleDepth()-Depth_Keller msg: 1633895148452 epoch sec; seqNo:577; depth 15.51 2021-10-10T19:45:48Z- handleDvl() - RDI_Pathfinder msg: 1633895148.48 epoch sec; seqNo:236 2021-10-10T19:45:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.22 , 97.05 , 72.58 , 97.05 2021-10-10T19:45:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.09 , -0.05 2021-10-10T19:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895148.53 epoch sec; seqNo:577; 4061525.64 north; 594276.16 east 2021-10-10T19:45:48Z- AHRS_M2 msg: 1633895148.83 epoch sec; seqNo:555 2021-10-10T19:45:48Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.99 psi 2021-10-10T19:45:48Z- handleDepth()-Depth_Keller msg: 1633895148838 epoch sec; seqNo:578; depth 15.59 2021-10-10T19:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895148.87 epoch sec; seqNo:578; 4061525.64 north; 594276.16 east 2021-10-10T19:45:49Z- AHRS_M2 msg: 1633895149.24 epoch sec; seqNo:556 2021-10-10T19:45:49Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 0.99 psi 2021-10-10T19:45:49Z- handleDepth()-Depth_Keller msg: 1633895149242 epoch sec; seqNo:579; depth 15.68 2021-10-10T19:45:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:49Z- handleDvl() - RDI_Pathfinder msg: 1633895149.24 epoch sec; seqNo:237 2021-10-10T19:45:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.09 , -0.05 2021-10-10T19:45:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895149.26 epoch sec; seqNo:579; 4061526.02 north; 594276.16 east 2021-10-10T19:45:49Z- AHRS_M2 msg: 1633895149.65 epoch sec; seqNo:557 2021-10-10T19:45:49Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 0.98 psi 2021-10-10T19:45:49Z- handleDepth()-Depth_Keller msg: 1633895149657 epoch sec; seqNo:580; depth 15.75 2021-10-10T19:45:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895149.67 epoch sec; seqNo:580; 4061526.02 north; 594276.16 east 2021-10-10T19:45:50Z- AHRS_M2 msg: 1633895150.05 epoch sec; seqNo:558 2021-10-10T19:45:50Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.98 psi 2021-10-10T19:45:50Z- handleDepth()-Depth_Keller msg: 1633895150051 epoch sec; seqNo:581; depth 15.84 2021-10-10T19:45:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895150.07 epoch sec; seqNo:581; 4061526.41 north; 594277.37 east 2021-10-10T19:45:50Z- AHRS_M2 msg: 1633895150.45 epoch sec; seqNo:559 2021-10-10T19:45:50Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.98 psi 2021-10-10T19:45:50Z- handleDepth()-Depth_Keller msg: 1633895150460 epoch sec; seqNo:582; depth 15.91 2021-10-10T19:45:50Z- handleDvl() - RDI_Pathfinder msg: 1633895150.50 epoch sec; seqNo:238 2021-10-10T19:45:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.39 , 97.05 , 72.98 , 98.28 2021-10-10T19:45:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.03 , -0.03 2021-10-10T19:45:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895150.51 epoch sec; seqNo:582; 4061526.41 north; 594277.37 east 2021-10-10T19:45:50Z- AHRS_M2 msg: 1633895150.85 epoch sec; seqNo:560 2021-10-10T19:45:50Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.97 psi 2021-10-10T19:45:50Z- handleDepth()-Depth_Keller msg: 1633895150858 epoch sec; seqNo:583; depth 15.99 2021-10-10T19:45:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895150.87 epoch sec; seqNo:583; 4061526.79 north; 594277.37 east 2021-10-10T19:45:51Z- LcmTrn::handleMessages() - handling 45 messages took 0.80 ms and 129 calls... 2021-10-10T19:45:51Z- waiting for 1633895148.63, time is 1633895150.87 2021-10-10T19:45:51Z- LcmTrn::updateTrn() >>>> pose time 1633895150.87, meas time 1633895150.50 <<<< 2021-10-10T19:45:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895150.50 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:51Z- TerrainNav::motionUpdate() - currEstimate = (4061527, 594277.37, 15.99) 2021-10-10T19:45:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:51Z- TerrainNav:: SubcloudNIS is 0.61, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:51Z- TNavBF::Projecting Measurements 2021-10-10T19:45:51Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:45:51Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:45:51Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:45:51Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:45:51Z- TNavFilter::4 good beams. 2021-10-10T19:45:51Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:51Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:51Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:45:51Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:45:51Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:45:51Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:51Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:51Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:51Z- TerrainMapOctree: (vehN, vehE ) = (4061526.63, 594277.11). 2021-10-10T19:45:51Z- TerrainMapOctree: Min Distance = 225.01. 2021-10-10T19:45:51Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:45:51Z- Forcing Subcloud Comparison 2021-10-10T19:45:51Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:45:51Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:51Z- Filter 0 partialDeltaRmsComputation: 44.681834 terrainVariance: 0.097723 1-SumSquareWeights: 0.998561 2021-10-10T19:45:51Z- Filter 0 meanExpectedMeasDiff: 6.677133 delta_rms_squared: 0.087738 alpha: 0.814364 2021-10-10T19:45:51Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:51Z- Filter 0 partialDeltaRmsComputation: 48.907984 terrainVariance: 0.261207 1-SumSquareWeights: 0.998561 2021-10-10T19:45:51Z- Filter 0 meanExpectedMeasDiff: -6.974724 delta_rms_squared: 0.251222 alpha: 0.926260 2021-10-10T19:45:51Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:51Z- Filter 0 partialDeltaRmsComputation: 54.152585 terrainVariance: 0.119995 1-SumSquareWeights: 0.998561 2021-10-10T19:45:51Z- Filter 0 meanExpectedMeasDiff: -7.350686 delta_rms_squared: 0.110009 alpha: 0.846165 2021-10-10T19:45:51Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:45:51Z- Filter 0 partialDeltaRmsComputation: 245.182099 terrainVariance: 0.074215 1-SumSquareWeights: 0.998561 2021-10-10T19:45:51Z- Filter 0 meanExpectedMeasDiff: 15.655922 delta_rms_squared: 0.064229 alpha: 0.762553 2021-10-10T19:45:51Z- Filter 0 SubcloudNIS: 0.637116 2021-10-10T19:45:51Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:45:51Z- TNavBF:: Filter 0 sumWeights = 0.000048 2021-10-10T19:45:51Z- Filter 0 NorthBias: 12.8 EastBias: 39.9 DepthBias: -11.9 NorthVariance: 687.7 EastVariance: 162.3 DepthVariance: 1.2 this->DepthBiasCov: 1.1 2021-10-10T19:45:51Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895150.50 sec. 2021-10-10T19:45:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:51Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:51Z- variances([0], [2], and psi_berg) = 687.618645 165.099943 0.000000 2021-10-10T19:45:51Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:51Z- LcmTrn::publishEstimates() - MLE : 4061556.29 594323.87 15.99 2021-10-10T19:45:51Z- LcmTrn::publishEstimates() - MMSE : 4061539.57 594317.25 4.12 2021-10-10T19:45:51Z- LcmTrn::publishEstimates() - COVAR: 687.62 165.10 1.20 0.00 2021-10-10T19:45:51Z- AHRS_M2 msg: 1633895151.26 epoch sec; seqNo:561 2021-10-10T19:45:51Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.97 psi 2021-10-10T19:45:51Z- handleDepth()-Depth_Keller msg: 1633895151264 epoch sec; seqNo:584; depth 16.07 2021-10-10T19:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895151.28 epoch sec; seqNo:584; 4061526.79 north; 594277.37 east 2021-10-10T19:45:51Z- handleDepth()-Depth_Keller msg: 1633895151685 epoch sec; seqNo:585; depth 16.15 2021-10-10T19:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895151.70 epoch sec; seqNo:585; 4061527.18 north; 594278.59 east 2021-10-10T19:45:52Z- AHRS_M2 msg: 1633895152.07 epoch sec; seqNo:562 2021-10-10T19:45:52Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.96 psi 2021-10-10T19:45:52Z- handleDepth()-Depth_Keller msg: 1633895152077 epoch sec; seqNo:586; depth 16.24 2021-10-10T19:45:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895152.10 epoch sec; seqNo:586; 4061527.18 north; 594278.59 east 2021-10-10T19:45:52Z- AHRS_M2 msg: 1633895152.48 epoch sec; seqNo:563 2021-10-10T19:45:52Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.96 psi 2021-10-10T19:45:52Z- handleDepth()-Depth_Keller msg: 1633895152481 epoch sec; seqNo:587; depth 16.32 2021-10-10T19:45:52Z- handleDvl() - RDI_Pathfinder msg: 1633895152.50 epoch sec; seqNo:239 2021-10-10T19:45:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.98 , 94.61 , 72.16 , 98.28 2021-10-10T19:45:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , -0.02 2021-10-10T19:45:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895152.54 epoch sec; seqNo:587; 4061527.56 north; 594278.58 east 2021-10-10T19:45:52Z- AHRS_M2 msg: 1633895152.87 epoch sec; seqNo:564 2021-10-10T19:45:52Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.96 psi 2021-10-10T19:45:52Z- handleDepth()-Depth_Keller msg: 1633895152877 epoch sec; seqNo:588; depth 16.40 2021-10-10T19:45:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:52Z- handleDvl() - RDI_Pathfinder msg: 1633895152.89 epoch sec; seqNo:240 2021-10-10T19:45:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , -0.02 2021-10-10T19:45:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895152.90 epoch sec; seqNo:588; 4061527.56 north; 594278.58 east 2021-10-10T19:45:53Z- AHRS_M2 msg: 1633895153.28 epoch sec; seqNo:565 2021-10-10T19:45:53Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.95 psi 2021-10-10T19:45:53Z- handleDepth()-Depth_Keller msg: 1633895153292 epoch sec; seqNo:589; depth 16.49 2021-10-10T19:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895153.32 epoch sec; seqNo:589; 4061527.96 north; 594279.80 east 2021-10-10T19:45:53Z- AHRS_M2 msg: 1633895153.68 epoch sec; seqNo:566 2021-10-10T19:45:53Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.95 psi 2021-10-10T19:45:53Z- handleDepth()-Depth_Keller msg: 1633895153690 epoch sec; seqNo:590; depth 16.56 2021-10-10T19:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895153.70 epoch sec; seqNo:590; 4061527.96 north; 594279.80 east 2021-10-10T19:45:54Z- AHRS_M2 msg: 1633895154.10 epoch sec; seqNo:567 2021-10-10T19:45:54Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.94 psi 2021-10-10T19:45:54Z- handleDepth()-Depth_Keller msg: 1633895154104 epoch sec; seqNo:591; depth 16.63 2021-10-10T19:45:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:54Z- handleDvl() - RDI_Pathfinder msg: 1633895154.11 epoch sec; seqNo:241 2021-10-10T19:45:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.03 , -0.02 2021-10-10T19:45:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895154.12 epoch sec; seqNo:591; 4061528.33 north; 594279.79 east 2021-10-10T19:45:54Z- AHRS_M2 msg: 1633895154.49 epoch sec; seqNo:568 2021-10-10T19:45:54Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.94 psi 2021-10-10T19:45:54Z- handleDepth()-Depth_Keller msg: 1633895154495 epoch sec; seqNo:592; depth 16.72 2021-10-10T19:45:54Z- handleDvl() - RDI_Pathfinder msg: 1633895154.54 epoch sec; seqNo:242 2021-10-10T19:45:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.75 , 94.68 , 72.16 , 98.35 2021-10-10T19:45:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.03 , 0.01 2021-10-10T19:45:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895154.55 epoch sec; seqNo:592; 4061528.71 north; 594279.79 east 2021-10-10T19:45:54Z- AHRS_M2 msg: 1633895154.89 epoch sec; seqNo:569 2021-10-10T19:45:54Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.93 psi 2021-10-10T19:45:54Z- handleDepth()-Depth_Keller msg: 1633895154907 epoch sec; seqNo:593; depth 16.79 2021-10-10T19:45:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895154.92 epoch sec; seqNo:593; 4061528.71 north; 594279.79 east 2021-10-10T19:45:55Z- AHRS_M2 msg: 1633895155.30 epoch sec; seqNo:570 2021-10-10T19:45:55Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.93 psi 2021-10-10T19:45:55Z- handleDepth()-Depth_Keller msg: 1633895155314 epoch sec; seqNo:594; depth 16.88 2021-10-10T19:45:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:55Z- handleDvl() - RDI_Pathfinder msg: 1633895155.32 epoch sec; seqNo:243 2021-10-10T19:45:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.03 , 0.01 2021-10-10T19:45:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895155.33 epoch sec; seqNo:594; 4061529.11 north; 594281.01 east 2021-10-10T19:45:55Z- AHRS_M2 msg: 1633895155.70 epoch sec; seqNo:571 2021-10-10T19:45:55Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.93 psi 2021-10-10T19:45:55Z- handleDepth()-Depth_Keller msg: 1633895155712 epoch sec; seqNo:595; depth 16.96 2021-10-10T19:45:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895155.74 epoch sec; seqNo:595; 4061529.11 north; 594281.01 east 2021-10-10T19:45:56Z- AHRS_M2 msg: 1633895156.11 epoch sec; seqNo:572 2021-10-10T19:45:56Z- AHRS_M2 msg: -0.21 phi; -0.21 theta; 0.92 psi 2021-10-10T19:45:56Z- handleDepth()-Depth_Keller msg: 1633895156110 epoch sec; seqNo:596; depth 17.05 2021-10-10T19:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895156.12 epoch sec; seqNo:596; 4061529.48 north; 594281.00 east 2021-10-10T19:45:56Z- LcmTrn::handleMessages() - handling 43 messages took 0.78 ms and 127 calls... 2021-10-10T19:45:56Z- waiting for 1633895153.87, time is 1633895156.12 2021-10-10T19:45:56Z- LcmTrn::updateTrn() >>>> pose time 1633895156.12, meas time 1633895155.32 <<<< 2021-10-10T19:45:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895155.32, ping # 0. 2021-10-10T19:45:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895155.32 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:45:56Z- TerrainNav::motionUpdate() - currEstimate = (4061529, 594281.00, 17.05) 2021-10-10T19:45:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:45:56Z- TerrainNav:: SubcloudNIS is 0.64, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:45:56Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:45:56Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:45:56Z- TNavBF::Projecting Measurements 2021-10-10T19:45:56Z- TNavFilter::Measurement from time = 1633895155.32 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:45:56Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:45:56Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:45:56Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:45:56Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:45:56Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:45:56Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:45:56Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:45:56Z- Filter 0 NorthBias: 12.8 EastBias: 39.8 DepthBias: -11.9 NorthVariance: 687.4 EastVariance: 174.7 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T19:45:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:45:56Z- TNavBF::mmse selected from filter -1 2021-10-10T19:45:56Z- variances([0], [2], and psi_berg) = 687.289190 178.597719 0.000000 2021-10-10T19:45:56Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:45:56Z- LcmTrn::publishEstimates() - MLE : 4061558.98 594327.50 17.05 2021-10-10T19:45:56Z- LcmTrn::publishEstimates() - MMSE : 4061542.26 594320.71 5.18 2021-10-10T19:45:56Z- LcmTrn::publishEstimates() - COVAR: 687.29 178.60 1.43 0.00 2021-10-10T19:45:56Z- AHRS_M2 msg: 1633895156.51 epoch sec; seqNo:573 2021-10-10T19:45:56Z- AHRS_M2 msg: -0.21 phi; -0.21 theta; 0.92 psi 2021-10-10T19:45:56Z- handleDepth()-Depth_Keller msg: 1633895156514 epoch sec; seqNo:597; depth 17.12 2021-10-10T19:45:56Z- handleDvl() - RDI_Pathfinder msg: 1633895156.55 epoch sec; seqNo:244 2021-10-10T19:45:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.16 , 95.97 , 71.34 , 94.75 2021-10-10T19:45:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.01 , 0.07 2021-10-10T19:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895156.56 epoch sec; seqNo:597; 4061529.48 north; 594281.00 east 2021-10-10T19:45:56Z- AHRS_M2 msg: 1633895156.91 epoch sec; seqNo:574 2021-10-10T19:45:56Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.92 psi 2021-10-10T19:45:56Z- handleDepth()-Depth_Keller msg: 1633895156918 epoch sec; seqNo:598; depth 17.21 2021-10-10T19:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895156.94 epoch sec; seqNo:598; 4061529.88 north; 594282.22 east 2021-10-10T19:45:57Z- AHRS_M2 msg: 1633895157.32 epoch sec; seqNo:575 2021-10-10T19:45:57Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.92 psi 2021-10-10T19:45:57Z- handleDepth()-Depth_Keller msg: 1633895157332 epoch sec; seqNo:599; depth 17.28 2021-10-10T19:45:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895157.35 epoch sec; seqNo:599; 4061529.88 north; 594282.22 east 2021-10-10T19:45:57Z- handleDepth()-Depth_Keller msg: 1633895157747 epoch sec; seqNo:600; depth 17.38 2021-10-10T19:45:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:57Z- handleDvl() - RDI_Pathfinder msg: 1633895157.75 epoch sec; seqNo:245 2021-10-10T19:45:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.01 , 0.07 2021-10-10T19:45:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895157.76 epoch sec; seqNo:600; 4061530.26 north; 594282.21 east 2021-10-10T19:45:58Z- AHRS_M2 msg: 1633895158.13 epoch sec; seqNo:576 2021-10-10T19:45:58Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.93 psi 2021-10-10T19:45:58Z- handleDepth()-Depth_Keller msg: 1633895158139 epoch sec; seqNo:601; depth 17.45 2021-10-10T19:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895158.15 epoch sec; seqNo:601; 4061530.26 north; 594282.21 east 2021-10-10T19:45:58Z- AHRS_M2 msg: 1633895158.53 epoch sec; seqNo:577 2021-10-10T19:45:58Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.93 psi 2021-10-10T19:45:58Z- handleDepth()-Depth_Keller msg: 1633895158536 epoch sec; seqNo:602; depth 17.53 2021-10-10T19:45:58Z- handleDvl() - RDI_Pathfinder msg: 1633895158.56 epoch sec; seqNo:246 2021-10-10T19:45:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.16 , 93.52 , 70.93 , 98.41 2021-10-10T19:45:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.09 , -0.03 2021-10-10T19:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895158.60 epoch sec; seqNo:602; 4061530.65 north; 594283.43 east 2021-10-10T19:45:58Z- AHRS_M2 msg: 1633895158.94 epoch sec; seqNo:578 2021-10-10T19:45:58Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 0.93 psi 2021-10-10T19:45:58Z- handleDepth()-Depth_Keller msg: 1633895158940 epoch sec; seqNo:603; depth 17.62 2021-10-10T19:45:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:45:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:45:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:45:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:45:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:45:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:45:58Z- handleDvl() - RDI_Pathfinder msg: 1633895158.94 epoch sec; seqNo:247 2021-10-10T19:45:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:45:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.09 , -0.03 2021-10-10T19:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895158.96 epoch sec; seqNo:603; 4061530.65 north; 594283.43 east 2021-10-10T19:45:59Z- AHRS_M2 msg: 1633895159.34 epoch sec; seqNo:579 2021-10-10T19:45:59Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.94 psi 2021-10-10T19:45:59Z- handleDepth()-Depth_Keller msg: 1633895159352 epoch sec; seqNo:604; depth 17.69 2021-10-10T19:45:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895159.36 epoch sec; seqNo:604; 4061531.03 north; 594283.43 east 2021-10-10T19:45:59Z- AHRS_M2 msg: 1633895159.74 epoch sec; seqNo:580 2021-10-10T19:45:59Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.94 psi 2021-10-10T19:45:59Z- handleDepth()-Depth_Keller msg: 1633895159750 epoch sec; seqNo:605; depth 17.77 2021-10-10T19:45:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895159.78 epoch sec; seqNo:605; 4061531.03 north; 594283.43 east 2021-10-10T19:46:00Z- AHRS_M2 msg: 1633895160.15 epoch sec; seqNo:581 2021-10-10T19:46:00Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.95 psi 2021-10-10T19:46:00Z- handleDepth()-Depth_Keller msg: 1633895160152 epoch sec; seqNo:606; depth 17.85 2021-10-10T19:46:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:00Z- handleDvl() - RDI_Pathfinder msg: 1633895160.15 epoch sec; seqNo:248 2021-10-10T19:46:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.09 , -0.03 2021-10-10T19:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895160.16 epoch sec; seqNo:606; 4061531.42 north; 594284.64 east 2021-10-10T19:46:00Z- AHRS_M2 msg: 1633895160.55 epoch sec; seqNo:582 2021-10-10T19:46:00Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.95 psi 2021-10-10T19:46:00Z- handleDepth()-Depth_Keller msg: 1633895160558 epoch sec; seqNo:607; depth 17.91 2021-10-10T19:46:00Z- handleDvl() - RDI_Pathfinder msg: 1633895160.58 epoch sec; seqNo:249 2021-10-10T19:46:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.75 , 92.30 , 70.52 , 93.52 2021-10-10T19:46:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.00 , -0.16 2021-10-10T19:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895160.60 epoch sec; seqNo:607; 4061531.80 north; 594284.64 east 2021-10-10T19:46:00Z- AHRS_M2 msg: 1633895160.95 epoch sec; seqNo:583 2021-10-10T19:46:00Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.95 psi 2021-10-10T19:46:00Z- handleDepth()-Depth_Keller msg: 1633895160958 epoch sec; seqNo:608; depth 17.99 2021-10-10T19:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895160.98 epoch sec; seqNo:608; 4061531.80 north; 594284.64 east 2021-10-10T19:46:01Z- LcmTrn::handleMessages() - handling 41 messages took 0.76 ms and 125 calls... 2021-10-10T19:46:01Z- waiting for 1633895159.12, time is 1633895160.98 2021-10-10T19:46:01Z- LcmTrn::updateTrn() >>>> pose time 1633895160.98, meas time 1633895160.58 <<<< 2021-10-10T19:46:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895160.58 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:01Z- TerrainNav::motionUpdate() - currEstimate = (4061532, 594284.64, 17.99) 2021-10-10T19:46:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:01Z- TerrainNav:: SubcloudNIS is 0.64, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:01Z- TNavBF::Projecting Measurements 2021-10-10T19:46:01Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:46:01Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:46:01Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:46:01Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:46:01Z- TNavFilter::4 good beams. 2021-10-10T19:46:01Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:01Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:01Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:46:01Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:46:01Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:46:01Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:46:01Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:01Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:01Z- TerrainMapOctree: (vehN, vehE ) = (4061531.61, 594284.33). 2021-10-10T19:46:01Z- TerrainMapOctree: Min Distance = 221.08. 2021-10-10T19:46:01Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:46:01Z- Forcing Subcloud Comparison 2021-10-10T19:46:01Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:46:01Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:01Z- Filter 0 partialDeltaRmsComputation: 35.011033 terrainVariance: 0.175101 1-SumSquareWeights: 0.998596 2021-10-10T19:46:01Z- Filter 0 meanExpectedMeasDiff: 5.902197 delta_rms_squared: 0.165115 alpha: 0.891959 2021-10-10T19:46:01Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:01Z- Filter 0 partialDeltaRmsComputation: 19.283348 terrainVariance: 0.364409 1-SumSquareWeights: 0.998596 2021-10-10T19:46:01Z- Filter 0 meanExpectedMeasDiff: -4.349591 delta_rms_squared: 0.354423 alpha: 0.946584 2021-10-10T19:46:01Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:01Z- Filter 0 partialDeltaRmsComputation: 40.916311 terrainVariance: 0.064502 1-SumSquareWeights: 0.998596 2021-10-10T19:46:01Z- Filter 0 meanExpectedMeasDiff: -6.391542 delta_rms_squared: 0.054516 alpha: 0.731601 2021-10-10T19:46:01Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:01Z- Filter 0 partialDeltaRmsComputation: 174.856421 terrainVariance: 0.056080 1-SumSquareWeights: 0.998596 2021-10-10T19:46:01Z- Filter 0 meanExpectedMeasDiff: 13.221208 delta_rms_squared: 0.046094 alpha: 0.697399 2021-10-10T19:46:01Z- Filter 0 SubcloudNIS: 0.709605 2021-10-10T19:46:01Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:46:01Z- TNavBF:: Filter 0 sumWeights = 0.000934 2021-10-10T19:46:01Z- Filter 0 NorthBias: 11.1 EastBias: 40.3 DepthBias: -11.1 NorthVariance: 638.6 EastVariance: 141.3 DepthVariance: 1.1 this->DepthBiasCov: 1.0 2021-10-10T19:46:01Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895160.58 sec. 2021-10-10T19:46:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:01Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:01Z- variances([0], [2], and psi_berg) = 638.540697 144.079069 0.000000 2021-10-10T19:46:01Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:01Z- LcmTrn::publishEstimates() - MLE : 4061561.30 594332.14 17.99 2021-10-10T19:46:01Z- LcmTrn::publishEstimates() - MMSE : 4061542.89 594324.94 6.86 2021-10-10T19:46:01Z- LcmTrn::publishEstimates() - COVAR: 638.54 144.08 1.15 0.00 2021-10-10T19:46:01Z- AHRS_M2 msg: 1633895161.36 epoch sec; seqNo:584 2021-10-10T19:46:01Z- AHRS_M2 msg: -0.19 phi; -0.20 theta; 0.95 psi 2021-10-10T19:46:01Z- handleDepth()-Depth_Keller msg: 1633895161368 epoch sec; seqNo:609; depth 18.06 2021-10-10T19:46:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:01Z- handleDvl() - RDI_Pathfinder msg: 1633895161.37 epoch sec; seqNo:250 2021-10-10T19:46:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.00 , -0.16 2021-10-10T19:46:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895161.39 epoch sec; seqNo:609; 4061532.18 north; 594284.63 east 2021-10-10T19:46:01Z- AHRS_M2 msg: 1633895161.76 epoch sec; seqNo:585 2021-10-10T19:46:01Z- AHRS_M2 msg: -0.18 phi; -0.20 theta; 0.95 psi 2021-10-10T19:46:01Z- handleDepth()-Depth_Keller msg: 1633895161768 epoch sec; seqNo:610; depth 18.16 2021-10-10T19:46:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895161.78 epoch sec; seqNo:610; 4061532.19 north; 594285.85 east 2021-10-10T19:46:02Z- AHRS_M2 msg: 1633895162.17 epoch sec; seqNo:586 2021-10-10T19:46:02Z- AHRS_M2 msg: -0.18 phi; -0.20 theta; 0.96 psi 2021-10-10T19:46:02Z- handleDepth()-Depth_Keller msg: 1633895162172 epoch sec; seqNo:611; depth 18.22 2021-10-10T19:46:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895162.19 epoch sec; seqNo:611; 4061532.57 north; 594285.85 east 2021-10-10T19:46:02Z- AHRS_M2 msg: 1633895162.57 epoch sec; seqNo:587 2021-10-10T19:46:02Z- AHRS_M2 msg: -0.18 phi; -0.20 theta; 0.95 psi 2021-10-10T19:46:02Z- handleDepth()-Depth_Keller msg: 1633895162580 epoch sec; seqNo:612; depth 18.30 2021-10-10T19:46:02Z- handleDvl() - RDI_Pathfinder msg: 1633895162.61 epoch sec; seqNo:251 2021-10-10T19:46:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.34 , 91.35 , 69.70 , 91.35 2021-10-10T19:46:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , -0.06 2021-10-10T19:46:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895162.62 epoch sec; seqNo:612; 4061532.57 north; 594285.85 east 2021-10-10T19:46:02Z- AHRS_M2 msg: 1633895162.97 epoch sec; seqNo:588 2021-10-10T19:46:02Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.95 psi 2021-10-10T19:46:02Z- handleDepth()-Depth_Keller msg: 1633895162978 epoch sec; seqNo:613; depth 18.37 2021-10-10T19:46:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895162.99 epoch sec; seqNo:613; 4061532.95 north; 594285.85 east 2021-10-10T19:46:03Z- AHRS_M2 msg: 1633895163.38 epoch sec; seqNo:589 2021-10-10T19:46:03Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 0.95 psi 2021-10-10T19:46:03Z- handleDepth()-Depth_Keller msg: 1633895163385 epoch sec; seqNo:614; depth 18.45 2021-10-10T19:46:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895163.40 epoch sec; seqNo:614; 4061533.33 north; 594285.84 east 2021-10-10T19:46:03Z- AHRS_M2 msg: 1633895163.79 epoch sec; seqNo:590 2021-10-10T19:46:03Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.95 psi 2021-10-10T19:46:03Z- handleDepth()-Depth_Keller msg: 1633895163791 epoch sec; seqNo:615; depth 18.52 2021-10-10T19:46:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:03Z- handleDvl() - RDI_Pathfinder msg: 1633895163.79 epoch sec; seqNo:252 2021-10-10T19:46:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , -0.06 2021-10-10T19:46:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895163.80 epoch sec; seqNo:615; 4061533.33 north; 594285.84 east 2021-10-10T19:46:04Z- AHRS_M2 msg: 1633895164.19 epoch sec; seqNo:591 2021-10-10T19:46:04Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 0.95 psi 2021-10-10T19:46:04Z- handleDepth()-Depth_Keller msg: 1633895164226 epoch sec; seqNo:616; depth 18.60 2021-10-10T19:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895164.29 epoch sec; seqNo:616; 4061533.72 north; 594287.06 east 2021-10-10T19:46:04Z- AHRS_M2 msg: 1633895164.60 epoch sec; seqNo:592 2021-10-10T19:46:04Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 0.95 psi 2021-10-10T19:46:04Z- handleDepth()-Depth_Keller msg: 1633895164604 epoch sec; seqNo:617; depth 18.68 2021-10-10T19:46:04Z- handleDvl() - RDI_Pathfinder msg: 1633895164.62 epoch sec; seqNo:253 2021-10-10T19:46:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.34 , 90.40 , 69.29 , 98.00 2021-10-10T19:46:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , 0.09 2021-10-10T19:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895164.64 epoch sec; seqNo:617; 4061533.72 north; 594287.06 east 2021-10-10T19:46:05Z- AHRS_M2 msg: 1633895164.99 epoch sec; seqNo:593 2021-10-10T19:46:05Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 0.95 psi 2021-10-10T19:46:05Z- handleDepth()-Depth_Keller msg: 1633895165003 epoch sec; seqNo:618; depth 18.73 2021-10-10T19:46:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:05Z- handleDvl() - RDI_Pathfinder msg: 1633895165.01 epoch sec; seqNo:254 2021-10-10T19:46:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , 0.09 2021-10-10T19:46:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895165.03 epoch sec; seqNo:618; 4061534.10 north; 594287.05 east 2021-10-10T19:46:05Z- AHRS_M2 msg: 1633895165.40 epoch sec; seqNo:594 2021-10-10T19:46:05Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 0.95 psi 2021-10-10T19:46:05Z- handleDepth()-Depth_Keller msg: 1633895165402 epoch sec; seqNo:619; depth 18.82 2021-10-10T19:46:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895165.41 epoch sec; seqNo:619; 4061534.10 north; 594287.05 east 2021-10-10T19:46:05Z- AHRS_M2 msg: 1633895165.82 epoch sec; seqNo:595 2021-10-10T19:46:05Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.96 psi 2021-10-10T19:46:05Z- handleDepth()-Depth_Keller msg: 1633895165828 epoch sec; seqNo:620; depth 18.88 2021-10-10T19:46:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895165.84 epoch sec; seqNo:620; 4061534.48 north; 594287.05 east 2021-10-10T19:46:06Z- handleDepth()-Depth_Keller msg: 1633895166277 epoch sec; seqNo:621; depth 18.96 2021-10-10T19:46:06Z- handleDvl() - RDI_Pathfinder msg: 1633895166.31 epoch sec; seqNo:255 2021-10-10T19:46:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.34 , 90.26 , 69.70 , 92.43 2021-10-10T19:46:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.01 , 0.03 2021-10-10T19:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895166.34 epoch sec; seqNo:621; 4061534.87 north; 594288.27 east 2021-10-10T19:46:06Z- LcmTrn::handleMessages() - handling 44 messages took 0.80 ms and 128 calls... 2021-10-10T19:46:06Z- waiting for 1633895163.98, time is 1633895166.34 2021-10-10T19:46:06Z- LcmTrn::updateTrn() equating pose 1633895166.34 and meas times 1633895166.34 2021-10-10T19:46:06Z- LcmTrn::updateTrn() >>>> pose time 1633895166.34, meas time 1633895166.34 <<<< 2021-10-10T19:46:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895166.34 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:06Z- TerrainNav::motionUpdate() - currEstimate = (4061535, 594288.27, 18.96) 2021-10-10T19:46:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:06Z- TerrainNav:: SubcloudNIS is 0.71, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:06Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895166.34 sec.; No relevant navigation data available 2021-10-10T19:46:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:06Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:06Z- variances([0], [2], and psi_berg) = 638.324760 154.235231 0.000000 2021-10-10T19:46:06Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:06Z- LcmTrn::publishEstimates() - MLE : 4061564.37 594335.77 18.96 2021-10-10T19:46:06Z- LcmTrn::publishEstimates() - MMSE : 4061545.96 594328.44 7.82 2021-10-10T19:46:06Z- LcmTrn::publishEstimates() - COVAR: 638.32 154.24 1.40 0.00 2021-10-10T19:46:06Z- AHRS_M2 msg: 1633895166.61 epoch sec; seqNo:596 2021-10-10T19:46:06Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.97 psi 2021-10-10T19:46:06Z- handleDepth()-Depth_Keller msg: 1633895166619 epoch sec; seqNo:622; depth 19.05 2021-10-10T19:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895166.65 epoch sec; seqNo:622; 4061534.87 north; 594288.27 east 2021-10-10T19:46:07Z- AHRS_M2 msg: 1633895167.01 epoch sec; seqNo:597 2021-10-10T19:46:07Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.97 psi 2021-10-10T19:46:07Z- handleDepth()-Depth_Keller msg: 1633895167019 epoch sec; seqNo:623; depth 19.11 2021-10-10T19:46:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895167.03 epoch sec; seqNo:623; 4061534.87 north; 594288.27 east 2021-10-10T19:46:07Z- AHRS_M2 msg: 1633895167.42 epoch sec; seqNo:598 2021-10-10T19:46:07Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.98 psi 2021-10-10T19:46:07Z- handleDepth()-Depth_Keller msg: 1633895167426 epoch sec; seqNo:624; depth 19.19 2021-10-10T19:46:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895167.44 epoch sec; seqNo:624; 4061535.25 north; 594288.26 east 2021-10-10T19:46:07Z- AHRS_M2 msg: 1633895167.82 epoch sec; seqNo:599 2021-10-10T19:46:07Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.98 psi 2021-10-10T19:46:07Z- handleDepth()-Depth_Keller msg: 1633895167828 epoch sec; seqNo:625; depth 19.26 2021-10-10T19:46:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895167.86 epoch sec; seqNo:625; 4061535.64 north; 594289.48 east 2021-10-10T19:46:08Z- handleDepth()-Depth_Keller msg: 1633895168312 epoch sec; seqNo:626; depth 19.34 2021-10-10T19:46:08Z- handleDvl() - RDI_Pathfinder msg: 1633895168.33 epoch sec; seqNo:256 2021-10-10T19:46:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.52 , 89.31 , 69.29 , 90.39 2021-10-10T19:46:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.02 , -0.08 2021-10-10T19:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895168.35 epoch sec; seqNo:626; 4061535.64 north; 594289.48 east 2021-10-10T19:46:08Z- handleDepth()-Depth_Keller msg: 1633895168652 epoch sec; seqNo:627; depth 19.44 2021-10-10T19:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895168.68 epoch sec; seqNo:627; 4061536.02 north; 594289.47 east 2021-10-10T19:46:09Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-10T19:46:09Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-10T19:46:09Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-10T19:46:09Z- AHRS_M2 msg: 1633895169.03 epoch sec; seqNo:600 2021-10-10T19:46:09Z- AHRS_M2 msg: -0.18 phi; -0.19 theta; 0.98 psi 2021-10-10T19:46:09Z- handleDepth()-Depth_Keller msg: 1633895169063 epoch sec; seqNo:628; depth 19.50 2021-10-10T19:46:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895169.08 epoch sec; seqNo:628; 4061536.02 north; 594289.47 east 2021-10-10T19:46:09Z- AHRS_M2 msg: 1633895169.44 epoch sec; seqNo:601 2021-10-10T19:46:09Z- AHRS_M2 msg: -0.17 phi; -0.19 theta; 1.01 psi 2021-10-10T19:46:09Z- handleDepth()-Depth_Keller msg: 1633895169455 epoch sec; seqNo:629; depth 19.58 2021-10-10T19:46:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895169.47 epoch sec; seqNo:629; 4061536.41 north; 594290.69 east 2021-10-10T19:46:09Z- AHRS_M2 msg: 1633895169.84 epoch sec; seqNo:602 2021-10-10T19:46:09Z- AHRS_M2 msg: -0.17 phi; -0.19 theta; 1.01 psi 2021-10-10T19:46:09Z- handleDepth()-Depth_Keller msg: 1633895169846 epoch sec; seqNo:630; depth 19.65 2021-10-10T19:46:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:09Z- handleDvl() - RDI_Pathfinder msg: 1633895169.85 epoch sec; seqNo:257 2021-10-10T19:46:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.02 , -0.08 2021-10-10T19:46:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895169.88 epoch sec; seqNo:630; 4061536.41 north; 594290.69 east 2021-10-10T19:46:10Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-10T19:46:10Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-10T19:46:10Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-10T19:46:10Z- AHRS_M2 msg: 1633895170.27 epoch sec; seqNo:603 2021-10-10T19:46:10Z- AHRS_M2 msg: -0.17 phi; -0.19 theta; 1.01 psi 2021-10-10T19:46:10Z- handleDepth()-Depth_Keller msg: 1633895170376 epoch sec; seqNo:631; depth 19.72 2021-10-10T19:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895170.39 epoch sec; seqNo:631; 4061536.79 north; 594290.69 east 2021-10-10T19:46:10Z- AHRS_M2 msg: 1633895170.65 epoch sec; seqNo:604 2021-10-10T19:46:10Z- AHRS_M2 msg: -0.18 phi; -0.20 theta; 1.02 psi 2021-10-10T19:46:10Z- handleDepth()-Depth_Keller msg: 1633895170657 epoch sec; seqNo:632; depth 19.82 2021-10-10T19:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895170.67 epoch sec; seqNo:632; 4061536.79 north; 594290.69 east 2021-10-10T19:46:11Z- AHRS_M2 msg: 1633895171.05 epoch sec; seqNo:605 2021-10-10T19:46:11Z- AHRS_M2 msg: -0.18 phi; -0.20 theta; 1.02 psi 2021-10-10T19:46:11Z- handleDepth()-Depth_Keller msg: 1633895171060 epoch sec; seqNo:633; depth 19.86 2021-10-10T19:46:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895171.07 epoch sec; seqNo:633; 4061537.18 north; 594291.90 east 2021-10-10T19:46:11Z- AHRS_M2 msg: 1633895171.46 epoch sec; seqNo:606 2021-10-10T19:46:11Z- AHRS_M2 msg: -0.18 phi; -0.20 theta; 1.03 psi 2021-10-10T19:46:11Z- handleDepth()-Depth_Keller msg: 1633895171462 epoch sec; seqNo:634; depth 19.94 2021-10-10T19:46:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895171.48 epoch sec; seqNo:634; 4061537.18 north; 594291.90 east 2021-10-10T19:46:11Z- LcmTrn::handleMessages() - handling 39 messages took 0.73 ms and 124 calls... 2021-10-10T19:46:11Z- waiting for 1633895169.34, time is 1633895171.48 2021-10-10T19:46:11Z- LcmTrn::updateTrn() >>>> pose time 1633895171.48, meas time 1633895169.85 <<<< 2021-10-10T19:46:11Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895169.85, ping # 0. 2021-10-10T19:46:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895169.85 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:11Z- TerrainNav::motionUpdate() - currEstimate = (4061537, 594291.90, 19.94) 2021-10-10T19:46:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:11Z- TerrainNav:: SubcloudNIS is 0.71, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:11Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:46:11Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:46:11Z- TNavBF::Projecting Measurements 2021-10-10T19:46:11Z- TNavFilter::Measurement from time = 1633895169.85 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:46:11Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:11Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:11Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:46:11Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:46:11Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:46:11Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:46:11Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:11Z- Filter 0 NorthBias: 11.1 EastBias: 40.1 DepthBias: -11.1 NorthVariance: 638.2 EastVariance: 161.9 DepthVariance: 1.5 this->DepthBiasCov: 1.4 2021-10-10T19:46:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:11Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:11Z- variances([0], [2], and psi_berg) = 638.045245 167.038538 0.000000 2021-10-10T19:46:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:11Z- LcmTrn::publishEstimates() - MLE : 4061566.68 594339.40 19.94 2021-10-10T19:46:11Z- LcmTrn::publishEstimates() - MMSE : 4061548.27 594331.91 8.80 2021-10-10T19:46:11Z- LcmTrn::publishEstimates() - COVAR: 638.05 167.04 1.62 0.00 2021-10-10T19:46:11Z- AHRS_M2 msg: 1633895171.86 epoch sec; seqNo:607 2021-10-10T19:46:11Z- AHRS_M2 msg: -0.18 phi; -0.20 theta; 1.03 psi 2021-10-10T19:46:11Z- handleDepth()-Depth_Keller msg: 1633895171865 epoch sec; seqNo:635; depth 20.01 2021-10-10T19:46:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895171.88 epoch sec; seqNo:635; 4061537.56 north; 594291.90 east 2021-10-10T19:46:12Z- AHRS_M2 msg: 1633895172.30 epoch sec; seqNo:608 2021-10-10T19:46:12Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 1.03 psi 2021-10-10T19:46:12Z- handleDepth()-Depth_Keller msg: 1633895172308 epoch sec; seqNo:636; depth 20.09 2021-10-10T19:46:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:12Z- handleDvl() - RDI_Pathfinder msg: 1633895172.31 epoch sec; seqNo:258 2021-10-10T19:46:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.02 , -0.08 2021-10-10T19:46:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895172.34 epoch sec; seqNo:636; 4061537.56 north; 594291.90 east 2021-10-10T19:46:12Z- AHRS_M2 msg: 1633895172.67 epoch sec; seqNo:609 2021-10-10T19:46:12Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 1.03 psi 2021-10-10T19:46:12Z- handleDepth()-Depth_Keller msg: 1633895172675 epoch sec; seqNo:637; depth 20.18 2021-10-10T19:46:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895172.70 epoch sec; seqNo:637; 4061537.94 north; 594291.89 east 2021-10-10T19:46:13Z- AHRS_M2 msg: 1633895173.07 epoch sec; seqNo:610 2021-10-10T19:46:13Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.03 psi 2021-10-10T19:46:13Z- handleDepth()-Depth_Keller msg: 1633895173080 epoch sec; seqNo:638; depth 20.24 2021-10-10T19:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895173.09 epoch sec; seqNo:638; 4061537.95 north; 594293.11 east 2021-10-10T19:46:13Z- AHRS_M2 msg: 1633895173.48 epoch sec; seqNo:611 2021-10-10T19:46:13Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.03 psi 2021-10-10T19:46:13Z- handleDepth()-Depth_Keller msg: 1633895173484 epoch sec; seqNo:639; depth 20.32 2021-10-10T19:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895173.49 epoch sec; seqNo:639; 4061538.33 north; 594293.11 east 2021-10-10T19:46:13Z- AHRS_M2 msg: 1633895173.89 epoch sec; seqNo:612 2021-10-10T19:46:13Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 1.03 psi 2021-10-10T19:46:13Z- handleDepth()-Depth_Keller msg: 1633895173893 epoch sec; seqNo:640; depth 20.39 2021-10-10T19:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895173.90 epoch sec; seqNo:640; 4061538.33 north; 594293.11 east 2021-10-10T19:46:14Z- AHRS_M2 msg: 1633895174.29 epoch sec; seqNo:613 2021-10-10T19:46:14Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.03 psi 2021-10-10T19:46:14Z- handleDepth()-Depth_Keller msg: 1633895174312 epoch sec; seqNo:641; depth 20.48 2021-10-10T19:46:14Z- handleDvl() - RDI_Pathfinder msg: 1633895174.34 epoch sec; seqNo:259 2021-10-10T19:46:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.87 , 0.00 , 68.05 , 98.06 2021-10-10T19:46:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.14 , 0.09 2021-10-10T19:46:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895174.37 epoch sec; seqNo:641; 4061538.71 north; 594293.10 east 2021-10-10T19:46:14Z- AHRS_M2 msg: 1633895174.69 epoch sec; seqNo:614 2021-10-10T19:46:14Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.04 psi 2021-10-10T19:46:14Z- handleDepth()-Depth_Keller msg: 1633895174696 epoch sec; seqNo:642; depth 20.55 2021-10-10T19:46:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:14Z- handleDvl() - RDI_Pathfinder msg: 1633895174.70 epoch sec; seqNo:260 2021-10-10T19:46:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.14 , 0.09 2021-10-10T19:46:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895174.73 epoch sec; seqNo:642; 4061538.72 north; 594294.33 east 2021-10-10T19:46:15Z- AHRS_M2 msg: 1633895175.09 epoch sec; seqNo:615 2021-10-10T19:46:15Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.04 psi 2021-10-10T19:46:15Z- handleDepth()-Depth_Keller msg: 1633895175099 epoch sec; seqNo:643; depth 20.64 2021-10-10T19:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895175.11 epoch sec; seqNo:643; 4061539.10 north; 594294.32 east 2021-10-10T19:46:15Z- AHRS_M2 msg: 1633895175.50 epoch sec; seqNo:616 2021-10-10T19:46:15Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.04 psi 2021-10-10T19:46:15Z- handleDepth()-Depth_Keller msg: 1633895175508 epoch sec; seqNo:644; depth 20.72 2021-10-10T19:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895175.53 epoch sec; seqNo:644; 4061539.10 north; 594294.32 east 2021-10-10T19:46:15Z- AHRS_M2 msg: 1633895175.90 epoch sec; seqNo:617 2021-10-10T19:46:15Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 1.04 psi 2021-10-10T19:46:15Z- handleDepth()-Depth_Keller msg: 1633895175924 epoch sec; seqNo:645; depth 20.80 2021-10-10T19:46:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:15Z- handleDvl() - RDI_Pathfinder msg: 1633895175.93 epoch sec; seqNo:261 2021-10-10T19:46:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.14 , 0.09 2021-10-10T19:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895175.94 epoch sec; seqNo:645; 4061539.48 north; 594294.32 east 2021-10-10T19:46:16Z- AHRS_M2 msg: 1633895176.31 epoch sec; seqNo:618 2021-10-10T19:46:16Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.05 psi 2021-10-10T19:46:16Z- handleDepth()-Depth_Keller msg: 1633895176320 epoch sec; seqNo:646; depth 20.87 2021-10-10T19:46:16Z- handleDvl() - RDI_Pathfinder msg: 1633895176.35 epoch sec; seqNo:262 2021-10-10T19:46:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.28 , 90.46 , 66.82 , 98.06 2021-10-10T19:46:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.01 , 0.08 2021-10-10T19:46:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895176.37 epoch sec; seqNo:646; 4061539.48 north; 594294.32 east 2021-10-10T19:46:16Z- LcmTrn::handleMessages() - handling 41 messages took 0.70 ms and 126 calls... 2021-10-10T19:46:16Z- waiting for 1633895174.48, time is 1633895176.37 2021-10-10T19:46:16Z- LcmTrn::updateTrn() equating pose 1633895176.37 and meas times 1633895176.37 2021-10-10T19:46:16Z- LcmTrn::updateTrn() >>>> pose time 1633895176.37, meas time 1633895176.37 <<<< 2021-10-10T19:46:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895176.37 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:16Z- TerrainNav::motionUpdate() - currEstimate = (4061539, 594294.32, 20.87) 2021-10-10T19:46:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:16Z- TerrainNav:: SubcloudNIS is 0.71, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:16Z- TNavBF::Projecting Measurements 2021-10-10T19:46:16Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:46:16Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:46:16Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:46:16Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:46:16Z- TNavFilter::4 good beams. 2021-10-10T19:46:16Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:16Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:16Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:46:16Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:46:16Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:46:16Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:46:16Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:16Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:16Z- TerrainMapOctree: (vehN, vehE ) = (4061539.48, 594294.32). 2021-10-10T19:46:16Z- TerrainMapOctree: Min Distance = 215.13. 2021-10-10T19:46:16Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:46:16Z- Forcing Subcloud Comparison 2021-10-10T19:46:16Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:46:16Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:16Z- Filter 0 partialDeltaRmsComputation: 45.460541 terrainVariance: 0.268684 1-SumSquareWeights: 0.998492 2021-10-10T19:46:16Z- Filter 0 meanExpectedMeasDiff: 6.722489 delta_rms_squared: 0.258699 alpha: 0.928238 2021-10-10T19:46:16Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:16Z- Filter 0 partialDeltaRmsComputation: 46.276716 terrainVariance: 0.397981 1-SumSquareWeights: 0.998492 2021-10-10T19:46:16Z- Filter 0 meanExpectedMeasDiff: -6.773384 delta_rms_squared: 0.387996 alpha: 0.950980 2021-10-10T19:46:16Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:16Z- Filter 0 partialDeltaRmsComputation: 57.858490 terrainVariance: 0.075180 1-SumSquareWeights: 0.998492 2021-10-10T19:46:16Z- Filter 0 meanExpectedMeasDiff: -7.601533 delta_rms_squared: 0.065195 alpha: 0.765246 2021-10-10T19:46:16Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:16Z- Filter 0 partialDeltaRmsComputation: 358.186166 terrainVariance: 0.073884 1-SumSquareWeights: 0.998492 2021-10-10T19:46:16Z- Filter 0 meanExpectedMeasDiff: 18.923855 delta_rms_squared: 0.063899 alpha: 0.761617 2021-10-10T19:46:16Z- Filter 0 SubcloudNIS: 0.811664 2021-10-10T19:46:16Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:46:16Z- TNavBF:: Filter 0 sumWeights = 0.000002 2021-10-10T19:46:16Z- Filter 0 NorthBias: 6.4 EastBias: 40.9 DepthBias: -10.3 NorthVariance: 582.6 EastVariance: 133.3 DepthVariance: 1.2 this->DepthBiasCov: 1.1 2021-10-10T19:46:16Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895176.37 sec. 2021-10-10T19:46:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:16Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:16Z- variances([0], [2], and psi_berg) = 582.629444 133.347542 0.000000 2021-10-10T19:46:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:16Z- LcmTrn::publishEstimates() - MLE : 4061567.98 594342.82 20.87 2021-10-10T19:46:16Z- LcmTrn::publishEstimates() - MMSE : 4061545.93 594335.21 10.57 2021-10-10T19:46:16Z- LcmTrn::publishEstimates() - COVAR: 582.63 133.35 1.19 0.00 2021-10-10T19:46:16Z- AHRS_M2 msg: 1633895176.71 epoch sec; seqNo:619 2021-10-10T19:46:16Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 1.05 psi 2021-10-10T19:46:16Z- handleDepth()-Depth_Keller msg: 1633895176722 epoch sec; seqNo:647; depth 20.97 2021-10-10T19:46:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895176.74 epoch sec; seqNo:647; 4061539.87 north; 594295.53 east 2021-10-10T19:46:17Z- AHRS_M2 msg: 1633895177.12 epoch sec; seqNo:620 2021-10-10T19:46:17Z- AHRS_M2 msg: -0.20 phi; -0.23 theta; 1.06 psi 2021-10-10T19:46:17Z- handleDepth()-Depth_Keller msg: 1633895177126 epoch sec; seqNo:648; depth 21.05 2021-10-10T19:46:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:17Z- handleDvl() - RDI_Pathfinder msg: 1633895177.13 epoch sec; seqNo:263 2021-10-10T19:46:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.01 , 0.08 2021-10-10T19:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895177.14 epoch sec; seqNo:648; 4061539.87 north; 594295.53 east 2021-10-10T19:46:17Z- AHRS_M2 msg: 1633895177.52 epoch sec; seqNo:621 2021-10-10T19:46:17Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 1.06 psi 2021-10-10T19:46:17Z- handleDepth()-Depth_Keller msg: 1633895177523 epoch sec; seqNo:649; depth 21.13 2021-10-10T19:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895177.54 epoch sec; seqNo:649; 4061539.87 north; 594295.53 east 2021-10-10T19:46:17Z- AHRS_M2 msg: 1633895177.92 epoch sec; seqNo:622 2021-10-10T19:46:17Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.07 psi 2021-10-10T19:46:17Z- handleDepth()-Depth_Keller msg: 1633895177926 epoch sec; seqNo:650; depth 21.22 2021-10-10T19:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895177.94 epoch sec; seqNo:650; 4061540.25 north; 594295.53 east 2021-10-10T19:46:18Z- AHRS_M2 msg: 1633895178.33 epoch sec; seqNo:623 2021-10-10T19:46:18Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.07 psi 2021-10-10T19:46:18Z- handleDepth()-Depth_Keller msg: 1633895178341 epoch sec; seqNo:651; depth 21.29 2021-10-10T19:46:18Z- handleDvl() - RDI_Pathfinder msg: 1633895178.37 epoch sec; seqNo:264 2021-10-10T19:46:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.28 , 89.30 , 66.00 , 98.00 2021-10-10T19:46:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.05 , -0.09 2021-10-10T19:46:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895178.40 epoch sec; seqNo:651; 4061540.27 north; 594296.75 east 2021-10-10T19:46:18Z- AHRS_M2 msg: 1633895178.73 epoch sec; seqNo:624 2021-10-10T19:46:18Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.08 psi 2021-10-10T19:46:18Z- handleDepth()-Depth_Keller msg: 1633895178736 epoch sec; seqNo:652; depth 21.39 2021-10-10T19:46:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895178.76 epoch sec; seqNo:652; 4061540.65 north; 594296.75 east 2021-10-10T19:46:19Z- handleDepth()-Depth_Keller msg: 1633895179157 epoch sec; seqNo:653; depth 21.48 2021-10-10T19:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895179.17 epoch sec; seqNo:653; 4061540.65 north; 594296.75 east 2021-10-10T19:46:19Z- AHRS_M2 msg: 1633895179.54 epoch sec; seqNo:625 2021-10-10T19:46:19Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.09 psi 2021-10-10T19:46:19Z- handleDepth()-Depth_Keller msg: 1633895179545 epoch sec; seqNo:654; depth 21.56 2021-10-10T19:46:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:19Z- handleDvl() - RDI_Pathfinder msg: 1633895179.55 epoch sec; seqNo:265 2021-10-10T19:46:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.05 , -0.09 2021-10-10T19:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895179.56 epoch sec; seqNo:654; 4061540.65 north; 594296.75 east 2021-10-10T19:46:19Z- AHRS_M2 msg: 1633895179.94 epoch sec; seqNo:626 2021-10-10T19:46:19Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.09 psi 2021-10-10T19:46:19Z- handleDepth()-Depth_Keller msg: 1633895179946 epoch sec; seqNo:655; depth 21.64 2021-10-10T19:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895179.97 epoch sec; seqNo:655; 4061541.04 north; 594297.96 east 2021-10-10T19:46:20Z- AHRS_M2 msg: 1633895180.35 epoch sec; seqNo:627 2021-10-10T19:46:20Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.10 psi 2021-10-10T19:46:20Z- handleDepth()-Depth_Keller msg: 1633895180356 epoch sec; seqNo:656; depth 21.72 2021-10-10T19:46:20Z- handleDvl() - RDI_Pathfinder msg: 1633895180.39 epoch sec; seqNo:266 2021-10-10T19:46:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.04 , 89.30 , 65.58 , 97.99 2021-10-10T19:46:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , -0.13 2021-10-10T19:46:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895180.40 epoch sec; seqNo:656; 4061541.04 north; 594297.96 east 2021-10-10T19:46:20Z- AHRS_M2 msg: 1633895180.75 epoch sec; seqNo:628 2021-10-10T19:46:20Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.10 psi 2021-10-10T19:46:20Z- handleDepth()-Depth_Keller msg: 1633895180755 epoch sec; seqNo:657; depth 21.84 2021-10-10T19:46:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895180.77 epoch sec; seqNo:657; 4061541.42 north; 594297.96 east 2021-10-10T19:46:21Z- AHRS_M2 msg: 1633895181.16 epoch sec; seqNo:629 2021-10-10T19:46:21Z- AHRS_M2 msg: -0.22 phi; -0.26 theta; 1.10 psi 2021-10-10T19:46:21Z- handleDepth()-Depth_Keller msg: 1633895181172 epoch sec; seqNo:658; depth 21.92 2021-10-10T19:46:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895181.18 epoch sec; seqNo:658; 4061541.80 north; 594297.95 east 2021-10-10T19:46:21Z- AHRS_M2 msg: 1633895181.56 epoch sec; seqNo:630 2021-10-10T19:46:21Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 1.10 psi 2021-10-10T19:46:21Z- handleDepth()-Depth_Keller msg: 1633895181564 epoch sec; seqNo:659; depth 22.00 2021-10-10T19:46:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895181.58 epoch sec; seqNo:659; 4061541.81 north; 594299.17 east 2021-10-10T19:46:21Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T19:46:21Z- waiting for 1633895179.37, time is 1633895181.58 2021-10-10T19:46:21Z- LcmTrn::updateTrn() >>>> pose time 1633895181.58, meas time 1633895180.39 <<<< 2021-10-10T19:46:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895180.39 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:21Z- TerrainNav::motionUpdate() - currEstimate = (4061542, 594299.17, 22.00) 2021-10-10T19:46:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:21Z- TerrainNav:: SubcloudNIS is 0.81, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:21Z- TNavBF::Projecting Measurements 2021-10-10T19:46:21Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:46:21Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:46:21Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:46:21Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:46:21Z- TNavFilter::4 good beams. 2021-10-10T19:46:21Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:21Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:21Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:46:21Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:46:21Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:46:21Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:46:21Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:21Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:21Z- TerrainMapOctree: (vehN, vehE ) = (4061541.28, 594298.06). 2021-10-10T19:46:21Z- TerrainMapOctree: Min Distance = 214.19. 2021-10-10T19:46:21Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:46:21Z- Forcing Subcloud Comparison 2021-10-10T19:46:21Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:46:22Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:22Z- Filter 0 partialDeltaRmsComputation: 44.039416 terrainVariance: 0.346652 1-SumSquareWeights: 0.998716 2021-10-10T19:46:22Z- Filter 0 meanExpectedMeasDiff: 6.610050 delta_rms_squared: 0.336664 alpha: 0.943925 2021-10-10T19:46:22Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:22Z- Filter 0 partialDeltaRmsComputation: 94.522494 terrainVariance: 0.446837 1-SumSquareWeights: 0.998716 2021-10-10T19:46:22Z- Filter 0 meanExpectedMeasDiff: -9.699261 delta_rms_squared: 0.436850 alpha: 0.956222 2021-10-10T19:46:22Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:22Z- Filter 0 partialDeltaRmsComputation: 71.541663 terrainVariance: 0.095037 1-SumSquareWeights: 0.998716 2021-10-10T19:46:22Z- Filter 0 meanExpectedMeasDiff: -8.452611 delta_rms_squared: 0.085049 alpha: 0.809614 2021-10-10T19:46:22Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:22Z- Filter 0 partialDeltaRmsComputation: 350.686094 terrainVariance: 0.084665 1-SumSquareWeights: 0.998716 2021-10-10T19:46:22Z- Filter 0 meanExpectedMeasDiff: 18.724354 delta_rms_squared: 0.074678 alpha: 0.788758 2021-10-10T19:46:22Z- Filter 0 SubcloudNIS: 0.947454 2021-10-10T19:46:22Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:46:22Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-10T19:46:22Z- Filter 0 NorthBias: 1.2 EastBias: 42.0 DepthBias: -10.1 NorthVariance: 422.4 EastVariance: 94.2 DepthVariance: 1.0 this->DepthBiasCov: 0.9 2021-10-10T19:46:22Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895180.39 sec. 2021-10-10T19:46:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:22Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:22Z- variances([0], [2], and psi_berg) = 422.390791 102.934622 0.000000 2021-10-10T19:46:22Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:22Z- LcmTrn::publishEstimates() - MLE : 4061544.31 594344.67 22.00 2021-10-10T19:46:22Z- LcmTrn::publishEstimates() - MMSE : 4061543.03 594341.07 11.92 2021-10-10T19:46:22Z- LcmTrn::publishEstimates() - COVAR: 422.39 102.93 1.06 0.00 2021-10-10T19:46:22Z- AHRS_M2 msg: 1633895181.96 epoch sec; seqNo:631 2021-10-10T19:46:22Z- AHRS_M2 msg: -0.23 phi; -0.26 theta; 1.09 psi 2021-10-10T19:46:22Z- handleDepth()-Depth_Keller msg: 1633895181966 epoch sec; seqNo:660; depth 22.08 2021-10-10T19:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895181.98 epoch sec; seqNo:660; 4061542.19 north; 594299.17 east 2021-10-10T19:46:22Z- AHRS_M2 msg: 1633895182.37 epoch sec; seqNo:632 2021-10-10T19:46:22Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 1.09 psi 2021-10-10T19:46:22Z- handleDepth()-Depth_Keller msg: 1633895182377 epoch sec; seqNo:661; depth 22.18 2021-10-10T19:46:22Z- handleDvl() - RDI_Pathfinder msg: 1633895182.41 epoch sec; seqNo:267 2021-10-10T19:46:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.64 , 90.46 , 65.18 , 98.06 2021-10-10T19:46:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.15 , 0.01 2021-10-10T19:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895182.43 epoch sec; seqNo:661; 4061542.19 north; 594299.17 east 2021-10-10T19:46:22Z- AHRS_M2 msg: 1633895182.77 epoch sec; seqNo:633 2021-10-10T19:46:22Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 1.09 psi 2021-10-10T19:46:22Z- handleDepth()-Depth_Keller msg: 1633895182774 epoch sec; seqNo:662; depth 22.28 2021-10-10T19:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895182.80 epoch sec; seqNo:662; 4061542.57 north; 594299.16 east 2021-10-10T19:46:23Z- AHRS_M2 msg: 1633895183.17 epoch sec; seqNo:634 2021-10-10T19:46:23Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 1.08 psi 2021-10-10T19:46:23Z- handleDepth()-Depth_Keller msg: 1633895183179 epoch sec; seqNo:663; depth 22.36 2021-10-10T19:46:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:23Z- handleDvl() - RDI_Pathfinder msg: 1633895183.18 epoch sec; seqNo:268 2021-10-10T19:46:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.15 , 0.01 2021-10-10T19:46:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895183.19 epoch sec; seqNo:663; 4061542.57 north; 594299.16 east 2021-10-10T19:46:23Z- AHRS_M2 msg: 1633895183.58 epoch sec; seqNo:635 2021-10-10T19:46:23Z- AHRS_M2 msg: -0.24 phi; -0.27 theta; 1.08 psi 2021-10-10T19:46:23Z- handleDepth()-Depth_Keller msg: 1633895183584 epoch sec; seqNo:664; depth 22.44 2021-10-10T19:46:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895183.60 epoch sec; seqNo:664; 4061542.96 north; 594300.38 east 2021-10-10T19:46:23Z- AHRS_M2 msg: 1633895183.98 epoch sec; seqNo:636 2021-10-10T19:46:23Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.08 psi 2021-10-10T19:46:23Z- handleDepth()-Depth_Keller msg: 1633895183988 epoch sec; seqNo:665; depth 22.53 2021-10-10T19:46:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895184.00 epoch sec; seqNo:665; 4061542.96 north; 594300.38 east 2021-10-10T19:46:24Z- AHRS_M2 msg: 1633895184.38 epoch sec; seqNo:637 2021-10-10T19:46:24Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.08 psi 2021-10-10T19:46:24Z- handleDepth()-Depth_Keller msg: 1633895184402 epoch sec; seqNo:666; depth 22.61 2021-10-10T19:46:24Z- handleDvl() - RDI_Pathfinder msg: 1633895184.42 epoch sec; seqNo:269 2021-10-10T19:46:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.22 , 91.55 , 65.17 , 93.72 2021-10-10T19:46:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.01 , 0.06 2021-10-10T19:46:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895184.44 epoch sec; seqNo:666; 4061542.96 north; 594300.38 east 2021-10-10T19:46:24Z- AHRS_M2 msg: 1633895184.79 epoch sec; seqNo:638 2021-10-10T19:46:24Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:24Z- handleDepth()-Depth_Keller msg: 1633895184800 epoch sec; seqNo:667; depth 22.72 2021-10-10T19:46:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895184.83 epoch sec; seqNo:667; 4061543.34 north; 594300.38 east 2021-10-10T19:46:25Z- AHRS_M2 msg: 1633895185.19 epoch sec; seqNo:639 2021-10-10T19:46:25Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:25Z- handleDepth()-Depth_Keller msg: 1633895185200 epoch sec; seqNo:668; depth 22.82 2021-10-10T19:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895185.21 epoch sec; seqNo:668; 4061543.34 north; 594300.38 east 2021-10-10T19:46:25Z- AHRS_M2 msg: 1633895185.60 epoch sec; seqNo:640 2021-10-10T19:46:25Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:25Z- handleDepth()-Depth_Keller msg: 1633895185604 epoch sec; seqNo:669; depth 22.89 2021-10-10T19:46:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:25Z- handleDvl() - RDI_Pathfinder msg: 1633895185.61 epoch sec; seqNo:270 2021-10-10T19:46:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.01 , 0.06 2021-10-10T19:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895185.62 epoch sec; seqNo:669; 4061543.35 north; 594301.60 east 2021-10-10T19:46:26Z- AHRS_M2 msg: 1633895186.00 epoch sec; seqNo:641 2021-10-10T19:46:26Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:26Z- handleDepth()-Depth_Keller msg: 1633895186006 epoch sec; seqNo:670; depth 22.99 2021-10-10T19:46:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895186.03 epoch sec; seqNo:670; 4061543.73 north; 594301.59 east 2021-10-10T19:46:26Z- AHRS_M2 msg: 1633895186.41 epoch sec; seqNo:642 2021-10-10T19:46:26Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.08 psi 2021-10-10T19:46:26Z- handleDepth()-Depth_Keller msg: 1633895186416 epoch sec; seqNo:671; depth 23.09 2021-10-10T19:46:26Z- handleDvl() - RDI_Pathfinder msg: 1633895186.44 epoch sec; seqNo:271 2021-10-10T19:46:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.22 , 91.55 , 64.35 , 94.81 2021-10-10T19:46:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.04 , -0.05 2021-10-10T19:46:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895186.46 epoch sec; seqNo:671; 4061543.73 north; 594301.59 east 2021-10-10T19:46:26Z- AHRS_M2 msg: 1633895186.82 epoch sec; seqNo:643 2021-10-10T19:46:26Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.08 psi 2021-10-10T19:46:26Z- handleDepth()-Depth_Keller msg: 1633895186821 epoch sec; seqNo:672; depth 23.18 2021-10-10T19:46:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:26Z- handleDvl() - RDI_Pathfinder msg: 1633895186.83 epoch sec; seqNo:272 2021-10-10T19:46:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.04 , -0.05 2021-10-10T19:46:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895186.84 epoch sec; seqNo:672; 4061544.11 north; 594301.59 east 2021-10-10T19:46:27Z- LcmTrn::handleMessages() - handling 45 messages took 0.71 ms and 130 calls... 2021-10-10T19:46:27Z- waiting for 1633895184.58, time is 1633895186.84 2021-10-10T19:46:27Z- LcmTrn::updateTrn() equating pose 1633895186.84 and meas times 1633895186.84 2021-10-10T19:46:27Z- LcmTrn::updateTrn() >>>> pose time 1633895186.84, meas time 1633895186.84 <<<< 2021-10-10T19:46:27Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895186.84, ping # 0. 2021-10-10T19:46:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895186.84 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:27Z- TerrainNav::motionUpdate() - currEstimate = (4061544, 594301.59, 23.18) 2021-10-10T19:46:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:27Z- TerrainNav:: SubcloudNIS is 0.95, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:27Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:46:27Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:46:27Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895186.84 sec.; No relevant navigation data available 2021-10-10T19:46:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:27Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:27Z- variances([0], [2], and psi_berg) = 422.300195 117.034845 0.000000 2021-10-10T19:46:27Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:27Z- LcmTrn::publishEstimates() - MLE : 4061546.61 594347.09 23.18 2021-10-10T19:46:27Z- LcmTrn::publishEstimates() - MMSE : 4061545.33 594343.31 13.10 2021-10-10T19:46:27Z- LcmTrn::publishEstimates() - COVAR: 422.30 117.03 1.23 0.00 2021-10-10T19:46:27Z- AHRS_M2 msg: 1633895187.22 epoch sec; seqNo:644 2021-10-10T19:46:27Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:27Z- handleDepth()-Depth_Keller msg: 1633895187222 epoch sec; seqNo:673; depth 23.29 2021-10-10T19:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895187.24 epoch sec; seqNo:673; 4061544.11 north; 594301.59 east 2021-10-10T19:46:27Z- AHRS_M2 msg: 1633895187.62 epoch sec; seqNo:645 2021-10-10T19:46:27Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:27Z- handleDepth()-Depth_Keller msg: 1633895187628 epoch sec; seqNo:674; depth 23.37 2021-10-10T19:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895187.65 epoch sec; seqNo:674; 4061544.12 north; 594302.81 east 2021-10-10T19:46:28Z- AHRS_M2 msg: 1633895188.02 epoch sec; seqNo:646 2021-10-10T19:46:28Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:28Z- handleDepth()-Depth_Keller msg: 1633895188026 epoch sec; seqNo:675; depth 23.47 2021-10-10T19:46:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:28Z- handleDvl() - RDI_Pathfinder msg: 1633895188.03 epoch sec; seqNo:273 2021-10-10T19:46:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.04 , -0.05 2021-10-10T19:46:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895188.04 epoch sec; seqNo:675; 4061544.50 north; 594302.81 east 2021-10-10T19:46:28Z- AHRS_M2 msg: 1633895188.42 epoch sec; seqNo:647 2021-10-10T19:46:28Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.07 psi 2021-10-10T19:46:28Z- handleDepth()-Depth_Keller msg: 1633895188436 epoch sec; seqNo:676; depth 23.57 2021-10-10T19:46:28Z- handleDvl() - RDI_Pathfinder msg: 1633895188.46 epoch sec; seqNo:274 2021-10-10T19:46:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.98 , 90.46 , 64.75 , 98.06 2021-10-10T19:46:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.03 , -0.10 2021-10-10T19:46:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895188.48 epoch sec; seqNo:676; 4061544.50 north; 594302.81 east 2021-10-10T19:46:28Z- AHRS_M2 msg: 1633895188.83 epoch sec; seqNo:648 2021-10-10T19:46:28Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.06 psi 2021-10-10T19:46:28Z- handleDepth()-Depth_Keller msg: 1633895188839 epoch sec; seqNo:677; depth 23.67 2021-10-10T19:46:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895188.87 epoch sec; seqNo:677; 4061544.88 north; 594302.80 east 2021-10-10T19:46:29Z- AHRS_M2 msg: 1633895189.23 epoch sec; seqNo:649 2021-10-10T19:46:29Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.06 psi 2021-10-10T19:46:29Z- handleDepth()-Depth_Keller msg: 1633895189240 epoch sec; seqNo:678; depth 23.76 2021-10-10T19:46:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:29Z- handleDvl() - RDI_Pathfinder msg: 1633895189.24 epoch sec; seqNo:275 2021-10-10T19:46:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.03 , -0.10 2021-10-10T19:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895189.25 epoch sec; seqNo:678; 4061544.89 north; 594304.02 east 2021-10-10T19:46:29Z- AHRS_M2 msg: 1633895189.64 epoch sec; seqNo:650 2021-10-10T19:46:29Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.05 psi 2021-10-10T19:46:29Z- handleDepth()-Depth_Keller msg: 1633895189646 epoch sec; seqNo:679; depth 23.84 2021-10-10T19:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895189.66 epoch sec; seqNo:679; 4061545.27 north; 594304.02 east 2021-10-10T19:46:30Z- handleDepth()-Depth_Keller msg: 1633895190064 epoch sec; seqNo:680; depth 23.94 2021-10-10T19:46:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895190.08 epoch sec; seqNo:680; 4061545.27 north; 594304.02 east 2021-10-10T19:46:30Z- AHRS_M2 msg: 1633895190.44 epoch sec; seqNo:651 2021-10-10T19:46:30Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.04 psi 2021-10-10T19:46:30Z- handleDepth()-Depth_Keller msg: 1633895190456 epoch sec; seqNo:681; depth 24.04 2021-10-10T19:46:30Z- handleDvl() - RDI_Pathfinder msg: 1633895190.49 epoch sec; seqNo:276 2021-10-10T19:46:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.98 , 90.46 , 63.12 , 98.06 2021-10-10T19:46:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.04 , -0.05 2021-10-10T19:46:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895190.50 epoch sec; seqNo:681; 4061545.27 north; 594304.02 east 2021-10-10T19:46:30Z- AHRS_M2 msg: 1633895190.85 epoch sec; seqNo:652 2021-10-10T19:46:30Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.03 psi 2021-10-10T19:46:30Z- handleDepth()-Depth_Keller msg: 1633895190864 epoch sec; seqNo:682; depth 24.14 2021-10-10T19:46:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895190.88 epoch sec; seqNo:682; 4061545.65 north; 594304.01 east 2021-10-10T19:46:31Z- AHRS_M2 msg: 1633895191.25 epoch sec; seqNo:653 2021-10-10T19:46:31Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.02 psi 2021-10-10T19:46:31Z- handleDepth()-Depth_Keller msg: 1633895191258 epoch sec; seqNo:683; depth 24.22 2021-10-10T19:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895191.27 epoch sec; seqNo:683; 4061545.67 north; 594305.23 east 2021-10-10T19:46:31Z- AHRS_M2 msg: 1633895191.66 epoch sec; seqNo:654 2021-10-10T19:46:31Z- AHRS_M2 msg: -0.25 phi; -0.27 theta; 1.02 psi 2021-10-10T19:46:31Z- handleDepth()-Depth_Keller msg: 1633895191668 epoch sec; seqNo:684; depth 24.32 2021-10-10T19:46:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:31Z- handleDvl() - RDI_Pathfinder msg: 1633895191.67 epoch sec; seqNo:277 2021-10-10T19:46:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.04 , -0.05 2021-10-10T19:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895191.68 epoch sec; seqNo:684; 4061546.04 north; 594305.23 east 2021-10-10T19:46:32Z- AHRS_M2 msg: 1633895192.06 epoch sec; seqNo:655 2021-10-10T19:46:32Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.01 psi 2021-10-10T19:46:32Z- LcmTrn::handleMessages() - handling 41 messages took 0.66 ms and 127 calls... 2021-10-10T19:46:32Z- waiting for 1633895189.84, time is 1633895192.06 2021-10-10T19:46:32Z- LcmTrn::updateTrn() >>>> pose time 1633895192.06, meas time 1633895191.67 <<<< 2021-10-10T19:46:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895191.67, ping # 0. 2021-10-10T19:46:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895191.67 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:32Z- TerrainNav::motionUpdate() - currEstimate = (4061546, 594305.23, 24.32) 2021-10-10T19:46:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:32Z- TerrainNav:: SubcloudNIS is 0.95, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:32Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:46:32Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:46:32Z- TNavBF::Projecting Measurements 2021-10-10T19:46:32Z- TNavFilter::Measurement from time = 1633895191.67 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:46:32Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:32Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:32Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:46:32Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:46:32Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:46:32Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:46:32Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:32Z- Filter 0 NorthBias: 1.2 EastBias: 41.5 DepthBias: -10.1 NorthVariance: 422.2 EastVariance: 131.6 DepthVariance: 1.4 this->DepthBiasCov: 1.3 2021-10-10T19:46:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:32Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:32Z- variances([0], [2], and psi_berg) = 422.179088 135.580997 0.000000 2021-10-10T19:46:32Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:32Z- LcmTrn::publishEstimates() - MLE : 4061548.54 594350.73 24.32 2021-10-10T19:46:32Z- LcmTrn::publishEstimates() - MMSE : 4061547.27 594346.73 14.23 2021-10-10T19:46:32Z- LcmTrn::publishEstimates() - COVAR: 422.18 135.58 1.45 0.00 2021-10-10T19:46:32Z- handleDepth()-Depth_Keller msg: 1633895192068 epoch sec; seqNo:685; depth 24.41 2021-10-10T19:46:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895192.08 epoch sec; seqNo:685; 4061546.04 north; 594305.23 east 2021-10-10T19:46:32Z- AHRS_M2 msg: 1633895192.46 epoch sec; seqNo:656 2021-10-10T19:46:32Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.01 psi 2021-10-10T19:46:32Z- handleDepth()-Depth_Keller msg: 1633895192472 epoch sec; seqNo:686; depth 24.51 2021-10-10T19:46:32Z- handleDvl() - RDI_Pathfinder msg: 1633895192.50 epoch sec; seqNo:278 2021-10-10T19:46:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.57 , 90.45 , 63.11 , 92.62 2021-10-10T19:46:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.00 , 0.01 2021-10-10T19:46:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895192.52 epoch sec; seqNo:686; 4061546.42 north; 594305.22 east 2021-10-10T19:46:32Z- AHRS_M2 msg: 1633895192.87 epoch sec; seqNo:657 2021-10-10T19:46:32Z- AHRS_M2 msg: -0.26 phi; -0.27 theta; 1.00 psi 2021-10-10T19:46:32Z- handleDepth()-Depth_Keller msg: 1633895192874 epoch sec; seqNo:687; depth 24.61 2021-10-10T19:46:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895192.89 epoch sec; seqNo:687; 4061546.42 north; 594305.22 east 2021-10-10T19:46:33Z- AHRS_M2 msg: 1633895193.28 epoch sec; seqNo:658 2021-10-10T19:46:33Z- AHRS_M2 msg: -0.25 phi; -0.26 theta; 1.00 psi 2021-10-10T19:46:33Z- handleDepth()-Depth_Keller msg: 1633895193285 epoch sec; seqNo:688; depth 24.69 2021-10-10T19:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895193.30 epoch sec; seqNo:688; 4061546.44 north; 594306.45 east 2021-10-10T19:46:33Z- AHRS_M2 msg: 1633895193.68 epoch sec; seqNo:659 2021-10-10T19:46:33Z- AHRS_M2 msg: -0.25 phi; -0.26 theta; 1.00 psi 2021-10-10T19:46:33Z- handleDepth()-Depth_Keller msg: 1633895193688 epoch sec; seqNo:689; depth 24.79 2021-10-10T19:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895193.70 epoch sec; seqNo:689; 4061546.82 north; 594306.44 east 2021-10-10T19:46:34Z- AHRS_M2 msg: 1633895194.08 epoch sec; seqNo:660 2021-10-10T19:46:34Z- AHRS_M2 msg: -0.25 phi; -0.26 theta; 1.00 psi 2021-10-10T19:46:34Z- handleDepth()-Depth_Keller msg: 1633895194085 epoch sec; seqNo:690; depth 24.88 2021-10-10T19:46:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:34Z- handleDvl() - RDI_Pathfinder msg: 1633895194.09 epoch sec; seqNo:279 2021-10-10T19:46:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.00 , 0.01 2021-10-10T19:46:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895194.11 epoch sec; seqNo:690; 4061546.82 north; 594306.44 east 2021-10-10T19:46:34Z- AHRS_M2 msg: 1633895194.49 epoch sec; seqNo:661 2021-10-10T19:46:34Z- AHRS_M2 msg: -0.25 phi; -0.26 theta; 1.00 psi 2021-10-10T19:46:34Z- handleDepth()-Depth_Keller msg: 1633895194492 epoch sec; seqNo:691; depth 24.98 2021-10-10T19:46:34Z- handleDvl() - RDI_Pathfinder msg: 1633895194.51 epoch sec; seqNo:280 2021-10-10T19:46:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.74 , 88.28 , 62.69 , 98.05 2021-10-10T19:46:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.01 , 0.02 2021-10-10T19:46:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895194.53 epoch sec; seqNo:691; 4061547.19 north; 594306.44 east 2021-10-10T19:46:34Z- AHRS_M2 msg: 1633895194.89 epoch sec; seqNo:662 2021-10-10T19:46:34Z- AHRS_M2 msg: -0.24 phi; -0.26 theta; 0.99 psi 2021-10-10T19:46:34Z- handleDepth()-Depth_Keller msg: 1633895194894 epoch sec; seqNo:692; depth 25.06 2021-10-10T19:46:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895194.92 epoch sec; seqNo:692; 4061547.19 north; 594306.44 east 2021-10-10T19:46:35Z- AHRS_M2 msg: 1633895195.30 epoch sec; seqNo:663 2021-10-10T19:46:35Z- AHRS_M2 msg: -0.24 phi; -0.25 theta; 0.99 psi 2021-10-10T19:46:35Z- handleDepth()-Depth_Keller msg: 1633895195306 epoch sec; seqNo:693; depth 25.16 2021-10-10T19:46:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:35Z- handleDvl() - RDI_Pathfinder msg: 1633895195.31 epoch sec; seqNo:281 2021-10-10T19:46:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.01 , 0.02 2021-10-10T19:46:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895195.34 epoch sec; seqNo:693; 4061547.21 north; 594307.66 east 2021-10-10T19:46:35Z- AHRS_M2 msg: 1633895195.70 epoch sec; seqNo:664 2021-10-10T19:46:35Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.99 psi 2021-10-10T19:46:35Z- handleDepth()-Depth_Keller msg: 1633895195702 epoch sec; seqNo:694; depth 25.25 2021-10-10T19:46:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895195.71 epoch sec; seqNo:694; 4061547.59 north; 594307.65 east 2021-10-10T19:46:36Z- AHRS_M2 msg: 1633895196.10 epoch sec; seqNo:665 2021-10-10T19:46:36Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.99 psi 2021-10-10T19:46:36Z- handleDepth()-Depth_Keller msg: 1633895196108 epoch sec; seqNo:695; depth 25.34 2021-10-10T19:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895196.12 epoch sec; seqNo:695; 4061547.59 north; 594307.65 east 2021-10-10T19:46:36Z- AHRS_M2 msg: 1633895196.51 epoch sec; seqNo:666 2021-10-10T19:46:36Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.99 psi 2021-10-10T19:46:36Z- handleDepth()-Depth_Keller msg: 1633895196509 epoch sec; seqNo:696; depth 25.44 2021-10-10T19:46:36Z- handleDvl() - RDI_Pathfinder msg: 1633895196.54 epoch sec; seqNo:282 2021-10-10T19:46:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.92 , 0.00 , 62.28 , 88.28 2021-10-10T19:46:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.02 , -0.00 2021-10-10T19:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895196.56 epoch sec; seqNo:696; 4061547.97 north; 594307.65 east 2021-10-10T19:46:36Z- AHRS_M2 msg: 1633895196.91 epoch sec; seqNo:667 2021-10-10T19:46:36Z- AHRS_M2 msg: -0.23 phi; -0.25 theta; 0.99 psi 2021-10-10T19:46:36Z- handleDepth()-Depth_Keller msg: 1633895196913 epoch sec; seqNo:697; depth 25.54 2021-10-10T19:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895196.94 epoch sec; seqNo:697; 4061547.97 north; 594307.65 east 2021-10-10T19:46:37Z- LcmTrn::handleMessages() - handling 43 messages took 0.62 ms and 130 calls... 2021-10-10T19:46:37Z- waiting for 1633895195.06, time is 1633895196.94 2021-10-10T19:46:37Z- LcmTrn::updateTrn() >>>> pose time 1633895196.94, meas time 1633895196.54 <<<< 2021-10-10T19:46:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895196.54 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:37Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594307.65, 25.54) 2021-10-10T19:46:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:37Z- TerrainNav:: SubcloudNIS is 0.95, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:37Z- TNavBF::Projecting Measurements 2021-10-10T19:46:37Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:46:37Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:46:37Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:46:37Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T19:46:37Z- TNavFilter::3 good beams. 2021-10-10T19:46:37Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:37Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:37Z- TNavBF:: beamIndex[1] = 2 2021-10-10T19:46:37Z- TNavBF:: beamIndex[2] = 3 2021-10-10T19:46:37Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:46:37Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T19:46:37Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:37Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:37Z- TerrainMapOctree: (vehN, vehE ) = (4061547.81, 594307.45). 2021-10-10T19:46:37Z- TerrainMapOctree: Min Distance = 210.20. 2021-10-10T19:46:37Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:46:37Z- Forcing Subcloud Comparison 2021-10-10T19:46:37Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:46:37Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:37Z- Filter 0 partialDeltaRmsComputation: 34.508329 terrainVariance: 0.416962 1-SumSquareWeights: 0.998360 2021-10-10T19:46:37Z- Filter 0 meanExpectedMeasDiff: 5.838781 delta_rms_squared: 0.406979 alpha: 0.953159 2021-10-10T19:46:37Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:37Z- Filter 0 partialDeltaRmsComputation: 59.843099 terrainVariance: 0.174033 1-SumSquareWeights: 0.998360 2021-10-10T19:46:37Z- Filter 0 meanExpectedMeasDiff: -7.724575 delta_rms_squared: 0.164050 alpha: 0.891334 2021-10-10T19:46:37Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:37Z- Filter 0 partialDeltaRmsComputation: 173.033960 terrainVariance: 0.116885 1-SumSquareWeights: 0.998360 2021-10-10T19:46:37Z- Filter 0 meanExpectedMeasDiff: 13.149794 delta_rms_squared: 0.106902 alpha: 0.842398 2021-10-10T19:46:37Z- Filter 0 SubcloudNIS: 1.069028 2021-10-10T19:46:37Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:46:37Z- TNavBF:: Filter 0 sumWeights = 0.000080 2021-10-10T19:46:37Z- Filter 0 NorthBias: -1.9 EastBias: 43.4 DepthBias: -9.1 NorthVariance: 319.4 EastVariance: 62.3 DepthVariance: 1.1 this->DepthBiasCov: 1.0 2021-10-10T19:46:37Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895196.54 sec. 2021-10-10T19:46:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:37Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:37Z- variances([0], [2], and psi_berg) = 319.379203 66.940462 0.000000 2021-10-10T19:46:37Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:37Z- LcmTrn::publishEstimates() - MLE : 4061550.47 594353.15 25.54 2021-10-10T19:46:37Z- LcmTrn::publishEstimates() - MMSE : 4061546.05 594350.98 16.42 2021-10-10T19:46:37Z- LcmTrn::publishEstimates() - COVAR: 319.38 66.94 1.12 0.00 2021-10-10T19:46:37Z- AHRS_M2 msg: 1633895197.32 epoch sec; seqNo:668 2021-10-10T19:46:37Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 0.99 psi 2021-10-10T19:46:37Z- handleDepth()-Depth_Keller msg: 1633895197333 epoch sec; seqNo:698; depth 25.59 2021-10-10T19:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895197.36 epoch sec; seqNo:698; 4061548.36 north; 594308.87 east 2021-10-10T19:46:37Z- AHRS_M2 msg: 1633895197.72 epoch sec; seqNo:669 2021-10-10T19:46:37Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 0.98 psi 2021-10-10T19:46:37Z- handleDepth()-Depth_Keller msg: 1633895197721 epoch sec; seqNo:699; depth 25.69 2021-10-10T19:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895197.75 epoch sec; seqNo:699; 4061548.36 north; 594308.87 east 2021-10-10T19:46:38Z- AHRS_M2 msg: 1633895198.12 epoch sec; seqNo:670 2021-10-10T19:46:38Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 0.98 psi 2021-10-10T19:46:38Z- handleDepth()-Depth_Keller msg: 1633895198132 epoch sec; seqNo:700; depth 25.77 2021-10-10T19:46:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895198.14 epoch sec; seqNo:700; 4061548.74 north; 594308.86 east 2021-10-10T19:46:38Z- handleDepth()-Depth_Keller msg: 1633895198548 epoch sec; seqNo:701; depth 25.86 2021-10-10T19:46:38Z- handleDvl() - RDI_Pathfinder msg: 1633895198.57 epoch sec; seqNo:283 2021-10-10T19:46:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.92 , 86.11 , 61.87 , 88.28 2021-10-10T19:46:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.02 2021-10-10T19:46:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895198.59 epoch sec; seqNo:701; 4061548.74 north; 594308.86 east 2021-10-10T19:46:38Z- AHRS_M2 msg: 1633895198.93 epoch sec; seqNo:671 2021-10-10T19:46:38Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 0.98 psi 2021-10-10T19:46:38Z- handleDepth()-Depth_Keller msg: 1633895198935 epoch sec; seqNo:702; depth 25.95 2021-10-10T19:46:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:38Z- handleDvl() - RDI_Pathfinder msg: 1633895198.94 epoch sec; seqNo:284 2021-10-10T19:46:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.02 2021-10-10T19:46:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895198.95 epoch sec; seqNo:702; 4061549.11 north; 594308.86 east 2021-10-10T19:46:39Z- AHRS_M2 msg: 1633895199.34 epoch sec; seqNo:672 2021-10-10T19:46:39Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 0.97 psi 2021-10-10T19:46:39Z- handleDepth()-Depth_Keller msg: 1633895199341 epoch sec; seqNo:703; depth 26.02 2021-10-10T19:46:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895199.41 epoch sec; seqNo:703; 4061549.13 north; 594310.08 east 2021-10-10T19:46:39Z- AHRS_M2 msg: 1633895199.74 epoch sec; seqNo:673 2021-10-10T19:46:39Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 0.97 psi 2021-10-10T19:46:39Z- handleDepth()-Depth_Keller msg: 1633895199744 epoch sec; seqNo:704; depth 26.11 2021-10-10T19:46:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895199.75 epoch sec; seqNo:704; 4061549.51 north; 594310.07 east 2021-10-10T19:46:40Z- AHRS_M2 msg: 1633895200.14 epoch sec; seqNo:674 2021-10-10T19:46:40Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 0.97 psi 2021-10-10T19:46:40Z- handleDepth()-Depth_Keller msg: 1633895200146 epoch sec; seqNo:705; depth 26.18 2021-10-10T19:46:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:40Z- handleDvl() - RDI_Pathfinder msg: 1633895200.15 epoch sec; seqNo:285 2021-10-10T19:46:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.02 2021-10-10T19:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895200.16 epoch sec; seqNo:705; 4061549.51 north; 594310.07 east 2021-10-10T19:46:40Z- AHRS_M2 msg: 1633895200.55 epoch sec; seqNo:675 2021-10-10T19:46:40Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 0.96 psi 2021-10-10T19:46:40Z- handleDepth()-Depth_Keller msg: 1633895200554 epoch sec; seqNo:706; depth 26.26 2021-10-10T19:46:40Z- handleDvl() - RDI_Pathfinder msg: 1633895200.58 epoch sec; seqNo:286 2021-10-10T19:46:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.10 , 85.03 , 61.46 , 86.11 2021-10-10T19:46:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.10 , -0.01 2021-10-10T19:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895200.61 epoch sec; seqNo:706; 4061549.89 north; 594310.07 east 2021-10-10T19:46:40Z- AHRS_M2 msg: 1633895200.95 epoch sec; seqNo:676 2021-10-10T19:46:40Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 0.96 psi 2021-10-10T19:46:40Z- handleDepth()-Depth_Keller msg: 1633895200956 epoch sec; seqNo:707; depth 26.35 2021-10-10T19:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895200.97 epoch sec; seqNo:707; 4061549.89 north; 594310.07 east 2021-10-10T19:46:41Z- AHRS_M2 msg: 1633895201.35 epoch sec; seqNo:677 2021-10-10T19:46:41Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 0.96 psi 2021-10-10T19:46:41Z- handleDepth()-Depth_Keller msg: 1633895201356 epoch sec; seqNo:708; depth 26.42 2021-10-10T19:46:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:41Z- handleDvl() - RDI_Pathfinder msg: 1633895201.36 epoch sec; seqNo:287 2021-10-10T19:46:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.10 , -0.01 2021-10-10T19:46:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895201.40 epoch sec; seqNo:708; 4061550.26 north; 594310.06 east 2021-10-10T19:46:41Z- AHRS_M2 msg: 1633895201.76 epoch sec; seqNo:678 2021-10-10T19:46:41Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 0.96 psi 2021-10-10T19:46:41Z- handleDepth()-Depth_Keller msg: 1633895201763 epoch sec; seqNo:709; depth 26.50 2021-10-10T19:46:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895201.77 epoch sec; seqNo:709; 4061550.28 north; 594311.28 east 2021-10-10T19:46:42Z- AHRS_M2 msg: 1633895202.16 epoch sec; seqNo:679 2021-10-10T19:46:42Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 0.96 psi 2021-10-10T19:46:42Z- handleDepth()-Depth_Keller msg: 1633895202168 epoch sec; seqNo:710; depth 26.57 2021-10-10T19:46:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895202.18 epoch sec; seqNo:710; 4061550.66 north; 594311.28 east 2021-10-10T19:46:42Z- LcmTrn::handleMessages() - handling 43 messages took 0.76 ms and 127 calls... 2021-10-10T19:46:42Z- waiting for 1633895199.94, time is 1633895202.18 2021-10-10T19:46:42Z- LcmTrn::updateTrn() >>>> pose time 1633895202.18, meas time 1633895201.36 <<<< 2021-10-10T19:46:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895201.36, ping # 0. 2021-10-10T19:46:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895201.36 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:42Z- TerrainNav::motionUpdate() - currEstimate = (4061551, 594311.28, 26.57) 2021-10-10T19:46:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:42Z- TerrainNav:: SubcloudNIS is 1.07, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:42Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:46:42Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:46:42Z- TNavBF::Projecting Measurements 2021-10-10T19:46:42Z- TNavFilter::Measurement from time = 1633895201.36 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:46:42Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:42Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:42Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:46:42Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:46:42Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:46:42Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:46:42Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:42Z- Filter 0 NorthBias: -1.9 EastBias: 43.1 DepthBias: -9.1 NorthVariance: 319.3 EastVariance: 84.7 DepthVariance: 1.3 this->DepthBiasCov: 1.2 2021-10-10T19:46:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:42Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:42Z- variances([0], [2], and psi_berg) = 319.286281 92.053833 0.000000 2021-10-10T19:46:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:42Z- LcmTrn::publishEstimates() - MLE : 4061553.16 594356.78 26.57 2021-10-10T19:46:42Z- LcmTrn::publishEstimates() - MMSE : 4061548.74 594354.32 17.45 2021-10-10T19:46:42Z- LcmTrn::publishEstimates() - COVAR: 319.29 92.05 1.37 0.00 2021-10-10T19:46:42Z- AHRS_M2 msg: 1633895202.57 epoch sec; seqNo:680 2021-10-10T19:46:42Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 0.96 psi 2021-10-10T19:46:42Z- handleDepth()-Depth_Keller msg: 1633895202575 epoch sec; seqNo:711; depth 26.65 2021-10-10T19:46:42Z- handleDvl() - RDI_Pathfinder msg: 1633895202.62 epoch sec; seqNo:288 2021-10-10T19:46:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.50 , 79.48 , 61.45 , 0.00 2021-10-10T19:46:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.07 , 0.01 2021-10-10T19:46:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895202.63 epoch sec; seqNo:711; 4061550.66 north; 594311.28 east 2021-10-10T19:46:42Z- AHRS_M2 msg: 1633895202.97 epoch sec; seqNo:681 2021-10-10T19:46:42Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 0.96 psi 2021-10-10T19:46:42Z- handleDepth()-Depth_Keller msg: 1633895202978 epoch sec; seqNo:712; depth 26.73 2021-10-10T19:46:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895203.00 epoch sec; seqNo:712; 4061551.04 north; 594311.28 east 2021-10-10T19:46:43Z- AHRS_M2 msg: 1633895203.40 epoch sec; seqNo:682 2021-10-10T19:46:43Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 0.96 psi 2021-10-10T19:46:43Z- handleDepth()-Depth_Keller msg: 1633895203400 epoch sec; seqNo:713; depth 26.81 2021-10-10T19:46:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895203.41 epoch sec; seqNo:713; 4061551.04 north; 594311.28 east 2021-10-10T19:46:43Z- AHRS_M2 msg: 1633895203.79 epoch sec; seqNo:683 2021-10-10T19:46:43Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.96 psi 2021-10-10T19:46:43Z- handleDepth()-Depth_Keller msg: 1633895203790 epoch sec; seqNo:714; depth 26.86 2021-10-10T19:46:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:43Z- handleDvl() - RDI_Pathfinder msg: 1633895203.80 epoch sec; seqNo:289 2021-10-10T19:46:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.07 , 0.01 2021-10-10T19:46:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895203.81 epoch sec; seqNo:714; 4061551.43 north; 594312.49 east 2021-10-10T19:46:44Z- AHRS_M2 msg: 1633895204.19 epoch sec; seqNo:684 2021-10-10T19:46:44Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.97 psi 2021-10-10T19:46:44Z- handleDepth()-Depth_Keller msg: 1633895204195 epoch sec; seqNo:715; depth 26.95 2021-10-10T19:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895204.25 epoch sec; seqNo:715; 4061551.43 north; 594312.49 east 2021-10-10T19:46:44Z- AHRS_M2 msg: 1633895204.59 epoch sec; seqNo:685 2021-10-10T19:46:44Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.97 psi 2021-10-10T19:46:44Z- handleDepth()-Depth_Keller msg: 1633895204591 epoch sec; seqNo:716; depth 27.03 2021-10-10T19:46:44Z- handleDvl() - RDI_Pathfinder msg: 1633895204.61 epoch sec; seqNo:290 2021-10-10T19:46:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.27 , 78.52 , 61.00 , 80.47 2021-10-10T19:46:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.01 , -0.03 2021-10-10T19:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895204.63 epoch sec; seqNo:716; 4061551.81 north; 594312.49 east 2021-10-10T19:46:44Z- AHRS_M2 msg: 1633895204.99 epoch sec; seqNo:686 2021-10-10T19:46:44Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.97 psi 2021-10-10T19:46:45Z- handleDepth()-Depth_Keller msg: 1633895205000 epoch sec; seqNo:717; depth 27.10 2021-10-10T19:46:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895205.02 epoch sec; seqNo:717; 4061551.81 north; 594312.49 east 2021-10-10T19:46:45Z- AHRS_M2 msg: 1633895205.39 epoch sec; seqNo:687 2021-10-10T19:46:45Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.98 psi 2021-10-10T19:46:45Z- handleDepth()-Depth_Keller msg: 1633895205404 epoch sec; seqNo:718; depth 27.15 2021-10-10T19:46:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895205.42 epoch sec; seqNo:718; 4061552.19 north; 594312.48 east 2021-10-10T19:46:45Z- handleDepth()-Depth_Keller msg: 1633895205839 epoch sec; seqNo:719; depth 27.23 2021-10-10T19:46:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895205.85 epoch sec; seqNo:719; 4061552.20 north; 594313.70 east 2021-10-10T19:46:46Z- AHRS_M2 msg: 1633895206.21 epoch sec; seqNo:688 2021-10-10T19:46:46Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.98 psi 2021-10-10T19:46:46Z- handleDepth()-Depth_Keller msg: 1633895206242 epoch sec; seqNo:720; depth 27.31 2021-10-10T19:46:46Z- handleDvl() - RDI_Pathfinder msg: 1633895206.30 epoch sec; seqNo:291 2021-10-10T19:46:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.68 , 77.42 , 60.22 , 0.00 2021-10-10T19:46:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.00 , -0.07 2021-10-10T19:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895206.31 epoch sec; seqNo:720; 4061552.58 north; 594313.70 east 2021-10-10T19:46:46Z- AHRS_M2 msg: 1633895206.61 epoch sec; seqNo:689 2021-10-10T19:46:46Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.98 psi 2021-10-10T19:46:46Z- handleDepth()-Depth_Keller msg: 1633895206613 epoch sec; seqNo:721; depth 27.39 2021-10-10T19:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895206.63 epoch sec; seqNo:721; 4061552.58 north; 594313.70 east 2021-10-10T19:46:47Z- AHRS_M2 msg: 1633895207.01 epoch sec; seqNo:690 2021-10-10T19:46:47Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.98 psi 2021-10-10T19:46:47Z- handleDepth()-Depth_Keller msg: 1633895207016 epoch sec; seqNo:722; depth 27.45 2021-10-10T19:46:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895207.03 epoch sec; seqNo:722; 4061552.96 north; 594313.70 east 2021-10-10T19:46:47Z- LcmTrn::handleMessages() - handling 39 messages took 0.63 ms and 126 calls... 2021-10-10T19:46:47Z- waiting for 1633895205.18, time is 1633895207.03 2021-10-10T19:46:47Z- LcmTrn::updateTrn() >>>> pose time 1633895207.03, meas time 1633895206.30 <<<< 2021-10-10T19:46:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895206.30 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:47Z- TerrainNav::motionUpdate() - currEstimate = (4061553, 594313.70, 27.45) 2021-10-10T19:46:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:47Z- TerrainNav:: SubcloudNIS is 1.07, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:47Z- TNavBF::Projecting Measurements 2021-10-10T19:46:47Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:46:47Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:46:47Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:46:47Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T19:46:47Z- TNavFilter::3 good beams. 2021-10-10T19:46:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:47Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:47Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:46:47Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:46:47Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:46:47Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T19:46:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:47Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:47Z- TerrainMapOctree: (vehN, vehE ) = (4061552.61, 594313.33). 2021-10-10T19:46:47Z- TerrainMapOctree: Min Distance = 207.30. 2021-10-10T19:46:47Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:46:47Z- Forcing Subcloud Comparison 2021-10-10T19:46:47Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:46:47Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:47Z- Filter 0 partialDeltaRmsComputation: 50.617132 terrainVariance: 0.456366 1-SumSquareWeights: 0.997619 2021-10-10T19:46:47Z- Filter 0 meanExpectedMeasDiff: 7.082427 delta_rms_squared: 0.446390 alpha: 0.957117 2021-10-10T19:46:47Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:47Z- Filter 0 partialDeltaRmsComputation: 56.462979 terrainVariance: 0.247892 1-SumSquareWeights: 0.997619 2021-10-10T19:46:47Z- Filter 0 meanExpectedMeasDiff: -7.497672 delta_rms_squared: 0.237916 alpha: 0.922455 2021-10-10T19:46:47Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:47Z- Filter 0 partialDeltaRmsComputation: 31.584297 terrainVariance: 0.141832 1-SumSquareWeights: 0.997619 2021-10-10T19:46:47Z- Filter 0 meanExpectedMeasDiff: -5.607358 delta_rms_squared: 0.131856 alpha: 0.868296 2021-10-10T19:46:47Z- Filter 0 SubcloudNIS: 1.171705 2021-10-10T19:46:47Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:46:47Z- TNavBF:: Filter 0 sumWeights = 0.001818 2021-10-10T19:46:47Z- Filter 0 NorthBias: -6.5 EastBias: 42.7 DepthBias: -9.9 NorthVariance: 286.5 EastVariance: 75.0 DepthVariance: 1.1 this->DepthBiasCov: 0.9 2021-10-10T19:46:47Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895206.30 sec. 2021-10-10T19:46:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:47Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:47Z- variances([0], [2], and psi_berg) = 286.459298 81.111859 0.000000 2021-10-10T19:46:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:47Z- LcmTrn::publishEstimates() - MLE : 4061557.46 594363.20 27.45 2021-10-10T19:46:47Z- LcmTrn::publishEstimates() - MMSE : 4061546.47 594356.32 17.52 2021-10-10T19:46:47Z- LcmTrn::publishEstimates() - COVAR: 286.46 81.11 1.13 0.00 2021-10-10T19:46:47Z- AHRS_M2 msg: 1633895207.42 epoch sec; seqNo:691 2021-10-10T19:46:47Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.98 psi 2021-10-10T19:46:47Z- handleDepth()-Depth_Keller msg: 1633895207424 epoch sec; seqNo:723; depth 27.51 2021-10-10T19:46:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:47Z- handleDvl() - RDI_Pathfinder msg: 1633895207.43 epoch sec; seqNo:292 2021-10-10T19:46:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.00 , -0.07 2021-10-10T19:46:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895207.44 epoch sec; seqNo:723; 4061552.96 north; 594313.70 east 2021-10-10T19:46:47Z- AHRS_M2 msg: 1633895207.82 epoch sec; seqNo:692 2021-10-10T19:46:47Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.99 psi 2021-10-10T19:46:47Z- handleDepth()-Depth_Keller msg: 1633895207836 epoch sec; seqNo:724; depth 27.58 2021-10-10T19:46:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895207.85 epoch sec; seqNo:724; 4061552.97 north; 594314.92 east 2021-10-10T19:46:48Z- AHRS_M2 msg: 1633895208.27 epoch sec; seqNo:693 2021-10-10T19:46:48Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.99 psi 2021-10-10T19:46:48Z- handleDepth()-Depth_Keller msg: 1633895208279 epoch sec; seqNo:725; depth 27.66 2021-10-10T19:46:48Z- handleDvl() - RDI_Pathfinder msg: 1633895208.31 epoch sec; seqNo:293 2021-10-10T19:46:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.40 , 76.84 , 59.94 , 0.00 2021-10-10T19:46:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.05 , -0.01 2021-10-10T19:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895208.33 epoch sec; seqNo:725; 4061553.35 north; 594314.91 east 2021-10-10T19:46:48Z- handleDepth()-Depth_Keller msg: 1633895208648 epoch sec; seqNo:726; depth 27.75 2021-10-10T19:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895208.67 epoch sec; seqNo:726; 4061553.35 north; 594314.91 east 2021-10-10T19:46:49Z- AHRS_M2 msg: 1633895209.03 epoch sec; seqNo:694 2021-10-10T19:46:49Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 0.99 psi 2021-10-10T19:46:49Z- handleDepth()-Depth_Keller msg: 1633895209037 epoch sec; seqNo:727; depth 27.81 2021-10-10T19:46:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895209.05 epoch sec; seqNo:727; 4061553.73 north; 594314.91 east 2021-10-10T19:46:49Z- AHRS_M2 msg: 1633895209.43 epoch sec; seqNo:695 2021-10-10T19:46:49Z- AHRS_M2 msg: -0.19 phi; -0.21 theta; 0.99 psi 2021-10-10T19:46:49Z- handleDepth()-Depth_Keller msg: 1633895209438 epoch sec; seqNo:728; depth 27.87 2021-10-10T19:46:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895209.47 epoch sec; seqNo:728; 4061553.73 north; 594314.91 east 2021-10-10T19:46:49Z- AHRS_M2 msg: 1633895209.84 epoch sec; seqNo:696 2021-10-10T19:46:49Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.99 psi 2021-10-10T19:46:49Z- handleDepth()-Depth_Keller msg: 1633895209842 epoch sec; seqNo:729; depth 27.94 2021-10-10T19:46:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895209.85 epoch sec; seqNo:729; 4061554.11 north; 594314.90 east 2021-10-10T19:46:50Z- AHRS_M2 msg: 1633895210.28 epoch sec; seqNo:697 2021-10-10T19:46:50Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 0.99 psi 2021-10-10T19:46:50Z- handleDepth()-Depth_Keller msg: 1633895210284 epoch sec; seqNo:730; depth 28.02 2021-10-10T19:46:50Z- handleDvl() - RDI_Pathfinder msg: 1633895210.31 epoch sec; seqNo:294 2021-10-10T19:46:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 61.78 , 0.00 , 59.93 , 0.00 2021-10-10T19:46:50Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:46:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895210.35 epoch sec; seqNo:730; 4061554.12 north; 594316.12 east 2021-10-10T19:46:50Z- AHRS_M2 msg: 1633895210.65 epoch sec; seqNo:698 2021-10-10T19:46:50Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.00 psi 2021-10-10T19:46:50Z- handleDepth()-Depth_Keller msg: 1633895210657 epoch sec; seqNo:731; depth 28.09 2021-10-10T19:46:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895210.68 epoch sec; seqNo:731; 4061554.50 north; 594316.12 east 2021-10-10T19:46:51Z- AHRS_M2 msg: 1633895211.05 epoch sec; seqNo:699 2021-10-10T19:46:51Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.00 psi 2021-10-10T19:46:51Z- handleDepth()-Depth_Keller msg: 1633895211056 epoch sec; seqNo:732; depth 28.16 2021-10-10T19:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895211.07 epoch sec; seqNo:732; 4061554.50 north; 594316.12 east 2021-10-10T19:46:51Z- AHRS_M2 msg: 1633895211.45 epoch sec; seqNo:700 2021-10-10T19:46:51Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.00 psi 2021-10-10T19:46:51Z- handleDepth()-Depth_Keller msg: 1633895211459 epoch sec; seqNo:733; depth 28.23 2021-10-10T19:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895211.47 epoch sec; seqNo:733; 4061554.50 north; 594316.12 east 2021-10-10T19:46:51Z- AHRS_M2 msg: 1633895211.86 epoch sec; seqNo:701 2021-10-10T19:46:51Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.00 psi 2021-10-10T19:46:51Z- handleDepth()-Depth_Keller msg: 1633895211868 epoch sec; seqNo:734; depth 28.29 2021-10-10T19:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895211.88 epoch sec; seqNo:734; 4061554.88 north; 594316.12 east 2021-10-10T19:46:52Z- AHRS_M2 msg: 1633895212.28 epoch sec; seqNo:702 2021-10-10T19:46:52Z- AHRS_M2 msg: -0.20 phi; -0.21 theta; 1.01 psi 2021-10-10T19:46:52Z- handleDepth()-Depth_Keller msg: 1633895212290 epoch sec; seqNo:735; depth 28.36 2021-10-10T19:46:52Z- handleDvl() - RDI_Pathfinder msg: 1633895212.32 epoch sec; seqNo:295 2021-10-10T19:46:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.88 , 76.22 , 59.83 , 0.00 2021-10-10T19:46:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.06 , -0.02 2021-10-10T19:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895212.34 epoch sec; seqNo:735; 4061554.89 north; 594317.34 east 2021-10-10T19:46:52Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T19:46:52Z- waiting for 1633895210.03, time is 1633895212.34 2021-10-10T19:46:52Z- LcmTrn::updateTrn() equating pose 1633895212.34 and meas times 1633895212.34 2021-10-10T19:46:52Z- LcmTrn::updateTrn() >>>> pose time 1633895212.34, meas time 1633895212.34 <<<< 2021-10-10T19:46:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895212.34 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:52Z- TerrainNav::motionUpdate() - currEstimate = (4061555, 594317.34, 28.36) 2021-10-10T19:46:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:52Z- TerrainNav:: SubcloudNIS is 1.17, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:52Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895212.34 sec.; No relevant navigation data available 2021-10-10T19:46:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:52Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:52Z- variances([0], [2], and psi_berg) = 286.461046 98.362242 0.000000 2021-10-10T19:46:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:52Z- LcmTrn::publishEstimates() - MLE : 4061559.39 594366.84 28.36 2021-10-10T19:46:52Z- LcmTrn::publishEstimates() - MMSE : 4061548.40 594359.75 18.43 2021-10-10T19:46:52Z- LcmTrn::publishEstimates() - COVAR: 286.46 98.36 1.35 0.00 2021-10-10T19:46:52Z- AHRS_M2 msg: 1633895212.66 epoch sec; seqNo:703 2021-10-10T19:46:52Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:52Z- handleDepth()-Depth_Keller msg: 1633895212676 epoch sec; seqNo:736; depth 28.47 2021-10-10T19:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895212.72 epoch sec; seqNo:736; 4061555.27 north; 594317.33 east 2021-10-10T19:46:53Z- AHRS_M2 msg: 1633895213.07 epoch sec; seqNo:704 2021-10-10T19:46:53Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:53Z- handleDepth()-Depth_Keller msg: 1633895213074 epoch sec; seqNo:737; depth 28.52 2021-10-10T19:46:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895213.09 epoch sec; seqNo:737; 4061555.27 north; 594317.33 east 2021-10-10T19:46:53Z- AHRS_M2 msg: 1633895213.48 epoch sec; seqNo:705 2021-10-10T19:46:53Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:53Z- handleDepth()-Depth_Keller msg: 1633895213487 epoch sec; seqNo:738; depth 28.60 2021-10-10T19:46:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:53Z- handleDvl() - RDI_Pathfinder msg: 1633895213.49 epoch sec; seqNo:296 2021-10-10T19:46:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.06 , -0.02 2021-10-10T19:46:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895213.50 epoch sec; seqNo:738; 4061555.65 north; 594317.33 east 2021-10-10T19:46:53Z- AHRS_M2 msg: 1633895213.88 epoch sec; seqNo:706 2021-10-10T19:46:53Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:53Z- handleDepth()-Depth_Keller msg: 1633895213884 epoch sec; seqNo:739; depth 28.66 2021-10-10T19:46:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895213.90 epoch sec; seqNo:739; 4061555.65 north; 594317.33 east 2021-10-10T19:46:54Z- AHRS_M2 msg: 1633895214.30 epoch sec; seqNo:707 2021-10-10T19:46:54Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:54Z- handleDepth()-Depth_Keller msg: 1633895214306 epoch sec; seqNo:740; depth 28.74 2021-10-10T19:46:54Z- handleDvl() - RDI_Pathfinder msg: 1633895214.34 epoch sec; seqNo:297 2021-10-10T19:46:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.46 , 75.91 , 59.31 , 0.00 2021-10-10T19:46:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.06 , -0.02 2021-10-10T19:46:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895214.35 epoch sec; seqNo:740; 4061556.04 north; 594318.54 east 2021-10-10T19:46:54Z- AHRS_M2 msg: 1633895214.70 epoch sec; seqNo:708 2021-10-10T19:46:54Z- AHRS_M2 msg: -0.20 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:54Z- handleDepth()-Depth_Keller msg: 1633895214700 epoch sec; seqNo:741; depth 28.82 2021-10-10T19:46:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:54Z- handleDvl() - RDI_Pathfinder msg: 1633895214.70 epoch sec; seqNo:298 2021-10-10T19:46:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.06 , -0.02 2021-10-10T19:46:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895214.74 epoch sec; seqNo:741; 4061556.04 north; 594318.54 east 2021-10-10T19:46:55Z- AHRS_M2 msg: 1633895215.10 epoch sec; seqNo:709 2021-10-10T19:46:55Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:55Z- handleDepth()-Depth_Keller msg: 1633895215107 epoch sec; seqNo:742; depth 28.89 2021-10-10T19:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895215.12 epoch sec; seqNo:742; 4061556.42 north; 594318.54 east 2021-10-10T19:46:55Z- AHRS_M2 msg: 1633895215.51 epoch sec; seqNo:710 2021-10-10T19:46:55Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:55Z- handleDepth()-Depth_Keller msg: 1633895215517 epoch sec; seqNo:743; depth 28.96 2021-10-10T19:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895215.53 epoch sec; seqNo:743; 4061556.42 north; 594318.54 east 2021-10-10T19:46:55Z- AHRS_M2 msg: 1633895215.91 epoch sec; seqNo:711 2021-10-10T19:46:55Z- AHRS_M2 msg: -0.21 phi; -0.22 theta; 1.01 psi 2021-10-10T19:46:55Z- handleDepth()-Depth_Keller msg: 1633895215928 epoch sec; seqNo:744; depth 29.02 2021-10-10T19:46:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:55Z- handleDvl() - RDI_Pathfinder msg: 1633895215.93 epoch sec; seqNo:299 2021-10-10T19:46:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.06 , -0.02 2021-10-10T19:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895215.94 epoch sec; seqNo:744; 4061556.42 north; 594318.54 east 2021-10-10T19:46:56Z- AHRS_M2 msg: 1633895216.32 epoch sec; seqNo:712 2021-10-10T19:46:56Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.01 psi 2021-10-10T19:46:56Z- handleDepth()-Depth_Keller msg: 1633895216320 epoch sec; seqNo:745; depth 29.11 2021-10-10T19:46:56Z- handleDvl() - RDI_Pathfinder msg: 1633895216.35 epoch sec; seqNo:300 2021-10-10T19:46:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.15 , 75.91 , 59.00 , 0.00 2021-10-10T19:46:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.03 , -0.01 2021-10-10T19:46:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895216.37 epoch sec; seqNo:745; 4061556.80 north; 594318.54 east 2021-10-10T19:46:56Z- AHRS_M2 msg: 1633895216.72 epoch sec; seqNo:713 2021-10-10T19:46:56Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.01 psi 2021-10-10T19:46:56Z- handleDepth()-Depth_Keller msg: 1633895216724 epoch sec; seqNo:746; depth 29.19 2021-10-10T19:46:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895216.74 epoch sec; seqNo:746; 4061556.81 north; 594319.76 east 2021-10-10T19:46:57Z- AHRS_M2 msg: 1633895217.12 epoch sec; seqNo:714 2021-10-10T19:46:57Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.01 psi 2021-10-10T19:46:57Z- handleDepth()-Depth_Keller msg: 1633895217127 epoch sec; seqNo:747; depth 29.26 2021-10-10T19:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895217.14 epoch sec; seqNo:747; 4061557.19 north; 594319.75 east 2021-10-10T19:46:57Z- AHRS_M2 msg: 1633895217.53 epoch sec; seqNo:715 2021-10-10T19:46:57Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.01 psi 2021-10-10T19:46:57Z- LcmTrn::handleMessages() - handling 42 messages took 0.72 ms and 127 calls... 2021-10-10T19:46:57Z- waiting for 1633895215.34, time is 1633895217.53 2021-10-10T19:46:57Z- LcmTrn::updateTrn() >>>> pose time 1633895217.53, meas time 1633895216.35 <<<< 2021-10-10T19:46:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895216.35 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:46:57Z- TerrainNav::motionUpdate() - currEstimate = (4061557, 594319.75, 29.26) 2021-10-10T19:46:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:46:57Z- TerrainNav:: SubcloudNIS is 1.17, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:46:57Z- TNavBF::Projecting Measurements 2021-10-10T19:46:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:46:57Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:46:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:46:57Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T19:46:57Z- TNavFilter::3 good beams. 2021-10-10T19:46:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:46:57Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:46:57Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:46:57Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:46:57Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:46:57Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T19:46:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:46:57Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:57Z- TerrainMapOctree: (vehN, vehE ) = (4061556.67, 594319.21). 2021-10-10T19:46:57Z- TerrainMapOctree: Min Distance = 205.34. 2021-10-10T19:46:57Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:46:57Z- Forcing Subcloud Comparison 2021-10-10T19:46:57Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:46:57Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:57Z- Filter 0 partialDeltaRmsComputation: 64.955544 terrainVariance: 0.274879 1-SumSquareWeights: 0.997993 2021-10-10T19:46:57Z- Filter 0 meanExpectedMeasDiff: 8.042429 delta_rms_squared: 0.264899 alpha: 0.929800 2021-10-10T19:46:57Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:57Z- Filter 0 partialDeltaRmsComputation: 59.104169 terrainVariance: 0.255920 1-SumSquareWeights: 0.997993 2021-10-10T19:46:57Z- Filter 0 meanExpectedMeasDiff: -7.671261 delta_rms_squared: 0.245940 alpha: 0.924795 2021-10-10T19:46:57Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:46:57Z- Filter 0 partialDeltaRmsComputation: 19.541711 terrainVariance: 0.203134 1-SumSquareWeights: 0.997993 2021-10-10T19:46:57Z- Filter 0 meanExpectedMeasDiff: -4.397565 delta_rms_squared: 0.193154 alpha: 0.906171 2021-10-10T19:46:57Z- Filter 0 SubcloudNIS: 1.344538 2021-10-10T19:46:57Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:46:57Z- TNavBF:: Filter 0 sumWeights = 0.001147 2021-10-10T19:46:57Z- Filter 0 NorthBias: -9.8 EastBias: 42.1 DepthBias: -10.3 NorthVariance: 274.1 EastVariance: 87.1 DepthVariance: 1.1 this->DepthBiasCov: 0.9 2021-10-10T19:46:57Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895216.35 sec. 2021-10-10T19:46:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:46:57Z- TNavBF::mmse selected from filter -1 2021-10-10T19:46:57Z- variances([0], [2], and psi_berg) = 274.068000 94.184296 0.000000 2021-10-10T19:46:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:46:57Z- LcmTrn::publishEstimates() - MLE : 4061561.69 594369.25 29.26 2021-10-10T19:46:57Z- LcmTrn::publishEstimates() - MMSE : 4061547.37 594361.72 18.91 2021-10-10T19:46:57Z- LcmTrn::publishEstimates() - COVAR: 274.07 94.18 1.16 0.00 2021-10-10T19:46:57Z- handleDepth()-Depth_Keller msg: 1633895217536 epoch sec; seqNo:748; depth 29.33 2021-10-10T19:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895217.56 epoch sec; seqNo:748; 4061557.19 north; 594319.75 east 2021-10-10T19:46:57Z- AHRS_M2 msg: 1633895217.93 epoch sec; seqNo:716 2021-10-10T19:46:57Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.01 psi 2021-10-10T19:46:57Z- handleDepth()-Depth_Keller msg: 1633895217940 epoch sec; seqNo:749; depth 29.41 2021-10-10T19:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895217.95 epoch sec; seqNo:749; 4061557.57 north; 594319.75 east 2021-10-10T19:46:58Z- AHRS_M2 msg: 1633895218.33 epoch sec; seqNo:717 2021-10-10T19:46:58Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.02 psi 2021-10-10T19:46:58Z- handleDepth()-Depth_Keller msg: 1633895218338 epoch sec; seqNo:750; depth 29.48 2021-10-10T19:46:58Z- handleDvl() - RDI_Pathfinder msg: 1633895218.38 epoch sec; seqNo:301 2021-10-10T19:46:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.84 , 75.90 , 58.69 , 0.00 2021-10-10T19:46:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.01 , -0.02 2021-10-10T19:46:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895218.41 epoch sec; seqNo:750; 4061557.57 north; 594319.75 east 2021-10-10T19:46:58Z- AHRS_M2 msg: 1633895218.74 epoch sec; seqNo:718 2021-10-10T19:46:58Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 1.02 psi 2021-10-10T19:46:58Z- handleDepth()-Depth_Keller msg: 1633895218742 epoch sec; seqNo:751; depth 29.57 2021-10-10T19:46:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895218.77 epoch sec; seqNo:751; 4061557.58 north; 594320.97 east 2021-10-10T19:46:59Z- AHRS_M2 msg: 1633895219.14 epoch sec; seqNo:719 2021-10-10T19:46:59Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:46:59Z- handleDepth()-Depth_Keller msg: 1633895219146 epoch sec; seqNo:752; depth 29.63 2021-10-10T19:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895219.16 epoch sec; seqNo:752; 4061557.96 north; 594320.96 east 2021-10-10T19:46:59Z- AHRS_M2 msg: 1633895219.55 epoch sec; seqNo:720 2021-10-10T19:46:59Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:46:59Z- handleDepth()-Depth_Keller msg: 1633895219555 epoch sec; seqNo:753; depth 29.72 2021-10-10T19:46:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:46:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:46:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:46:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:46:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:46:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:46:59Z- handleDvl() - RDI_Pathfinder msg: 1633895219.56 epoch sec; seqNo:302 2021-10-10T19:46:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:46:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.01 , -0.02 2021-10-10T19:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895219.57 epoch sec; seqNo:753; 4061557.96 north; 594320.96 east 2021-10-10T19:46:59Z- AHRS_M2 msg: 1633895219.95 epoch sec; seqNo:721 2021-10-10T19:46:59Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:46:59Z- handleDepth()-Depth_Keller msg: 1633895219955 epoch sec; seqNo:754; depth 29.79 2021-10-10T19:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895219.98 epoch sec; seqNo:754; 4061558.34 north; 594320.96 east 2021-10-10T19:47:00Z- AHRS_M2 msg: 1633895220.36 epoch sec; seqNo:722 2021-10-10T19:47:00Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:00Z- handleDepth()-Depth_Keller msg: 1633895220366 epoch sec; seqNo:755; depth 29.88 2021-10-10T19:47:00Z- handleDvl() - RDI_Pathfinder msg: 1633895220.39 epoch sec; seqNo:303 2021-10-10T19:47:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 60.23 , 0.00 , 58.38 , 0.00 2021-10-10T19:47:00Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895220.42 epoch sec; seqNo:755; 4061558.34 north; 594320.96 east 2021-10-10T19:47:00Z- AHRS_M2 msg: 1633895220.76 epoch sec; seqNo:723 2021-10-10T19:47:00Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:00Z- handleDepth()-Depth_Keller msg: 1633895220766 epoch sec; seqNo:756; depth 29.97 2021-10-10T19:47:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:00Z- handleDvl() - RDI_Pathfinder msg: 1633895220.77 epoch sec; seqNo:304 2021-10-10T19:47:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:00Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895220.80 epoch sec; seqNo:756; 4061558.36 north; 594322.18 east 2021-10-10T19:47:01Z- AHRS_M2 msg: 1633895221.16 epoch sec; seqNo:724 2021-10-10T19:47:01Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:01Z- handleDepth()-Depth_Keller msg: 1633895221173 epoch sec; seqNo:757; depth 30.05 2021-10-10T19:47:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895221.18 epoch sec; seqNo:757; 4061558.73 north; 594322.18 east 2021-10-10T19:47:01Z- AHRS_M2 msg: 1633895221.57 epoch sec; seqNo:725 2021-10-10T19:47:01Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:01Z- handleDepth()-Depth_Keller msg: 1633895221573 epoch sec; seqNo:758; depth 30.11 2021-10-10T19:47:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895221.58 epoch sec; seqNo:758; 4061558.73 north; 594322.18 east 2021-10-10T19:47:01Z- AHRS_M2 msg: 1633895221.97 epoch sec; seqNo:726 2021-10-10T19:47:01Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:01Z- handleDepth()-Depth_Keller msg: 1633895221980 epoch sec; seqNo:759; depth 30.20 2021-10-10T19:47:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:01Z- handleDvl() - RDI_Pathfinder msg: 1633895221.98 epoch sec; seqNo:305 2021-10-10T19:47:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895222.01 epoch sec; seqNo:759; 4061559.11 north; 594322.17 east 2021-10-10T19:47:02Z- AHRS_M2 msg: 1633895222.37 epoch sec; seqNo:727 2021-10-10T19:47:02Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:02Z- handleDepth()-Depth_Keller msg: 1633895222378 epoch sec; seqNo:760; depth 30.28 2021-10-10T19:47:02Z- handleDvl() - RDI_Pathfinder msg: 1633895222.40 epoch sec; seqNo:306 2021-10-10T19:47:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.81 , 75.38 , 57.35 , 0.00 2021-10-10T19:47:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.00 2021-10-10T19:47:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895222.44 epoch sec; seqNo:760; 4061559.11 north; 594322.17 east 2021-10-10T19:47:02Z- LcmTrn::handleMessages() - handling 44 messages took 0.73 ms and 129 calls... 2021-10-10T19:47:02Z- waiting for 1633895220.53, time is 1633895222.44 2021-10-10T19:47:02Z- LcmTrn::updateTrn() equating pose 1633895222.44 and meas times 1633895222.44 2021-10-10T19:47:02Z- LcmTrn::updateTrn() >>>> pose time 1633895222.44, meas time 1633895222.44 <<<< 2021-10-10T19:47:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895222.44 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:02Z- TerrainNav::motionUpdate() - currEstimate = (4061559, 594322.17, 30.28) 2021-10-10T19:47:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:02Z- TerrainNav:: SubcloudNIS is 1.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:02Z- TNavBF::Projecting Measurements 2021-10-10T19:47:02Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:47:02Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:47:02Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:47:02Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T19:47:02Z- TNavFilter::3 good beams. 2021-10-10T19:47:02Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:47:02Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:47:02Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:47:02Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:47:02Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:47:02Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T19:47:02Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:47:02Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:02Z- TerrainMapOctree: (vehN, vehE ) = (4061559.11, 594322.17). 2021-10-10T19:47:02Z- TerrainMapOctree: Min Distance = 204.08. 2021-10-10T19:47:02Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:47:02Z- Forcing Subcloud Comparison 2021-10-10T19:47:02Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:47:02Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:02Z- Filter 0 partialDeltaRmsComputation: 69.707179 terrainVariance: 0.194629 1-SumSquareWeights: 0.997939 2021-10-10T19:47:02Z- Filter 0 meanExpectedMeasDiff: 8.337419 delta_rms_squared: 0.184650 alpha: 0.902272 2021-10-10T19:47:02Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:02Z- Filter 0 partialDeltaRmsComputation: 57.736667 terrainVariance: 0.291960 1-SumSquareWeights: 0.997939 2021-10-10T19:47:02Z- Filter 0 meanExpectedMeasDiff: -7.579229 delta_rms_squared: 0.281980 alpha: 0.933771 2021-10-10T19:47:02Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:02Z- Filter 0 partialDeltaRmsComputation: 18.048835 terrainVariance: 0.202998 1-SumSquareWeights: 0.997939 2021-10-10T19:47:02Z- Filter 0 meanExpectedMeasDiff: -4.224433 delta_rms_squared: 0.193019 alpha: 0.906112 2021-10-10T19:47:02Z- Filter 0 SubcloudNIS: 1.514021 2021-10-10T19:47:02Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:47:02Z- TNavBF:: Filter 0 sumWeights = 0.000860 2021-10-10T19:47:02Z- Filter 0 NorthBias: -12.4 EastBias: 42.1 DepthBias: -10.6 NorthVariance: 268.3 EastVariance: 90.4 DepthVariance: 1.0 this->DepthBiasCov: 0.8 2021-10-10T19:47:02Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895222.44 sec. 2021-10-10T19:47:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:02Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:02Z- variances([0], [2], and psi_berg) = 268.318100 90.387209 0.000000 2021-10-10T19:47:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-10T19:47:02Z- LcmTrn::publishEstimates() - MLE : 4061563.61 594371.67 30.28 2021-10-10T19:47:02Z- LcmTrn::publishEstimates() - MMSE : 4061546.70 594364.24 19.69 2021-10-10T19:47:02Z- LcmTrn::publishEstimates() - COVAR: 268.32 90.39 1.05 0.00 2021-10-10T19:47:02Z- AHRS_M2 msg: 1633895222.78 epoch sec; seqNo:728 2021-10-10T19:47:02Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:02Z- handleDepth()-Depth_Keller msg: 1633895222788 epoch sec; seqNo:761; depth 30.37 2021-10-10T19:47:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895222.80 epoch sec; seqNo:761; 4061559.13 north; 594323.39 east 2021-10-10T19:47:03Z- AHRS_M2 msg: 1633895223.18 epoch sec; seqNo:729 2021-10-10T19:47:03Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 1.02 psi 2021-10-10T19:47:03Z- handleDepth()-Depth_Keller msg: 1633895223186 epoch sec; seqNo:762; depth 30.45 2021-10-10T19:47:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:03Z- handleDvl() - RDI_Pathfinder msg: 1633895223.19 epoch sec; seqNo:307 2021-10-10T19:47:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.00 2021-10-10T19:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895223.21 epoch sec; seqNo:762; 4061559.51 north; 594323.39 east 2021-10-10T19:47:03Z- AHRS_M2 msg: 1633895223.59 epoch sec; seqNo:730 2021-10-10T19:47:03Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:03Z- handleDepth()-Depth_Keller msg: 1633895223592 epoch sec; seqNo:763; depth 30.53 2021-10-10T19:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895223.61 epoch sec; seqNo:763; 4061559.51 north; 594323.39 east 2021-10-10T19:47:04Z- AHRS_M2 msg: 1633895223.99 epoch sec; seqNo:731 2021-10-10T19:47:04Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:04Z- handleDepth()-Depth_Keller msg: 1633895224002 epoch sec; seqNo:764; depth 30.60 2021-10-10T19:47:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895224.02 epoch sec; seqNo:764; 4061559.88 north; 594323.38 east 2021-10-10T19:47:04Z- AHRS_M2 msg: 1633895224.39 epoch sec; seqNo:732 2021-10-10T19:47:04Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:04Z- handleDepth()-Depth_Keller msg: 1633895224397 epoch sec; seqNo:765; depth 30.69 2021-10-10T19:47:04Z- handleDvl() - RDI_Pathfinder msg: 1633895224.42 epoch sec; seqNo:308 2021-10-10T19:47:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.61 , 74.97 , 57.15 , 0.00 2021-10-10T19:47:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.06 , -0.00 2021-10-10T19:47:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895224.45 epoch sec; seqNo:765; 4061559.88 north; 594323.38 east 2021-10-10T19:47:04Z- AHRS_M2 msg: 1633895224.80 epoch sec; seqNo:733 2021-10-10T19:47:04Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:04Z- handleDepth()-Depth_Keller msg: 1633895224805 epoch sec; seqNo:766; depth 30.78 2021-10-10T19:47:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895224.83 epoch sec; seqNo:766; 4061560.26 north; 594323.38 east 2021-10-10T19:47:05Z- AHRS_M2 msg: 1633895225.20 epoch sec; seqNo:734 2021-10-10T19:47:05Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:05Z- handleDepth()-Depth_Keller msg: 1633895225212 epoch sec; seqNo:767; depth 30.85 2021-10-10T19:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895225.24 epoch sec; seqNo:767; 4061560.28 north; 594324.60 east 2021-10-10T19:47:05Z- AHRS_M2 msg: 1633895225.61 epoch sec; seqNo:735 2021-10-10T19:47:05Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:05Z- handleDepth()-Depth_Keller msg: 1633895225616 epoch sec; seqNo:768; depth 30.93 2021-10-10T19:47:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:05Z- handleDvl() - RDI_Pathfinder msg: 1633895225.62 epoch sec; seqNo:309 2021-10-10T19:47:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.06 , -0.00 2021-10-10T19:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895225.63 epoch sec; seqNo:768; 4061560.66 north; 594324.60 east 2021-10-10T19:47:06Z- AHRS_M2 msg: 1633895226.01 epoch sec; seqNo:736 2021-10-10T19:47:06Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:06Z- handleDepth()-Depth_Keller msg: 1633895226017 epoch sec; seqNo:769; depth 31.02 2021-10-10T19:47:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895226.03 epoch sec; seqNo:769; 4061560.66 north; 594324.60 east 2021-10-10T19:47:06Z- AHRS_M2 msg: 1633895226.41 epoch sec; seqNo:737 2021-10-10T19:47:06Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:06Z- handleDepth()-Depth_Keller msg: 1633895226418 epoch sec; seqNo:770; depth 31.10 2021-10-10T19:47:06Z- handleDvl() - RDI_Pathfinder msg: 1633895226.45 epoch sec; seqNo:310 2021-10-10T19:47:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.60 , 74.66 , 56.84 , 78.65 2021-10-10T19:47:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , 0.00 2021-10-10T19:47:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895226.46 epoch sec; seqNo:770; 4061561.03 north; 594324.59 east 2021-10-10T19:47:06Z- AHRS_M2 msg: 1633895226.82 epoch sec; seqNo:738 2021-10-10T19:47:06Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:06Z- handleDepth()-Depth_Keller msg: 1633895226828 epoch sec; seqNo:771; depth 31.19 2021-10-10T19:47:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:06Z- handleDvl() - RDI_Pathfinder msg: 1633895226.83 epoch sec; seqNo:311 2021-10-10T19:47:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , 0.00 2021-10-10T19:47:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895226.86 epoch sec; seqNo:771; 4061561.03 north; 594324.59 east 2021-10-10T19:47:07Z- AHRS_M2 msg: 1633895227.22 epoch sec; seqNo:739 2021-10-10T19:47:07Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:07Z- handleDepth()-Depth_Keller msg: 1633895227226 epoch sec; seqNo:772; depth 31.27 2021-10-10T19:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895227.24 epoch sec; seqNo:772; 4061561.05 north; 594325.81 east 2021-10-10T19:47:07Z- AHRS_M2 msg: 1633895227.63 epoch sec; seqNo:740 2021-10-10T19:47:07Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:07Z- handleDepth()-Depth_Keller msg: 1633895227639 epoch sec; seqNo:773; depth 31.35 2021-10-10T19:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895227.65 epoch sec; seqNo:773; 4061561.43 north; 594325.81 east 2021-10-10T19:47:07Z- LcmTrn::handleMessages() - handling 44 messages took 0.65 ms and 131 calls... 2021-10-10T19:47:07Z- waiting for 1633895225.44, time is 1633895227.65 2021-10-10T19:47:07Z- LcmTrn::updateTrn() >>>> pose time 1633895227.65, meas time 1633895226.83 <<<< 2021-10-10T19:47:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895226.83, ping # 0. 2021-10-10T19:47:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895226.83 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:07Z- TerrainNav::motionUpdate() - currEstimate = (4061561, 594325.81, 31.35) 2021-10-10T19:47:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:07Z- TerrainNav:: SubcloudNIS of 1.51 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-10T19:47:07Z- reinitFilter: getDistribToSave == 0 2021-10-10T19:47:07Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T19:47:07Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T19:47:07Z- Sensor 0 is of type 1. 2021-10-10T19:47:07Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T19:47:07Z- Sensor 1 is of type 2. 2021-10-10T19:47:07Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T19:47:07Z- Sensor 2 is of type 5. 2021-10-10T19:47:07Z- Random noise maker initialized with 1633895227 2021-10-10T19:47:07Z- setDistribToSave(0) 2021-10-10T19:47:07Z- setDistribToSave set to 0 2021-10-10T19:47:07Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T19:47:07Z- Sensor #1: 2021-10-10T19:47:07Z- Sensor name: rdiDVL 2021-10-10T19:47:07Z- Sensor type: 1 2021-10-10T19:47:07Z- Number of beams per measurement: 4 2021-10-10T19:47:07Z- Sensor #1 to vehicle transformation information: 2021-10-10T19:47:07Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:47:07Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:47:07Z- 2021-10-10T19:47:07Z- Sensor #2: 2021-10-10T19:47:07Z- Sensor name: resonSeabat8101 2021-10-10T19:47:07Z- Sensor type: 2 2021-10-10T19:47:07Z- Number of beams per measurement: 11 2021-10-10T19:47:07Z- Sensor #2 to vehicle transformation information: 2021-10-10T19:47:07Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:47:07Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:47:07Z- 2021-10-10T19:47:07Z- Sensor #3: 2021-10-10T19:47:07Z- Sensor name: imagenexdeltat 2021-10-10T19:47:07Z- Sensor type: 5 2021-10-10T19:47:07Z- Number of beams per measurement: 120 2021-10-10T19:47:07Z- Sensor #3 to vehicle transformation information: 2021-10-10T19:47:07Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:47:07Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:47:07Z- 2021-10-10T19:47:07Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T19:47:07Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T19:47:07Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T19:47:07Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T19:47:07Z- TNavBF::numFilters: 1 2021-10-10T19:47:07Z- TerrainNav::modified weighting set to 0 2021-10-10T19:47:07Z- setDistribToSave(0) 2021-10-10T19:47:07Z- setDistribToSave set to 0 2021-10-10T19:47:07Z- TerrainNav::motionUpdate() - filter unhealthy, skipping this update 2021-10-10T19:47:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T19:47:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T19:47:07Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:07Z- LcmTrn::publishEstimates() - MLE : 4061563.61 594371.67 30.28 2021-10-10T19:47:07Z- LcmTrn::publishEstimates() - MMSE : 4061546.70 594364.24 19.69 2021-10-10T19:47:07Z- LcmTrn::publishEstimates() - COVAR: 268.32 90.39 1.05 0.00 2021-10-10T19:47:08Z- AHRS_M2 msg: 1633895228.03 epoch sec; seqNo:741 2021-10-10T19:47:08Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:08Z- handleDepth()-Depth_Keller msg: 1633895228039 epoch sec; seqNo:774; depth 31.44 2021-10-10T19:47:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:08Z- handleDvl() - RDI_Pathfinder msg: 1633895228.04 epoch sec; seqNo:312 2021-10-10T19:47:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , 0.00 2021-10-10T19:47:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895228.05 epoch sec; seqNo:774; 4061561.43 north; 594325.81 east 2021-10-10T19:47:08Z- AHRS_M2 msg: 1633895228.43 epoch sec; seqNo:742 2021-10-10T19:47:08Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:08Z- handleDepth()-Depth_Keller msg: 1633895228440 epoch sec; seqNo:775; depth 31.52 2021-10-10T19:47:08Z- handleDvl() - RDI_Pathfinder msg: 1633895228.46 epoch sec; seqNo:313 2021-10-10T19:47:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.70 , 74.26 , 56.10 , 0.00 2021-10-10T19:47:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.04 , -0.03 2021-10-10T19:47:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895228.51 epoch sec; seqNo:775; 4061561.81 north; 594325.80 east 2021-10-10T19:47:08Z- AHRS_M2 msg: 1633895228.84 epoch sec; seqNo:743 2021-10-10T19:47:08Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.03 psi 2021-10-10T19:47:08Z- handleDepth()-Depth_Keller msg: 1633895228855 epoch sec; seqNo:776; depth 31.61 2021-10-10T19:47:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895228.88 epoch sec; seqNo:776; 4061561.81 north; 594325.80 east 2021-10-10T19:47:09Z- AHRS_M2 msg: 1633895229.24 epoch sec; seqNo:744 2021-10-10T19:47:09Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.03 psi 2021-10-10T19:47:09Z- handleDepth()-Depth_Keller msg: 1633895229245 epoch sec; seqNo:777; depth 31.69 2021-10-10T19:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895229.27 epoch sec; seqNo:777; 4061562.20 north; 594327.02 east 2021-10-10T19:47:09Z- AHRS_M2 msg: 1633895229.65 epoch sec; seqNo:745 2021-10-10T19:47:09Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.03 psi 2021-10-10T19:47:09Z- handleDepth()-Depth_Keller msg: 1633895229661 epoch sec; seqNo:778; depth 31.76 2021-10-10T19:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895229.69 epoch sec; seqNo:778; 4061562.20 north; 594327.02 east 2021-10-10T19:47:10Z- AHRS_M2 msg: 1633895230.05 epoch sec; seqNo:746 2021-10-10T19:47:10Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.03 psi 2021-10-10T19:47:10Z- handleDepth()-Depth_Keller msg: 1633895230053 epoch sec; seqNo:779; depth 31.85 2021-10-10T19:47:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895230.06 epoch sec; seqNo:779; 4061562.20 north; 594327.02 east 2021-10-10T19:47:10Z- AHRS_M2 msg: 1633895230.45 epoch sec; seqNo:747 2021-10-10T19:47:10Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.03 psi 2021-10-10T19:47:10Z- handleDepth()-Depth_Keller msg: 1633895230459 epoch sec; seqNo:780; depth 31.94 2021-10-10T19:47:10Z- handleDvl() - RDI_Pathfinder msg: 1633895230.48 epoch sec; seqNo:314 2021-10-10T19:47:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 58.32 , 0.00 , 56.00 , 0.00 2021-10-10T19:47:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895230.50 epoch sec; seqNo:780; 4061562.58 north; 594327.02 east 2021-10-10T19:47:10Z- AHRS_M2 msg: 1633895230.86 epoch sec; seqNo:748 2021-10-10T19:47:10Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.03 psi 2021-10-10T19:47:10Z- handleDepth()-Depth_Keller msg: 1633895230876 epoch sec; seqNo:781; depth 32.03 2021-10-10T19:47:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895230.91 epoch sec; seqNo:781; 4061562.58 north; 594327.02 east 2021-10-10T19:47:11Z- AHRS_M2 msg: 1633895231.26 epoch sec; seqNo:749 2021-10-10T19:47:11Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.03 psi 2021-10-10T19:47:11Z- handleDepth()-Depth_Keller msg: 1633895231269 epoch sec; seqNo:782; depth 32.10 2021-10-10T19:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895231.29 epoch sec; seqNo:782; 4061562.96 north; 594327.01 east 2021-10-10T19:47:11Z- AHRS_M2 msg: 1633895231.67 epoch sec; seqNo:750 2021-10-10T19:47:11Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:11Z- handleDepth()-Depth_Keller msg: 1633895231671 epoch sec; seqNo:783; depth 32.19 2021-10-10T19:47:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:11Z- handleDvl() - RDI_Pathfinder msg: 1633895231.67 epoch sec; seqNo:315 2021-10-10T19:47:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895231.68 epoch sec; seqNo:783; 4061562.97 north; 594328.23 east 2021-10-10T19:47:12Z- AHRS_M2 msg: 1633895232.07 epoch sec; seqNo:751 2021-10-10T19:47:12Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:12Z- handleDepth()-Depth_Keller msg: 1633895232074 epoch sec; seqNo:784; depth 32.25 2021-10-10T19:47:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895232.09 epoch sec; seqNo:784; 4061563.35 north; 594328.23 east 2021-10-10T19:47:12Z- AHRS_M2 msg: 1633895232.47 epoch sec; seqNo:752 2021-10-10T19:47:12Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:12Z- handleDepth()-Depth_Keller msg: 1633895232480 epoch sec; seqNo:785; depth 32.35 2021-10-10T19:47:12Z- handleDvl() - RDI_Pathfinder msg: 1633895232.50 epoch sec; seqNo:316 2021-10-10T19:47:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.31 , 73.01 , 54.95 , 0.00 2021-10-10T19:47:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.10 , -0.04 2021-10-10T19:47:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895232.54 epoch sec; seqNo:785; 4061563.35 north; 594328.23 east 2021-10-10T19:47:12Z- AHRS_M2 msg: 1633895232.88 epoch sec; seqNo:753 2021-10-10T19:47:12Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:12Z- handleDepth()-Depth_Keller msg: 1633895232885 epoch sec; seqNo:786; depth 32.46 2021-10-10T19:47:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:12Z- handleDvl() - RDI_Pathfinder msg: 1633895232.89 epoch sec; seqNo:317 2021-10-10T19:47:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.10 , -0.04 2021-10-10T19:47:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895232.90 epoch sec; seqNo:786; 4061563.35 north; 594328.23 east 2021-10-10T19:47:12Z- LcmTrn::handleMessages() - handling 45 messages took 0.75 ms and 130 calls... 2021-10-10T19:47:12Z- waiting for 1633895230.65, time is 1633895232.90 2021-10-10T19:47:12Z- LcmTrn::updateTrn() equating pose 1633895232.90 and meas times 1633895232.90 2021-10-10T19:47:12Z- LcmTrn::updateTrn() >>>> pose time 1633895232.90, meas time 1633895232.90 <<<< 2021-10-10T19:47:12Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895232.90, ping # 0. 2021-10-10T19:47:12Z- TerrainNav::Measurement type 1 from time = 1633895232.90 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T19:47:12Z- TerrainNav::motionUpdate() - currEstimate = (4061563, 594328.23, 32.46) 2021-10-10T19:47:12Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2021-10-10T19:47:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T19:47:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T19:47:12Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:12Z- LcmTrn::publishEstimates() - MLE : 4061563.61 594371.67 30.28 2021-10-10T19:47:12Z- LcmTrn::publishEstimates() - MMSE : 4061546.70 594364.24 19.69 2021-10-10T19:47:12Z- LcmTrn::publishEstimates() - COVAR: 268.32 90.39 1.05 0.00 2021-10-10T19:47:13Z- AHRS_M2 msg: 1633895233.29 epoch sec; seqNo:754 2021-10-10T19:47:13Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.02 psi 2021-10-10T19:47:13Z- handleDepth()-Depth_Keller msg: 1633895233304 epoch sec; seqNo:787; depth 32.54 2021-10-10T19:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895233.32 epoch sec; seqNo:787; 4061563.73 north; 594328.22 east 2021-10-10T19:47:13Z- AHRS_M2 msg: 1633895233.69 epoch sec; seqNo:755 2021-10-10T19:47:13Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.01 psi 2021-10-10T19:47:13Z- handleDepth()-Depth_Keller msg: 1633895233690 epoch sec; seqNo:788; depth 32.62 2021-10-10T19:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895233.70 epoch sec; seqNo:788; 4061563.74 north; 594329.44 east 2021-10-10T19:47:14Z- AHRS_M2 msg: 1633895234.09 epoch sec; seqNo:756 2021-10-10T19:47:14Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 1.01 psi 2021-10-10T19:47:14Z- handleDepth()-Depth_Keller msg: 1633895234100 epoch sec; seqNo:789; depth 32.69 2021-10-10T19:47:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:14Z- handleDvl() - RDI_Pathfinder msg: 1633895234.10 epoch sec; seqNo:318 2021-10-10T19:47:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.10 , -0.04 2021-10-10T19:47:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895234.11 epoch sec; seqNo:789; 4061564.12 north; 594329.44 east 2021-10-10T19:47:14Z- AHRS_M2 msg: 1633895234.49 epoch sec; seqNo:757 2021-10-10T19:47:14Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:14Z- handleDepth()-Depth_Keller msg: 1633895234498 epoch sec; seqNo:790; depth 32.78 2021-10-10T19:47:14Z- handleDvl() - RDI_Pathfinder msg: 1633895234.54 epoch sec; seqNo:319 2021-10-10T19:47:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.45 , 72.24 , 55.12 , 76.01 2021-10-10T19:47:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.04 , 0.00 2021-10-10T19:47:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895234.56 epoch sec; seqNo:790; 4061564.12 north; 594329.44 east 2021-10-10T19:47:14Z- AHRS_M2 msg: 1633895234.90 epoch sec; seqNo:758 2021-10-10T19:47:14Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:14Z- handleDepth()-Depth_Keller msg: 1633895234903 epoch sec; seqNo:791; depth 32.87 2021-10-10T19:47:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895234.92 epoch sec; seqNo:791; 4061564.50 north; 594329.44 east 2021-10-10T19:47:15Z- AHRS_M2 msg: 1633895235.31 epoch sec; seqNo:759 2021-10-10T19:47:15Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:15Z- handleDepth()-Depth_Keller msg: 1633895235316 epoch sec; seqNo:792; depth 32.94 2021-10-10T19:47:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895235.33 epoch sec; seqNo:792; 4061564.50 north; 594329.44 east 2021-10-10T19:47:15Z- AHRS_M2 msg: 1633895235.71 epoch sec; seqNo:760 2021-10-10T19:47:15Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:15Z- handleDepth()-Depth_Keller msg: 1633895235724 epoch sec; seqNo:793; depth 33.04 2021-10-10T19:47:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895235.74 epoch sec; seqNo:793; 4061564.50 north; 594329.44 east 2021-10-10T19:47:16Z- AHRS_M2 msg: 1633895236.11 epoch sec; seqNo:761 2021-10-10T19:47:16Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:16Z- handleDepth()-Depth_Keller msg: 1633895236113 epoch sec; seqNo:794; depth 33.12 2021-10-10T19:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895236.12 epoch sec; seqNo:794; 4061564.89 north; 594330.65 east 2021-10-10T19:47:16Z- AHRS_M2 msg: 1633895236.51 epoch sec; seqNo:762 2021-10-10T19:47:16Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:16Z- handleDepth()-Depth_Keller msg: 1633895236518 epoch sec; seqNo:795; depth 33.20 2021-10-10T19:47:16Z- handleDvl() - RDI_Pathfinder msg: 1633895236.55 epoch sec; seqNo:320 2021-10-10T19:47:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.83 , 71.88 , 54.68 , 0.00 2021-10-10T19:47:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.01 , 0.00 2021-10-10T19:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895236.58 epoch sec; seqNo:795; 4061564.89 north; 594330.65 east 2021-10-10T19:47:16Z- AHRS_M2 msg: 1633895236.92 epoch sec; seqNo:763 2021-10-10T19:47:16Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:16Z- handleDepth()-Depth_Keller msg: 1633895236924 epoch sec; seqNo:796; depth 33.30 2021-10-10T19:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895236.96 epoch sec; seqNo:796; 4061565.27 north; 594330.65 east 2021-10-10T19:47:17Z- AHRS_M2 msg: 1633895237.33 epoch sec; seqNo:764 2021-10-10T19:47:17Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:17Z- handleDepth()-Depth_Keller msg: 1633895237337 epoch sec; seqNo:797; depth 33.37 2021-10-10T19:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895237.35 epoch sec; seqNo:797; 4061565.27 north; 594330.65 east 2021-10-10T19:47:17Z- AHRS_M2 msg: 1633895237.74 epoch sec; seqNo:765 2021-10-10T19:47:17Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:17Z- handleDepth()-Depth_Keller msg: 1633895237744 epoch sec; seqNo:798; depth 33.44 2021-10-10T19:47:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:17Z- handleDvl() - RDI_Pathfinder msg: 1633895237.75 epoch sec; seqNo:321 2021-10-10T19:47:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.01 , 0.00 2021-10-10T19:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895237.76 epoch sec; seqNo:798; 4061565.27 north; 594330.65 east 2021-10-10T19:47:17Z- LcmTrn::handleMessages() - handling 40 messages took 0.72 ms and 125 calls... 2021-10-10T19:47:17Z- waiting for 1633895235.90, time is 1633895237.76 2021-10-10T19:47:17Z- LcmTrn::updateTrn() equating pose 1633895237.76 and meas times 1633895237.76 2021-10-10T19:47:17Z- LcmTrn::updateTrn() >>>> pose time 1633895237.76, meas time 1633895237.76 <<<< 2021-10-10T19:47:17Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895237.76, ping # 0. 2021-10-10T19:47:17Z- TerrainNav::Measurement type 1 from time = 1633895237.76 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-10T19:47:17Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594330.65, 33.44) 2021-10-10T19:47:17Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2021-10-10T19:47:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T19:47:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-10T19:47:17Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:17Z- LcmTrn::publishEstimates() - MLE : 4061563.61 594371.67 30.28 2021-10-10T19:47:17Z- LcmTrn::publishEstimates() - MMSE : 4061546.70 594364.24 19.69 2021-10-10T19:47:17Z- LcmTrn::publishEstimates() - COVAR: 268.32 90.39 1.05 0.00 2021-10-10T19:47:18Z- AHRS_M2 msg: 1633895238.14 epoch sec; seqNo:766 2021-10-10T19:47:18Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:18Z- handleDepth()-Depth_Keller msg: 1633895238140 epoch sec; seqNo:799; depth 33.53 2021-10-10T19:47:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895238.16 epoch sec; seqNo:799; 4061565.66 north; 594331.86 east 2021-10-10T19:47:18Z- AHRS_M2 msg: 1633895238.53 epoch sec; seqNo:767 2021-10-10T19:47:18Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 1.01 psi 2021-10-10T19:47:18Z- handleDepth()-Depth_Keller msg: 1633895238538 epoch sec; seqNo:800; depth 33.61 2021-10-10T19:47:18Z- handleDvl() - RDI_Pathfinder msg: 1633895238.58 epoch sec; seqNo:322 2021-10-10T19:47:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 56.28 , 0.00 , 54.24 , 0.00 2021-10-10T19:47:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895238.59 epoch sec; seqNo:800; 4061565.66 north; 594331.86 east 2021-10-10T19:47:18Z- AHRS_M2 msg: 1633895238.94 epoch sec; seqNo:768 2021-10-10T19:47:18Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:18Z- handleDepth()-Depth_Keller msg: 1633895238943 epoch sec; seqNo:801; depth 33.70 2021-10-10T19:47:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:18Z- handleDvl() - RDI_Pathfinder msg: 1633895238.95 epoch sec; seqNo:323 2021-10-10T19:47:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895238.96 epoch sec; seqNo:801; 4061566.04 north; 594331.86 east 2021-10-10T19:47:19Z- AHRS_M2 msg: 1633895239.34 epoch sec; seqNo:769 2021-10-10T19:47:19Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:19Z- handleDepth()-Depth_Keller msg: 1633895239346 epoch sec; seqNo:802; depth 33.78 2021-10-10T19:47:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895239.37 epoch sec; seqNo:802; 4061566.04 north; 594331.86 east 2021-10-10T19:47:19Z- AHRS_M2 msg: 1633895239.75 epoch sec; seqNo:770 2021-10-10T19:47:19Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:19Z- handleDepth()-Depth_Keller msg: 1633895239752 epoch sec; seqNo:803; depth 33.86 2021-10-10T19:47:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895239.76 epoch sec; seqNo:803; 4061566.04 north; 594331.86 east 2021-10-10T19:47:20Z- AHRS_M2 msg: 1633895240.15 epoch sec; seqNo:771 2021-10-10T19:47:20Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:20Z- handleDepth()-Depth_Keller msg: 1633895240161 epoch sec; seqNo:804; depth 33.94 2021-10-10T19:47:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:20Z- handleDvl() - RDI_Pathfinder msg: 1633895240.16 epoch sec; seqNo:324 2021-10-10T19:47:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:20Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-10T19:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895240.17 epoch sec; seqNo:804; 4061566.42 north; 594331.86 east 2021-10-10T19:47:20Z- AHRS_M2 msg: 1633895240.57 epoch sec; seqNo:772 2021-10-10T19:47:20Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:20Z- handleDepth()-Depth_Keller msg: 1633895240569 epoch sec; seqNo:805; depth 34.02 2021-10-10T19:47:20Z- handleDvl() - RDI_Pathfinder msg: 1633895240.59 epoch sec; seqNo:325 2021-10-10T19:47:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.93 , 70.95 , 54.06 , 73.58 2021-10-10T19:47:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.01 2021-10-10T19:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895240.63 epoch sec; seqNo:805; 4061566.43 north; 594333.08 east 2021-10-10T19:47:20Z- AHRS_M2 msg: 1633895240.96 epoch sec; seqNo:773 2021-10-10T19:47:20Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:20Z- handleDepth()-Depth_Keller msg: 1633895240973 epoch sec; seqNo:806; depth 34.10 2021-10-10T19:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895240.99 epoch sec; seqNo:806; 4061566.81 north; 594333.07 east 2021-10-10T19:47:21Z- AHRS_M2 msg: 1633895241.36 epoch sec; seqNo:774 2021-10-10T19:47:21Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:21Z- handleDepth()-Depth_Keller msg: 1633895241368 epoch sec; seqNo:807; depth 34.17 2021-10-10T19:47:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:21Z- handleDvl() - RDI_Pathfinder msg: 1633895241.37 epoch sec; seqNo:326 2021-10-10T19:47:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.01 2021-10-10T19:47:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895241.38 epoch sec; seqNo:807; 4061566.81 north; 594333.07 east 2021-10-10T19:47:21Z- AHRS_M2 msg: 1633895241.77 epoch sec; seqNo:775 2021-10-10T19:47:21Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:21Z- handleDepth()-Depth_Keller msg: 1633895241773 epoch sec; seqNo:808; depth 34.26 2021-10-10T19:47:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895241.79 epoch sec; seqNo:808; 4061567.19 north; 594333.07 east 2021-10-10T19:47:22Z- AHRS_M2 msg: 1633895242.17 epoch sec; seqNo:776 2021-10-10T19:47:22Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:22Z- handleDepth()-Depth_Keller msg: 1633895242180 epoch sec; seqNo:809; depth 34.32 2021-10-10T19:47:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895242.23 epoch sec; seqNo:809; 4061567.19 north; 594333.07 east 2021-10-10T19:47:22Z- AHRS_M2 msg: 1633895242.59 epoch sec; seqNo:777 2021-10-10T19:47:22Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:22Z- handleDepth()-Depth_Keller msg: 1633895242589 epoch sec; seqNo:810; depth 34.42 2021-10-10T19:47:22Z- handleDvl() - RDI_Pathfinder msg: 1633895242.61 epoch sec; seqNo:327 2021-10-10T19:47:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.69 , 70.20 , 53.95 , 72.81 2021-10-10T19:47:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , -0.01 2021-10-10T19:47:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895242.64 epoch sec; seqNo:810; 4061567.58 north; 594334.28 east 2021-10-10T19:47:22Z- AHRS_M2 msg: 1633895242.98 epoch sec; seqNo:778 2021-10-10T19:47:22Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:22Z- LcmTrn::handleMessages() - handling 43 messages took 0.77 ms and 127 calls... 2021-10-10T19:47:22Z- waiting for 1633895240.76, time is 1633895242.98 2021-10-10T19:47:22Z- LcmTrn::updateTrn() >>>> pose time 1633895242.98, meas time 1633895242.61 <<<< 2021-10-10T19:47:22Z- TerrainNav::Measurement type 1 from time = 1633895242.61 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-10T19:47:22Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594334.28, 34.42) 2021-10-10T19:47:22Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-10T19:47:22Z- TNavBF: Successfully initialized particles 2021-10-10T19:47:22Z- TerrainNav:: vehicle motion has been initialized 2021-10-10T19:47:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:22Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:22Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-10T19:47:22Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:22Z- LcmTrn::publishEstimates() - MLE : 4061518.08 594284.78 34.42 2021-10-10T19:47:22Z- LcmTrn::publishEstimates() - MMSE : 4061567.58 594334.28 34.42 2021-10-10T19:47:22Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-10T19:47:22Z- handleDepth()-Depth_Keller msg: 1633895242988 epoch sec; seqNo:811; depth 34.48 2021-10-10T19:47:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895243.02 epoch sec; seqNo:811; 4061567.58 north; 594334.28 east 2021-10-10T19:47:23Z- AHRS_M2 msg: 1633895243.38 epoch sec; seqNo:779 2021-10-10T19:47:23Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:23Z- handleDepth()-Depth_Keller msg: 1633895243386 epoch sec; seqNo:812; depth 34.56 2021-10-10T19:47:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895243.40 epoch sec; seqNo:812; 4061567.96 north; 594334.28 east 2021-10-10T19:47:23Z- AHRS_M2 msg: 1633895243.79 epoch sec; seqNo:780 2021-10-10T19:47:23Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:23Z- handleDepth()-Depth_Keller msg: 1633895243796 epoch sec; seqNo:813; depth 34.63 2021-10-10T19:47:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:23Z- handleDvl() - RDI_Pathfinder msg: 1633895243.80 epoch sec; seqNo:328 2021-10-10T19:47:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , -0.01 2021-10-10T19:47:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895243.81 epoch sec; seqNo:813; 4061567.96 north; 594334.28 east 2021-10-10T19:47:24Z- AHRS_M2 msg: 1633895244.20 epoch sec; seqNo:781 2021-10-10T19:47:24Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:24Z- handleDepth()-Depth_Keller msg: 1633895244229 epoch sec; seqNo:814; depth 34.71 2021-10-10T19:47:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895244.28 epoch sec; seqNo:814; 4061568.34 north; 594334.28 east 2021-10-10T19:47:24Z- AHRS_M2 msg: 1633895244.59 epoch sec; seqNo:782 2021-10-10T19:47:24Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:24Z- handleDepth()-Depth_Keller msg: 1633895244598 epoch sec; seqNo:815; depth 34.80 2021-10-10T19:47:24Z- handleDvl() - RDI_Pathfinder msg: 1633895244.62 epoch sec; seqNo:329 2021-10-10T19:47:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.11 , 69.90 , 53.37 , 71.93 2021-10-10T19:47:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , -0.04 2021-10-10T19:47:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895244.65 epoch sec; seqNo:815; 4061568.35 north; 594335.50 east 2021-10-10T19:47:25Z- AHRS_M2 msg: 1633895245.00 epoch sec; seqNo:783 2021-10-10T19:47:25Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 1.01 psi 2021-10-10T19:47:25Z- handleDepth()-Depth_Keller msg: 1633895245003 epoch sec; seqNo:816; depth 34.87 2021-10-10T19:47:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:25Z- handleDvl() - RDI_Pathfinder msg: 1633895245.01 epoch sec; seqNo:330 2021-10-10T19:47:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , -0.04 2021-10-10T19:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895245.02 epoch sec; seqNo:816; 4061568.73 north; 594335.49 east 2021-10-10T19:47:25Z- AHRS_M2 msg: 1633895245.40 epoch sec; seqNo:784 2021-10-10T19:47:25Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.01 psi 2021-10-10T19:47:25Z- handleDepth()-Depth_Keller msg: 1633895245417 epoch sec; seqNo:817; depth 34.94 2021-10-10T19:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895245.44 epoch sec; seqNo:817; 4061568.73 north; 594335.49 east 2021-10-10T19:47:25Z- AHRS_M2 msg: 1633895245.81 epoch sec; seqNo:785 2021-10-10T19:47:25Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.01 psi 2021-10-10T19:47:25Z- handleDepth()-Depth_Keller msg: 1633895245813 epoch sec; seqNo:818; depth 35.01 2021-10-10T19:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895245.86 epoch sec; seqNo:818; 4061569.11 north; 594335.49 east 2021-10-10T19:47:26Z- AHRS_M2 msg: 1633895246.23 epoch sec; seqNo:786 2021-10-10T19:47:26Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.01 psi 2021-10-10T19:47:26Z- handleDepth()-Depth_Keller msg: 1633895246269 epoch sec; seqNo:819; depth 35.10 2021-10-10T19:47:26Z- handleDvl() - RDI_Pathfinder msg: 1633895246.31 epoch sec; seqNo:331 2021-10-10T19:47:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.53 , 68.45 , 52.79 , 0.00 2021-10-10T19:47:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.08 , -0.05 2021-10-10T19:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895246.32 epoch sec; seqNo:819; 4061569.11 north; 594335.49 east 2021-10-10T19:47:26Z- AHRS_M2 msg: 1633895246.62 epoch sec; seqNo:787 2021-10-10T19:47:26Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.00 psi 2021-10-10T19:47:26Z- handleDepth()-Depth_Keller msg: 1633895246626 epoch sec; seqNo:820; depth 35.18 2021-10-10T19:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895246.64 epoch sec; seqNo:820; 4061569.49 north; 594335.48 east 2021-10-10T19:47:27Z- AHRS_M2 msg: 1633895247.02 epoch sec; seqNo:788 2021-10-10T19:47:27Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 1.00 psi 2021-10-10T19:47:27Z- handleDepth()-Depth_Keller msg: 1633895247022 epoch sec; seqNo:821; depth 35.26 2021-10-10T19:47:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895247.04 epoch sec; seqNo:821; 4061569.50 north; 594336.70 east 2021-10-10T19:47:27Z- AHRS_M2 msg: 1633895247.42 epoch sec; seqNo:789 2021-10-10T19:47:27Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.00 psi 2021-10-10T19:47:27Z- handleDepth()-Depth_Keller msg: 1633895247426 epoch sec; seqNo:822; depth 35.32 2021-10-10T19:47:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895247.44 epoch sec; seqNo:822; 4061569.88 north; 594336.70 east 2021-10-10T19:47:27Z- AHRS_M2 msg: 1633895247.83 epoch sec; seqNo:790 2021-10-10T19:47:27Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.00 psi 2021-10-10T19:47:27Z- handleDepth()-Depth_Keller msg: 1633895247836 epoch sec; seqNo:823; depth 35.40 2021-10-10T19:47:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895247.85 epoch sec; seqNo:823; 4061569.88 north; 594336.70 east 2021-10-10T19:47:28Z- LcmTrn::handleMessages() - handling 42 messages took 0.77 ms and 126 calls... 2021-10-10T19:47:28Z- waiting for 1633895245.98, time is 1633895247.85 2021-10-10T19:47:28Z- LcmTrn::updateTrn() >>>> pose time 1633895247.85, meas time 1633895246.31 <<<< 2021-10-10T19:47:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895246.31 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:28Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594336.70, 35.40) 2021-10-10T19:47:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:28Z- TNavBF::Projecting Measurements 2021-10-10T19:47:28Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:47:28Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:47:28Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:47:28Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-10T19:47:28Z- TNavFilter::3 good beams. 2021-10-10T19:47:28Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:47:28Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:47:28Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:47:28Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:47:28Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:47:28Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-10T19:47:28Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:47:28Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:28Z- TerrainMapOctree: (vehN, vehE ) = (4061569.15, 594335.94). 2021-10-10T19:47:28Z- TerrainMapOctree: Min Distance = 200.23. 2021-10-10T19:47:28Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:47:28Z- Forcing Subcloud Comparison 2021-10-10T19:47:28Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:47:28Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:28Z- Filter 0 partialDeltaRmsComputation: 53.825200 terrainVariance: 0.767047 1-SumSquareWeights: 0.999900 2021-10-10T19:47:28Z- Filter 0 meanExpectedMeasDiff: 7.284103 delta_rms_squared: 0.757048 alpha: 0.974262 2021-10-10T19:47:28Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:28Z- Filter 0 partialDeltaRmsComputation: 53.922380 terrainVariance: 1.370521 1-SumSquareWeights: 0.999900 2021-10-10T19:47:28Z- Filter 0 meanExpectedMeasDiff: -7.249266 delta_rms_squared: 1.360522 alpha: 0.985513 2021-10-10T19:47:28Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:28Z- Filter 0 partialDeltaRmsComputation: 20.991771 terrainVariance: 0.444125 1-SumSquareWeights: 0.999900 2021-10-10T19:47:28Z- Filter 0 meanExpectedMeasDiff: -4.532951 delta_rms_squared: 0.434126 alpha: 0.955959 2021-10-10T19:47:28Z- Filter 0 SubcloudNIS: 0.083020 2021-10-10T19:47:28Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:47:28Z- TNavBF:: Filter 0 sumWeights = 0.002381 2021-10-10T19:47:28Z- Filter 0 NorthBias: -15.7 EastBias: -0.4 DepthBias: -10.5 NorthVariance: 615.4 EastVariance: 855.5 DepthVariance: 3.7 this->DepthBiasCov: 2.2 2021-10-10T19:47:28Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895246.31 sec. 2021-10-10T19:47:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:28Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:28Z- variances([0], [2], and psi_berg) = 615.195965 855.547678 0.000000 2021-10-10T19:47:28Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:28Z- LcmTrn::publishEstimates() - MLE : 4061521.38 594382.20 35.40 2021-10-10T19:47:28Z- LcmTrn::publishEstimates() - MMSE : 4061554.18 594336.27 24.91 2021-10-10T19:47:28Z- LcmTrn::publishEstimates() - COVAR: 615.20 855.55 3.74 0.00 2021-10-10T19:47:28Z- AHRS_M2 msg: 1633895248.27 epoch sec; seqNo:791 2021-10-10T19:47:28Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.00 psi 2021-10-10T19:47:28Z- handleDepth()-Depth_Keller msg: 1633895248286 epoch sec; seqNo:824; depth 35.48 2021-10-10T19:47:28Z- handleDvl() - RDI_Pathfinder msg: 1633895248.31 epoch sec; seqNo:332 2021-10-10T19:47:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.77 , 68.24 , 52.68 , 69.61 2021-10-10T19:47:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , -0.03 2021-10-10T19:47:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895248.35 epoch sec; seqNo:824; 4061570.26 north; 594336.70 east 2021-10-10T19:47:28Z- AHRS_M2 msg: 1633895248.63 epoch sec; seqNo:792 2021-10-10T19:47:28Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 1.00 psi 2021-10-10T19:47:28Z- handleDepth()-Depth_Keller msg: 1633895248638 epoch sec; seqNo:825; depth 35.57 2021-10-10T19:47:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895248.66 epoch sec; seqNo:825; 4061570.26 north; 594336.70 east 2021-10-10T19:47:29Z- AHRS_M2 msg: 1633895249.04 epoch sec; seqNo:793 2021-10-10T19:47:29Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.99 psi 2021-10-10T19:47:29Z- handleDepth()-Depth_Keller msg: 1633895249048 epoch sec; seqNo:826; depth 35.64 2021-10-10T19:47:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895249.06 epoch sec; seqNo:826; 4061570.27 north; 594337.92 east 2021-10-10T19:47:29Z- AHRS_M2 msg: 1633895249.44 epoch sec; seqNo:794 2021-10-10T19:47:29Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 0.99 psi 2021-10-10T19:47:29Z- handleDepth()-Depth_Keller msg: 1633895249445 epoch sec; seqNo:827; depth 35.70 2021-10-10T19:47:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895249.46 epoch sec; seqNo:827; 4061570.65 north; 594337.91 east 2021-10-10T19:47:29Z- AHRS_M2 msg: 1633895249.85 epoch sec; seqNo:795 2021-10-10T19:47:29Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.99 psi 2021-10-10T19:47:29Z- handleDepth()-Depth_Keller msg: 1633895249864 epoch sec; seqNo:828; depth 35.77 2021-10-10T19:47:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:29Z- handleDvl() - RDI_Pathfinder msg: 1633895249.87 epoch sec; seqNo:333 2021-10-10T19:47:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , -0.03 2021-10-10T19:47:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895249.88 epoch sec; seqNo:828; 4061570.65 north; 594337.91 east 2021-10-10T19:47:30Z- AHRS_M2 msg: 1633895250.28 epoch sec; seqNo:796 2021-10-10T19:47:30Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.99 psi 2021-10-10T19:47:30Z- handleDepth()-Depth_Keller msg: 1633895250290 epoch sec; seqNo:829; depth 35.86 2021-10-10T19:47:30Z- handleDvl() - RDI_Pathfinder msg: 1633895250.34 epoch sec; seqNo:334 2021-10-10T19:47:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.36 , 67.86 , 51.91 , 69.03 2021-10-10T19:47:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.04 , -0.02 2021-10-10T19:47:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895250.36 epoch sec; seqNo:829; 4061571.03 north; 594337.91 east 2021-10-10T19:47:30Z- AHRS_M2 msg: 1633895250.65 epoch sec; seqNo:797 2021-10-10T19:47:30Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 0.99 psi 2021-10-10T19:47:30Z- handleDepth()-Depth_Keller msg: 1633895250658 epoch sec; seqNo:830; depth 35.94 2021-10-10T19:47:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895250.67 epoch sec; seqNo:830; 4061571.03 north; 594337.91 east 2021-10-10T19:47:31Z- AHRS_M2 msg: 1633895251.07 epoch sec; seqNo:798 2021-10-10T19:47:31Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.99 psi 2021-10-10T19:47:31Z- handleDepth()-Depth_Keller msg: 1633895251075 epoch sec; seqNo:831; depth 35.99 2021-10-10T19:47:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:31Z- handleDvl() - RDI_Pathfinder msg: 1633895251.08 epoch sec; seqNo:335 2021-10-10T19:47:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.04 , -0.02 2021-10-10T19:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895251.09 epoch sec; seqNo:831; 4061571.42 north; 594339.12 east 2021-10-10T19:47:31Z- AHRS_M2 msg: 1633895251.46 epoch sec; seqNo:799 2021-10-10T19:47:31Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.99 psi 2021-10-10T19:47:31Z- handleDepth()-Depth_Keller msg: 1633895251466 epoch sec; seqNo:832; depth 36.08 2021-10-10T19:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895251.49 epoch sec; seqNo:832; 4061571.42 north; 594339.12 east 2021-10-10T19:47:31Z- AHRS_M2 msg: 1633895251.87 epoch sec; seqNo:800 2021-10-10T19:47:31Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 0.99 psi 2021-10-10T19:47:31Z- handleDepth()-Depth_Keller msg: 1633895251870 epoch sec; seqNo:833; depth 36.14 2021-10-10T19:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895251.88 epoch sec; seqNo:833; 4061571.80 north; 594339.12 east 2021-10-10T19:47:32Z- AHRS_M2 msg: 1633895252.28 epoch sec; seqNo:801 2021-10-10T19:47:32Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.99 psi 2021-10-10T19:47:32Z- handleDepth()-Depth_Keller msg: 1633895252289 epoch sec; seqNo:834; depth 36.22 2021-10-10T19:47:32Z- handleDvl() - RDI_Pathfinder msg: 1633895252.33 epoch sec; seqNo:336 2021-10-10T19:47:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.78 , 66.71 , 51.62 , 67.86 2021-10-10T19:47:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.03 , -0.01 2021-10-10T19:47:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895252.35 epoch sec; seqNo:834; 4061571.80 north; 594339.12 east 2021-10-10T19:47:32Z- AHRS_M2 msg: 1633895252.68 epoch sec; seqNo:802 2021-10-10T19:47:32Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.99 psi 2021-10-10T19:47:32Z- handleDepth()-Depth_Keller msg: 1633895252682 epoch sec; seqNo:835; depth 36.28 2021-10-10T19:47:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895252.70 epoch sec; seqNo:835; 4061571.80 north; 594339.12 east 2021-10-10T19:47:33Z- AHRS_M2 msg: 1633895253.08 epoch sec; seqNo:803 2021-10-10T19:47:33Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.99 psi 2021-10-10T19:47:33Z- handleDepth()-Depth_Keller msg: 1633895253090 epoch sec; seqNo:836; depth 36.36 2021-10-10T19:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895253.10 epoch sec; seqNo:836; 4061572.18 north; 594339.12 east 2021-10-10T19:47:33Z- LcmTrn::handleMessages() - handling 44 messages took 0.82 ms and 128 calls... 2021-10-10T19:47:33Z- waiting for 1633895250.85, time is 1633895253.10 2021-10-10T19:47:33Z- LcmTrn::updateTrn() >>>> pose time 1633895253.10, meas time 1633895252.33 <<<< 2021-10-10T19:47:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895252.33 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:33Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594339.12, 36.36) 2021-10-10T19:47:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:33Z- TerrainNav:: SubcloudNIS is 0.08, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:33Z- TNavBF::Projecting Measurements 2021-10-10T19:47:33Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:47:33Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:47:33Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:47:33Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:47:33Z- TNavFilter::4 good beams. 2021-10-10T19:47:33Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:47:33Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:47:33Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:47:33Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:47:33Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:47:33Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:47:33Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:47:33Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:33Z- TerrainMapOctree: (vehN, vehE ) = (4061571.84, 594338.76). 2021-10-10T19:47:33Z- TerrainMapOctree: Min Distance = 199.04. 2021-10-10T19:47:33Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:47:33Z- Forcing Subcloud Comparison 2021-10-10T19:47:33Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:47:33Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:33Z- Filter 0 partialDeltaRmsComputation: 30.157417 terrainVariance: 0.301053 1-SumSquareWeights: 0.999845 2021-10-10T19:47:33Z- Filter 0 meanExpectedMeasDiff: 5.464098 delta_rms_squared: 0.291054 alpha: 0.935703 2021-10-10T19:47:33Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:33Z- Filter 0 partialDeltaRmsComputation: 34.558409 terrainVariance: 0.503341 1-SumSquareWeights: 0.999845 2021-10-10T19:47:33Z- Filter 0 meanExpectedMeasDiff: -5.835672 delta_rms_squared: 0.493342 alpha: 0.961040 2021-10-10T19:47:33Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:33Z- Filter 0 partialDeltaRmsComputation: 28.232913 terrainVariance: 0.599704 1-SumSquareWeights: 0.999845 2021-10-10T19:47:33Z- Filter 0 meanExpectedMeasDiff: -5.256730 delta_rms_squared: 0.589705 alpha: 0.967197 2021-10-10T19:47:33Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:47:33Z- Filter 0 partialDeltaRmsComputation: 87.505887 terrainVariance: 0.497750 1-SumSquareWeights: 0.999845 2021-10-10T19:47:33Z- Filter 0 meanExpectedMeasDiff: 9.327815 delta_rms_squared: 0.487751 alpha: 0.960611 2021-10-10T19:47:33Z- Filter 0 SubcloudNIS: 0.183574 2021-10-10T19:47:33Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:47:33Z- TNavBF:: Filter 0 sumWeights = 0.000088 2021-10-10T19:47:33Z- Filter 0 NorthBias: -16.2 EastBias: 15.7 DepthBias: -8.8 NorthVariance: 480.1 EastVariance: 722.6 DepthVariance: 3.4 this->DepthBiasCov: 1.0 2021-10-10T19:47:33Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895252.33 sec. 2021-10-10T19:47:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:33Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:33Z- variances([0], [2], and psi_berg) = 480.013236 722.899436 0.000000 2021-10-10T19:47:33Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:33Z- LcmTrn::publishEstimates() - MLE : 4061570.68 594388.62 36.36 2021-10-10T19:47:33Z- LcmTrn::publishEstimates() - MMSE : 4061555.94 594354.83 27.58 2021-10-10T19:47:33Z- LcmTrn::publishEstimates() - COVAR: 480.01 722.90 3.39 0.00 2021-10-10T19:47:33Z- AHRS_M2 msg: 1633895253.48 epoch sec; seqNo:804 2021-10-10T19:47:33Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.99 psi 2021-10-10T19:47:33Z- handleDepth()-Depth_Keller msg: 1633895253491 epoch sec; seqNo:837; depth 36.42 2021-10-10T19:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895253.52 epoch sec; seqNo:837; 4061572.20 north; 594340.34 east 2021-10-10T19:47:33Z- AHRS_M2 msg: 1633895253.89 epoch sec; seqNo:805 2021-10-10T19:47:33Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 0.99 psi 2021-10-10T19:47:33Z- handleDepth()-Depth_Keller msg: 1633895253892 epoch sec; seqNo:838; depth 36.48 2021-10-10T19:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895253.90 epoch sec; seqNo:838; 4061572.57 north; 594340.33 east 2021-10-10T19:47:34Z- AHRS_M2 msg: 1633895254.30 epoch sec; seqNo:806 2021-10-10T19:47:34Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 0.99 psi 2021-10-10T19:47:34Z- handleDepth()-Depth_Keller msg: 1633895254307 epoch sec; seqNo:839; depth 36.55 2021-10-10T19:47:34Z- handleDvl() - RDI_Pathfinder msg: 1633895254.33 epoch sec; seqNo:337 2021-10-10T19:47:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.40 , 66.60 , 51.31 , 67.14 2021-10-10T19:47:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.07 , -0.03 2021-10-10T19:47:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895254.36 epoch sec; seqNo:839; 4061572.57 north; 594340.33 east 2021-10-10T19:47:34Z- AHRS_M2 msg: 1633895254.69 epoch sec; seqNo:807 2021-10-10T19:47:34Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:34Z- handleDepth()-Depth_Keller msg: 1633895254702 epoch sec; seqNo:840; depth 36.63 2021-10-10T19:47:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895254.72 epoch sec; seqNo:840; 4061572.95 north; 594340.33 east 2021-10-10T19:47:35Z- AHRS_M2 msg: 1633895255.11 epoch sec; seqNo:808 2021-10-10T19:47:35Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:35Z- handleDepth()-Depth_Keller msg: 1633895255109 epoch sec; seqNo:841; depth 36.69 2021-10-10T19:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895255.14 epoch sec; seqNo:841; 4061572.95 north; 594340.33 east 2021-10-10T19:47:35Z- AHRS_M2 msg: 1633895255.50 epoch sec; seqNo:809 2021-10-10T19:47:35Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:35Z- handleDepth()-Depth_Keller msg: 1633895255508 epoch sec; seqNo:842; depth 36.76 2021-10-10T19:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895255.52 epoch sec; seqNo:842; 4061573.35 north; 594341.54 east 2021-10-10T19:47:35Z- AHRS_M2 msg: 1633895255.90 epoch sec; seqNo:810 2021-10-10T19:47:35Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:35Z- handleDepth()-Depth_Keller msg: 1633895255921 epoch sec; seqNo:843; depth 36.83 2021-10-10T19:47:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:35Z- handleDvl() - RDI_Pathfinder msg: 1633895255.93 epoch sec; seqNo:338 2021-10-10T19:47:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.07 , -0.03 2021-10-10T19:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895255.94 epoch sec; seqNo:843; 4061573.35 north; 594341.54 east 2021-10-10T19:47:36Z- AHRS_M2 msg: 1633895256.31 epoch sec; seqNo:811 2021-10-10T19:47:36Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:36Z- handleDepth()-Depth_Keller msg: 1633895256330 epoch sec; seqNo:844; depth 36.89 2021-10-10T19:47:36Z- handleDvl() - RDI_Pathfinder msg: 1633895256.35 epoch sec; seqNo:339 2021-10-10T19:47:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.86 , 66.05 , 50.77 , 66.60 2021-10-10T19:47:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.11 , -0.01 2021-10-10T19:47:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895256.37 epoch sec; seqNo:844; 4061573.72 north; 594341.54 east 2021-10-10T19:47:36Z- AHRS_M2 msg: 1633895256.72 epoch sec; seqNo:812 2021-10-10T19:47:36Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:36Z- handleDepth()-Depth_Keller msg: 1633895256723 epoch sec; seqNo:845; depth 36.98 2021-10-10T19:47:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895256.74 epoch sec; seqNo:845; 4061573.72 north; 594341.54 east 2021-10-10T19:47:37Z- AHRS_M2 msg: 1633895257.12 epoch sec; seqNo:813 2021-10-10T19:47:37Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:37Z- handleDepth()-Depth_Keller msg: 1633895257124 epoch sec; seqNo:846; depth 37.03 2021-10-10T19:47:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:37Z- handleDvl() - RDI_Pathfinder msg: 1633895257.13 epoch sec; seqNo:340 2021-10-10T19:47:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.11 , -0.01 2021-10-10T19:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895257.14 epoch sec; seqNo:846; 4061574.10 north; 594341.53 east 2021-10-10T19:47:37Z- AHRS_M2 msg: 1633895257.52 epoch sec; seqNo:814 2021-10-10T19:47:37Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:37Z- handleDepth()-Depth_Keller msg: 1633895257536 epoch sec; seqNo:847; depth 37.11 2021-10-10T19:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895257.55 epoch sec; seqNo:847; 4061574.10 north; 594341.53 east 2021-10-10T19:47:37Z- AHRS_M2 msg: 1633895257.92 epoch sec; seqNo:815 2021-10-10T19:47:37Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:37Z- handleDepth()-Depth_Keller msg: 1633895257929 epoch sec; seqNo:848; depth 37.17 2021-10-10T19:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895257.94 epoch sec; seqNo:848; 4061574.50 north; 594342.75 east 2021-10-10T19:47:38Z- AHRS_M2 msg: 1633895258.33 epoch sec; seqNo:816 2021-10-10T19:47:38Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:38Z- handleDepth()-Depth_Keller msg: 1633895258334 epoch sec; seqNo:849; depth 37.24 2021-10-10T19:47:38Z- handleDvl() - RDI_Pathfinder msg: 1633895258.37 epoch sec; seqNo:341 2021-10-10T19:47:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.58 , 64.95 , 50.49 , 65.77 2021-10-10T19:47:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.03 2021-10-10T19:47:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895258.38 epoch sec; seqNo:849; 4061574.50 north; 594342.75 east 2021-10-10T19:47:38Z- LcmTrn::handleMessages() - handling 44 messages took 0.80 ms and 128 calls... 2021-10-10T19:47:38Z- waiting for 1633895256.10, time is 1633895258.38 2021-10-10T19:47:38Z- LcmTrn::updateTrn() equating pose 1633895258.38 and meas times 1633895258.38 2021-10-10T19:47:38Z- LcmTrn::updateTrn() >>>> pose time 1633895258.38, meas time 1633895258.38 <<<< 2021-10-10T19:47:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895258.38 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:38Z- TerrainNav::motionUpdate() - currEstimate = (4061574, 594342.75, 37.24) 2021-10-10T19:47:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:38Z- TerrainNav:: SubcloudNIS is 0.18, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:38Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895258.38 sec.; No relevant navigation data available 2021-10-10T19:47:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:38Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:38Z- variances([0], [2], and psi_berg) = 479.678544 723.754418 0.000000 2021-10-10T19:47:38Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:38Z- LcmTrn::publishEstimates() - MLE : 4061573.00 594392.25 37.24 2021-10-10T19:47:38Z- LcmTrn::publishEstimates() - MMSE : 4061558.26 594358.44 28.45 2021-10-10T19:47:38Z- LcmTrn::publishEstimates() - COVAR: 479.68 723.75 3.61 0.00 2021-10-10T19:47:38Z- AHRS_M2 msg: 1633895258.73 epoch sec; seqNo:817 2021-10-10T19:47:38Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:38Z- handleDepth()-Depth_Keller msg: 1633895258748 epoch sec; seqNo:850; depth 37.31 2021-10-10T19:47:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895258.77 epoch sec; seqNo:850; 4061574.87 north; 594342.75 east 2021-10-10T19:47:39Z- AHRS_M2 msg: 1633895259.14 epoch sec; seqNo:818 2021-10-10T19:47:39Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:39Z- handleDepth()-Depth_Keller msg: 1633895259144 epoch sec; seqNo:851; depth 37.37 2021-10-10T19:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895259.16 epoch sec; seqNo:851; 4061574.87 north; 594342.75 east 2021-10-10T19:47:39Z- AHRS_M2 msg: 1633895259.54 epoch sec; seqNo:819 2021-10-10T19:47:39Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:39Z- handleDepth()-Depth_Keller msg: 1633895259545 epoch sec; seqNo:852; depth 37.45 2021-10-10T19:47:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:39Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:39Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:39Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:39Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:39Z- handleDvl() - RDI_Pathfinder msg: 1633895259.55 epoch sec; seqNo:342 2021-10-10T19:47:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.03 2021-10-10T19:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895259.56 epoch sec; seqNo:852; 4061575.25 north; 594342.74 east 2021-10-10T19:47:39Z- AHRS_M2 msg: 1633895259.95 epoch sec; seqNo:820 2021-10-10T19:47:39Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.98 psi 2021-10-10T19:47:39Z- handleDepth()-Depth_Keller msg: 1633895259952 epoch sec; seqNo:853; depth 37.51 2021-10-10T19:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895259.96 epoch sec; seqNo:853; 4061575.27 north; 594343.96 east 2021-10-10T19:47:40Z- AHRS_M2 msg: 1633895260.35 epoch sec; seqNo:821 2021-10-10T19:47:40Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:40Z- handleDepth()-Depth_Keller msg: 1633895260361 epoch sec; seqNo:854; depth 37.58 2021-10-10T19:47:40Z- handleDvl() - RDI_Pathfinder msg: 1633895260.39 epoch sec; seqNo:343 2021-10-10T19:47:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.58 , 64.41 , 49.40 , 65.77 2021-10-10T19:47:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.01 , -0.00 2021-10-10T19:47:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895260.40 epoch sec; seqNo:854; 4061575.65 north; 594343.96 east 2021-10-10T19:47:40Z- AHRS_M2 msg: 1633895260.75 epoch sec; seqNo:822 2021-10-10T19:47:40Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:40Z- handleDepth()-Depth_Keller msg: 1633895260757 epoch sec; seqNo:855; depth 37.66 2021-10-10T19:47:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:40Z- handleDvl() - RDI_Pathfinder msg: 1633895260.76 epoch sec; seqNo:344 2021-10-10T19:47:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.01 , -0.00 2021-10-10T19:47:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895260.79 epoch sec; seqNo:855; 4061575.65 north; 594343.96 east 2021-10-10T19:47:41Z- AHRS_M2 msg: 1633895261.16 epoch sec; seqNo:823 2021-10-10T19:47:41Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:41Z- handleDepth()-Depth_Keller msg: 1633895261162 epoch sec; seqNo:856; depth 37.72 2021-10-10T19:47:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895261.18 epoch sec; seqNo:856; 4061576.02 north; 594343.95 east 2021-10-10T19:47:41Z- AHRS_M2 msg: 1633895261.56 epoch sec; seqNo:824 2021-10-10T19:47:41Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:41Z- handleDepth()-Depth_Keller msg: 1633895261568 epoch sec; seqNo:857; depth 37.77 2021-10-10T19:47:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895261.58 epoch sec; seqNo:857; 4061576.02 north; 594343.95 east 2021-10-10T19:47:41Z- AHRS_M2 msg: 1633895261.96 epoch sec; seqNo:825 2021-10-10T19:47:41Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:41Z- handleDepth()-Depth_Keller msg: 1633895261970 epoch sec; seqNo:858; depth 37.84 2021-10-10T19:47:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:41Z- handleDvl() - RDI_Pathfinder msg: 1633895261.97 epoch sec; seqNo:345 2021-10-10T19:47:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.01 , -0.00 2021-10-10T19:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895261.99 epoch sec; seqNo:858; 4061576.42 north; 594345.17 east 2021-10-10T19:47:42Z- AHRS_M2 msg: 1633895262.37 epoch sec; seqNo:826 2021-10-10T19:47:42Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:42Z- handleDepth()-Depth_Keller msg: 1633895262373 epoch sec; seqNo:859; depth 37.90 2021-10-10T19:47:42Z- handleDvl() - RDI_Pathfinder msg: 1633895262.39 epoch sec; seqNo:346 2021-10-10T19:47:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.03 , 63.86 , 48.85 , 64.95 2021-10-10T19:47:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , -0.08 2021-10-10T19:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895262.44 epoch sec; seqNo:859; 4061576.42 north; 594345.17 east 2021-10-10T19:47:42Z- AHRS_M2 msg: 1633895262.77 epoch sec; seqNo:827 2021-10-10T19:47:42Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:42Z- handleDepth()-Depth_Keller msg: 1633895262779 epoch sec; seqNo:860; depth 37.98 2021-10-10T19:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895262.79 epoch sec; seqNo:860; 4061576.80 north; 594345.17 east 2021-10-10T19:47:43Z- AHRS_M2 msg: 1633895263.18 epoch sec; seqNo:828 2021-10-10T19:47:43Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 0.99 psi 2021-10-10T19:47:43Z- handleDepth()-Depth_Keller msg: 1633895263189 epoch sec; seqNo:861; depth 38.04 2021-10-10T19:47:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:43Z- handleDvl() - RDI_Pathfinder msg: 1633895263.19 epoch sec; seqNo:347 2021-10-10T19:47:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , -0.08 2021-10-10T19:47:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895263.20 epoch sec; seqNo:861; 4061576.80 north; 594345.17 east 2021-10-10T19:47:43Z- LcmTrn::handleMessages() - handling 42 messages took 0.71 ms and 127 calls... 2021-10-10T19:47:43Z- waiting for 1633895261.38, time is 1633895263.20 2021-10-10T19:47:43Z- LcmTrn::updateTrn() equating pose 1633895263.20 and meas times 1633895263.20 2021-10-10T19:47:43Z- LcmTrn::updateTrn() >>>> pose time 1633895263.20, meas time 1633895263.20 <<<< 2021-10-10T19:47:43Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895263.20, ping # 0. 2021-10-10T19:47:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895263.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:43Z- TerrainNav::motionUpdate() - currEstimate = (4061577, 594345.17, 38.04) 2021-10-10T19:47:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:43Z- TerrainNav:: SubcloudNIS is 0.18, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:43Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:47:43Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:47:43Z- TNavBF::Projecting Measurements 2021-10-10T19:47:43Z- TNavFilter::Measurement from time = 1633895263.20 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:47:43Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:47:43Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:47:43Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:47:43Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:47:43Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:47:43Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:47:43Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:47:43Z- Filter 0 NorthBias: -16.2 EastBias: 15.7 DepthBias: -8.8 NorthVariance: 479.4 EastVariance: 724.5 DepthVariance: 3.8 this->DepthBiasCov: 1.4 2021-10-10T19:47:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:43Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:43Z- variances([0], [2], and psi_berg) = 479.389218 724.474365 0.000000 2021-10-10T19:47:43Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:43Z- LcmTrn::publishEstimates() - MLE : 4061575.30 594394.67 38.04 2021-10-10T19:47:43Z- LcmTrn::publishEstimates() - MMSE : 4061560.57 594360.84 29.26 2021-10-10T19:47:43Z- LcmTrn::publishEstimates() - COVAR: 479.39 724.47 3.78 0.00 2021-10-10T19:47:43Z- AHRS_M2 msg: 1633895263.58 epoch sec; seqNo:829 2021-10-10T19:47:43Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.99 psi 2021-10-10T19:47:43Z- handleDepth()-Depth_Keller msg: 1633895263586 epoch sec; seqNo:862; depth 38.11 2021-10-10T19:47:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895263.60 epoch sec; seqNo:862; 4061577.17 north; 594345.16 east 2021-10-10T19:47:44Z- AHRS_M2 msg: 1633895263.99 epoch sec; seqNo:830 2021-10-10T19:47:44Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.99 psi 2021-10-10T19:47:44Z- handleDepth()-Depth_Keller msg: 1633895263997 epoch sec; seqNo:863; depth 38.18 2021-10-10T19:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895264.01 epoch sec; seqNo:863; 4061577.19 north; 594346.38 east 2021-10-10T19:47:44Z- AHRS_M2 msg: 1633895264.39 epoch sec; seqNo:831 2021-10-10T19:47:44Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.99 psi 2021-10-10T19:47:44Z- handleDepth()-Depth_Keller msg: 1633895264392 epoch sec; seqNo:864; depth 38.24 2021-10-10T19:47:44Z- handleDvl() - RDI_Pathfinder msg: 1633895264.42 epoch sec; seqNo:348 2021-10-10T19:47:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.22 , 63.59 , 48.85 , 64.13 2021-10-10T19:47:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , -0.07 2021-10-10T19:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895264.44 epoch sec; seqNo:864; 4061577.57 north; 594346.38 east 2021-10-10T19:47:44Z- AHRS_M2 msg: 1633895264.79 epoch sec; seqNo:832 2021-10-10T19:47:44Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 0.99 psi 2021-10-10T19:47:44Z- handleDepth()-Depth_Keller msg: 1633895264798 epoch sec; seqNo:865; depth 38.30 2021-10-10T19:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895264.83 epoch sec; seqNo:865; 4061577.57 north; 594346.38 east 2021-10-10T19:47:45Z- AHRS_M2 msg: 1633895265.20 epoch sec; seqNo:833 2021-10-10T19:47:45Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.99 psi 2021-10-10T19:47:45Z- handleDepth()-Depth_Keller msg: 1633895265202 epoch sec; seqNo:866; depth 38.35 2021-10-10T19:47:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895265.21 epoch sec; seqNo:866; 4061577.95 north; 594346.37 east 2021-10-10T19:47:45Z- AHRS_M2 msg: 1633895265.60 epoch sec; seqNo:834 2021-10-10T19:47:45Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.99 psi 2021-10-10T19:47:45Z- handleDepth()-Depth_Keller msg: 1633895265613 epoch sec; seqNo:867; depth 38.42 2021-10-10T19:47:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:45Z- handleDvl() - RDI_Pathfinder msg: 1633895265.62 epoch sec; seqNo:349 2021-10-10T19:47:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , -0.07 2021-10-10T19:47:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895265.63 epoch sec; seqNo:867; 4061577.95 north; 594346.37 east 2021-10-10T19:47:46Z- AHRS_M2 msg: 1633895266.01 epoch sec; seqNo:835 2021-10-10T19:47:46Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.99 psi 2021-10-10T19:47:46Z- handleDepth()-Depth_Keller msg: 1633895266021 epoch sec; seqNo:868; depth 38.48 2021-10-10T19:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895266.03 epoch sec; seqNo:868; 4061578.34 north; 594347.59 east 2021-10-10T19:47:46Z- AHRS_M2 msg: 1633895266.42 epoch sec; seqNo:836 2021-10-10T19:47:46Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.98 psi 2021-10-10T19:47:46Z- handleDepth()-Depth_Keller msg: 1633895266422 epoch sec; seqNo:869; depth 38.55 2021-10-10T19:47:46Z- handleDvl() - RDI_Pathfinder msg: 1633895266.44 epoch sec; seqNo:350 2021-10-10T19:47:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.94 , 62.76 , 48.30 , 63.85 2021-10-10T19:47:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.11 , 0.01 2021-10-10T19:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895266.45 epoch sec; seqNo:869; 4061578.34 north; 594347.59 east 2021-10-10T19:47:46Z- AHRS_M2 msg: 1633895266.82 epoch sec; seqNo:837 2021-10-10T19:47:46Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 0.98 psi 2021-10-10T19:47:46Z- handleDepth()-Depth_Keller msg: 1633895266821 epoch sec; seqNo:870; depth 38.63 2021-10-10T19:47:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:46Z- handleDvl() - RDI_Pathfinder msg: 1633895266.82 epoch sec; seqNo:351 2021-10-10T19:47:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.11 , 0.01 2021-10-10T19:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895266.86 epoch sec; seqNo:870; 4061578.72 north; 594347.59 east 2021-10-10T19:47:47Z- AHRS_M2 msg: 1633895267.22 epoch sec; seqNo:838 2021-10-10T19:47:47Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:47Z- handleDepth()-Depth_Keller msg: 1633895267233 epoch sec; seqNo:871; depth 38.66 2021-10-10T19:47:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895267.24 epoch sec; seqNo:871; 4061578.72 north; 594347.59 east 2021-10-10T19:47:47Z- AHRS_M2 msg: 1633895267.62 epoch sec; seqNo:839 2021-10-10T19:47:47Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:47Z- handleDepth()-Depth_Keller msg: 1633895267638 epoch sec; seqNo:872; depth 38.73 2021-10-10T19:47:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895267.65 epoch sec; seqNo:872; 4061579.10 north; 594347.58 east 2021-10-10T19:47:48Z- handleDepth()-Depth_Keller msg: 1633895268050 epoch sec; seqNo:873; depth 38.78 2021-10-10T19:47:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:48Z- handleDvl() - RDI_Pathfinder msg: 1633895268.05 epoch sec; seqNo:352 2021-10-10T19:47:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.11 , 0.01 2021-10-10T19:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895268.06 epoch sec; seqNo:873; 4061579.10 north; 594347.58 east 2021-10-10T19:47:48Z- AHRS_M2 msg: 1633895268.43 epoch sec; seqNo:840 2021-10-10T19:47:48Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:48Z- handleDepth()-Depth_Keller msg: 1633895268439 epoch sec; seqNo:874; depth 38.86 2021-10-10T19:47:48Z- handleDvl() - RDI_Pathfinder msg: 1633895268.46 epoch sec; seqNo:353 2021-10-10T19:47:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.89 , 62.42 , 47.84 , 62.93 2021-10-10T19:47:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.06 , 0.05 2021-10-10T19:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895268.49 epoch sec; seqNo:874; 4061579.49 north; 594348.80 east 2021-10-10T19:47:48Z- LcmTrn::handleMessages() - handling 44 messages took 0.77 ms and 128 calls... 2021-10-10T19:47:48Z- waiting for 1633895266.20, time is 1633895268.49 2021-10-10T19:47:48Z- LcmTrn::updateTrn() equating pose 1633895268.49 and meas times 1633895268.49 2021-10-10T19:47:48Z- LcmTrn::updateTrn() >>>> pose time 1633895268.49, meas time 1633895268.49 <<<< 2021-10-10T19:47:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895268.49 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:48Z- TerrainNav::motionUpdate() - currEstimate = (4061579, 594348.80, 38.86) 2021-10-10T19:47:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:48Z- TerrainNav:: SubcloudNIS is 0.18, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:48Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895268.49 sec.; No relevant navigation data available 2021-10-10T19:47:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:48Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:48Z- variances([0], [2], and psi_berg) = 479.057387 725.281319 0.000000 2021-10-10T19:47:48Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:48Z- LcmTrn::publishEstimates() - MLE : 4061577.99 594398.30 38.86 2021-10-10T19:47:48Z- LcmTrn::publishEstimates() - MMSE : 4061563.27 594364.45 30.07 2021-10-10T19:47:48Z- LcmTrn::publishEstimates() - COVAR: 479.06 725.28 4.01 0.00 2021-10-10T19:47:48Z- AHRS_M2 msg: 1633895268.83 epoch sec; seqNo:841 2021-10-10T19:47:48Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:48Z- handleDepth()-Depth_Keller msg: 1633895268852 epoch sec; seqNo:875; depth 38.92 2021-10-10T19:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895268.87 epoch sec; seqNo:875; 4061579.49 north; 594348.80 east 2021-10-10T19:47:49Z- AHRS_M2 msg: 1633895269.24 epoch sec; seqNo:842 2021-10-10T19:47:49Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:49Z- handleDepth()-Depth_Keller msg: 1633895269242 epoch sec; seqNo:876; depth 38.98 2021-10-10T19:47:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:49Z- handleDvl() - RDI_Pathfinder msg: 1633895269.24 epoch sec; seqNo:354 2021-10-10T19:47:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.06 , 0.05 2021-10-10T19:47:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895269.26 epoch sec; seqNo:876; 4061579.87 north; 594348.79 east 2021-10-10T19:47:49Z- AHRS_M2 msg: 1633895269.65 epoch sec; seqNo:843 2021-10-10T19:47:49Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:49Z- handleDepth()-Depth_Keller msg: 1633895269654 epoch sec; seqNo:877; depth 39.04 2021-10-10T19:47:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895269.67 epoch sec; seqNo:877; 4061579.87 north; 594348.79 east 2021-10-10T19:47:50Z- AHRS_M2 msg: 1633895270.05 epoch sec; seqNo:844 2021-10-10T19:47:50Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:50Z- handleDepth()-Depth_Keller msg: 1633895270052 epoch sec; seqNo:878; depth 39.10 2021-10-10T19:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895270.06 epoch sec; seqNo:878; 4061579.87 north; 594348.79 east 2021-10-10T19:47:50Z- AHRS_M2 msg: 1633895270.45 epoch sec; seqNo:845 2021-10-10T19:47:50Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.98 psi 2021-10-10T19:47:50Z- handleDepth()-Depth_Keller msg: 1633895270453 epoch sec; seqNo:879; depth 39.15 2021-10-10T19:47:50Z- handleDvl() - RDI_Pathfinder msg: 1633895270.49 epoch sec; seqNo:355 2021-10-10T19:47:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.63 , 62.42 , 47.32 , 62.42 2021-10-10T19:47:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.01 , -0.01 2021-10-10T19:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895270.51 epoch sec; seqNo:879; 4061580.26 north; 594350.01 east 2021-10-10T19:47:50Z- AHRS_M2 msg: 1633895270.85 epoch sec; seqNo:846 2021-10-10T19:47:50Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 0.99 psi 2021-10-10T19:47:50Z- handleDepth()-Depth_Keller msg: 1633895270899 epoch sec; seqNo:880; depth 39.24 2021-10-10T19:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895270.92 epoch sec; seqNo:880; 4061580.26 north; 594350.01 east 2021-10-10T19:47:51Z- handleDepth()-Depth_Keller msg: 1633895271281 epoch sec; seqNo:881; depth 39.28 2021-10-10T19:47:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895271.30 epoch sec; seqNo:881; 4061580.64 north; 594350.01 east 2021-10-10T19:47:51Z- AHRS_M2 msg: 1633895271.66 epoch sec; seqNo:847 2021-10-10T19:47:51Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:51Z- handleDepth()-Depth_Keller msg: 1633895271681 epoch sec; seqNo:882; depth 39.34 2021-10-10T19:47:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:51Z- handleDvl() - RDI_Pathfinder msg: 1633895271.68 epoch sec; seqNo:356 2021-10-10T19:47:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.01 , -0.01 2021-10-10T19:47:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895271.69 epoch sec; seqNo:882; 4061580.64 north; 594350.01 east 2021-10-10T19:47:52Z- AHRS_M2 msg: 1633895272.07 epoch sec; seqNo:848 2021-10-10T19:47:52Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:52Z- handleDepth()-Depth_Keller msg: 1633895272078 epoch sec; seqNo:883; depth 39.39 2021-10-10T19:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895272.09 epoch sec; seqNo:883; 4061581.02 north; 594350.00 east 2021-10-10T19:47:52Z- AHRS_M2 msg: 1633895272.48 epoch sec; seqNo:849 2021-10-10T19:47:52Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:52Z- handleDepth()-Depth_Keller msg: 1633895272490 epoch sec; seqNo:884; depth 39.46 2021-10-10T19:47:52Z- handleDvl() - RDI_Pathfinder msg: 1633895272.52 epoch sec; seqNo:357 2021-10-10T19:47:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.12 , 61.90 , 46.81 , 61.65 2021-10-10T19:47:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , -0.07 2021-10-10T19:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895272.55 epoch sec; seqNo:884; 4061581.03 north; 594351.22 east 2021-10-10T19:47:52Z- AHRS_M2 msg: 1633895272.87 epoch sec; seqNo:850 2021-10-10T19:47:52Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:52Z- handleDepth()-Depth_Keller msg: 1633895272884 epoch sec; seqNo:885; depth 39.53 2021-10-10T19:47:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:52Z- handleDvl() - RDI_Pathfinder msg: 1633895272.89 epoch sec; seqNo:358 2021-10-10T19:47:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , -0.07 2021-10-10T19:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895272.91 epoch sec; seqNo:885; 4061581.41 north; 594351.22 east 2021-10-10T19:47:53Z- AHRS_M2 msg: 1633895273.28 epoch sec; seqNo:851 2021-10-10T19:47:53Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:53Z- handleDepth()-Depth_Keller msg: 1633895273287 epoch sec; seqNo:886; depth 39.56 2021-10-10T19:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895273.30 epoch sec; seqNo:886; 4061581.41 north; 594351.22 east 2021-10-10T19:47:53Z- LcmTrn::handleMessages() - handling 40 messages took 0.67 ms and 126 calls... 2021-10-10T19:47:53Z- waiting for 1633895271.49, time is 1633895273.30 2021-10-10T19:47:53Z- LcmTrn::updateTrn() >>>> pose time 1633895273.30, meas time 1633895272.89 <<<< 2021-10-10T19:47:53Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895272.89, ping # 0. 2021-10-10T19:47:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895272.89 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:53Z- TerrainNav::motionUpdate() - currEstimate = (4061581, 594351.22, 39.56) 2021-10-10T19:47:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:53Z- TerrainNav:: SubcloudNIS is 0.18, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:53Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:47:53Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:47:53Z- TNavBF::Projecting Measurements 2021-10-10T19:47:53Z- TNavFilter::Measurement from time = 1633895272.89 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:47:53Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:47:53Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:47:53Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:47:53Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:47:53Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:47:53Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:47:53Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:47:53Z- Filter 0 NorthBias: -16.2 EastBias: 15.6 DepthBias: -8.8 NorthVariance: 478.8 EastVariance: 725.9 DepthVariance: 4.2 this->DepthBiasCov: 1.8 2021-10-10T19:47:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:53Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:53Z- variances([0], [2], and psi_berg) = 478.721465 726.073440 0.000000 2021-10-10T19:47:53Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:53Z- LcmTrn::publishEstimates() - MLE : 4061580.91 594393.72 39.56 2021-10-10T19:47:53Z- LcmTrn::publishEstimates() - MMSE : 4061565.20 594366.84 30.78 2021-10-10T19:47:53Z- LcmTrn::publishEstimates() - COVAR: 478.72 726.07 4.17 0.00 2021-10-10T19:47:53Z- AHRS_M2 msg: 1633895273.69 epoch sec; seqNo:852 2021-10-10T19:47:53Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:53Z- handleDepth()-Depth_Keller msg: 1633895273700 epoch sec; seqNo:887; depth 39.63 2021-10-10T19:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895273.72 epoch sec; seqNo:887; 4061581.79 north; 594351.21 east 2021-10-10T19:47:54Z- AHRS_M2 msg: 1633895274.09 epoch sec; seqNo:853 2021-10-10T19:47:54Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:54Z- handleDepth()-Depth_Keller msg: 1633895274090 epoch sec; seqNo:888; depth 39.68 2021-10-10T19:47:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:54Z- handleDvl() - RDI_Pathfinder msg: 1633895274.09 epoch sec; seqNo:359 2021-10-10T19:47:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , -0.07 2021-10-10T19:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895274.10 epoch sec; seqNo:888; 4061581.79 north; 594351.21 east 2021-10-10T19:47:54Z- AHRS_M2 msg: 1633895274.49 epoch sec; seqNo:854 2021-10-10T19:47:54Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:54Z- handleDepth()-Depth_Keller msg: 1633895274500 epoch sec; seqNo:889; depth 39.74 2021-10-10T19:47:54Z- handleDvl() - RDI_Pathfinder msg: 1633895274.52 epoch sec; seqNo:360 2021-10-10T19:47:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.60 , 61.39 , 46.81 , 61.14 2021-10-10T19:47:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.10 , -0.05 2021-10-10T19:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895274.54 epoch sec; seqNo:889; 4061582.18 north; 594352.43 east 2021-10-10T19:47:54Z- AHRS_M2 msg: 1633895274.89 epoch sec; seqNo:855 2021-10-10T19:47:54Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:54Z- handleDepth()-Depth_Keller msg: 1633895274897 epoch sec; seqNo:890; depth 39.80 2021-10-10T19:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895274.93 epoch sec; seqNo:890; 4061582.18 north; 594352.43 east 2021-10-10T19:47:55Z- AHRS_M2 msg: 1633895275.30 epoch sec; seqNo:856 2021-10-10T19:47:55Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:55Z- handleDepth()-Depth_Keller msg: 1633895275309 epoch sec; seqNo:891; depth 39.85 2021-10-10T19:47:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:55Z- handleDvl() - RDI_Pathfinder msg: 1633895275.31 epoch sec; seqNo:361 2021-10-10T19:47:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.10 , -0.05 2021-10-10T19:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895275.32 epoch sec; seqNo:891; 4061582.56 north; 594352.43 east 2021-10-10T19:47:55Z- AHRS_M2 msg: 1633895275.71 epoch sec; seqNo:857 2021-10-10T19:47:55Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:55Z- handleDepth()-Depth_Keller msg: 1633895275723 epoch sec; seqNo:892; depth 39.91 2021-10-10T19:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895275.74 epoch sec; seqNo:892; 4061582.56 north; 594352.43 east 2021-10-10T19:47:56Z- AHRS_M2 msg: 1633895276.11 epoch sec; seqNo:858 2021-10-10T19:47:56Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:56Z- handleDepth()-Depth_Keller msg: 1633895276113 epoch sec; seqNo:893; depth 39.98 2021-10-10T19:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895276.12 epoch sec; seqNo:893; 4061582.94 north; 594352.42 east 2021-10-10T19:47:56Z- AHRS_M2 msg: 1633895276.51 epoch sec; seqNo:859 2021-10-10T19:47:56Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 0.99 psi 2021-10-10T19:47:56Z- handleDepth()-Depth_Keller msg: 1633895276517 epoch sec; seqNo:894; depth 40.02 2021-10-10T19:47:56Z- handleDvl() - RDI_Pathfinder msg: 1633895276.54 epoch sec; seqNo:362 2021-10-10T19:47:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.83 , 60.88 , 46.55 , 60.11 2021-10-10T19:47:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.08 , 0.01 2021-10-10T19:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895276.57 epoch sec; seqNo:894; 4061582.94 north; 594352.42 east 2021-10-10T19:47:56Z- AHRS_M2 msg: 1633895276.92 epoch sec; seqNo:860 2021-10-10T19:47:56Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:56Z- handleDepth()-Depth_Keller msg: 1633895276922 epoch sec; seqNo:895; depth 40.09 2021-10-10T19:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895276.94 epoch sec; seqNo:895; 4061583.33 north; 594353.64 east 2021-10-10T19:47:57Z- AHRS_M2 msg: 1633895277.32 epoch sec; seqNo:861 2021-10-10T19:47:57Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:57Z- handleDepth()-Depth_Keller msg: 1633895277326 epoch sec; seqNo:896; depth 40.15 2021-10-10T19:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895277.34 epoch sec; seqNo:896; 4061583.33 north; 594353.64 east 2021-10-10T19:47:57Z- AHRS_M2 msg: 1633895277.72 epoch sec; seqNo:862 2021-10-10T19:47:57Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:57Z- handleDepth()-Depth_Keller msg: 1633895277732 epoch sec; seqNo:897; depth 40.21 2021-10-10T19:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895277.74 epoch sec; seqNo:897; 4061583.71 north; 594353.63 east 2021-10-10T19:47:58Z- AHRS_M2 msg: 1633895278.13 epoch sec; seqNo:863 2021-10-10T19:47:58Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:58Z- handleDepth()-Depth_Keller msg: 1633895278141 epoch sec; seqNo:898; depth 40.27 2021-10-10T19:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895278.15 epoch sec; seqNo:898; 4061583.71 north; 594353.63 east 2021-10-10T19:47:58Z- AHRS_M2 msg: 1633895278.54 epoch sec; seqNo:864 2021-10-10T19:47:58Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:58Z- handleDepth()-Depth_Keller msg: 1633895278539 epoch sec; seqNo:899; depth 40.30 2021-10-10T19:47:58Z- handleDvl() - RDI_Pathfinder msg: 1633895278.56 epoch sec; seqNo:363 2021-10-10T19:47:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.83 , 60.62 , 46.30 , 60.11 2021-10-10T19:47:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.04 , 0.00 2021-10-10T19:47:58Z- LcmTrn::handleMessages() - handling 43 messages took 0.77 ms and 127 calls... 2021-10-10T19:47:58Z- waiting for 1633895276.30, time is 1633895278.56 2021-10-10T19:47:58Z- LcmTrn::updateTrn() equating pose 1633895278.56 and meas times 1633895278.56 2021-10-10T19:47:58Z- LcmTrn::updateTrn() >>>> pose time 1633895278.56, meas time 1633895278.56 <<<< 2021-10-10T19:47:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895278.56 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:47:58Z- TerrainNav::motionUpdate() - currEstimate = (4061584, 594353.63, 40.30) 2021-10-10T19:47:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:47:58Z- TerrainNav:: SubcloudNIS is 0.18, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:47:58Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895278.56 sec.; No relevant navigation data available 2021-10-10T19:47:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:47:58Z- TNavBF::mmse selected from filter -1 2021-10-10T19:47:58Z- variances([0], [2], and psi_berg) = 478.446199 726.708371 0.000000 2021-10-10T19:47:58Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:47:58Z- LcmTrn::publishEstimates() - MLE : 4061583.21 594396.13 40.30 2021-10-10T19:47:58Z- LcmTrn::publishEstimates() - MMSE : 4061567.51 594369.24 31.52 2021-10-10T19:47:58Z- LcmTrn::publishEstimates() - COVAR: 478.45 726.71 4.34 0.00 2021-10-10T19:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895278.58 epoch sec; seqNo:899; 4061584.09 north; 594353.63 east 2021-10-10T19:47:58Z- AHRS_M2 msg: 1633895278.94 epoch sec; seqNo:865 2021-10-10T19:47:58Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:58Z- handleDepth()-Depth_Keller msg: 1633895278941 epoch sec; seqNo:900; depth 40.38 2021-10-10T19:47:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:47:58Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:47:58Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:47:58Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:47:58Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:47:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:47:58Z- handleDvl() - RDI_Pathfinder msg: 1633895278.95 epoch sec; seqNo:364 2021-10-10T19:47:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:47:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.04 , 0.00 2021-10-10T19:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895278.97 epoch sec; seqNo:900; 4061584.10 north; 594354.85 east 2021-10-10T19:47:59Z- AHRS_M2 msg: 1633895279.34 epoch sec; seqNo:866 2021-10-10T19:47:59Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:59Z- handleDepth()-Depth_Keller msg: 1633895279352 epoch sec; seqNo:901; depth 40.44 2021-10-10T19:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895279.36 epoch sec; seqNo:901; 4061584.48 north; 594354.85 east 2021-10-10T19:47:59Z- AHRS_M2 msg: 1633895279.75 epoch sec; seqNo:867 2021-10-10T19:47:59Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:47:59Z- handleDepth()-Depth_Keller msg: 1633895279758 epoch sec; seqNo:902; depth 40.48 2021-10-10T19:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895279.77 epoch sec; seqNo:902; 4061584.48 north; 594354.85 east 2021-10-10T19:48:00Z- AHRS_M2 msg: 1633895280.15 epoch sec; seqNo:868 2021-10-10T19:48:00Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:00Z- handleDepth()-Depth_Keller msg: 1633895280153 epoch sec; seqNo:903; depth 40.55 2021-10-10T19:48:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:00Z- handleDvl() - RDI_Pathfinder msg: 1633895280.16 epoch sec; seqNo:365 2021-10-10T19:48:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.04 , 0.00 2021-10-10T19:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895280.17 epoch sec; seqNo:903; 4061584.48 north; 594354.85 east 2021-10-10T19:48:00Z- AHRS_M2 msg: 1633895280.56 epoch sec; seqNo:869 2021-10-10T19:48:00Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:00Z- handleDepth()-Depth_Keller msg: 1633895280569 epoch sec; seqNo:904; depth 40.61 2021-10-10T19:48:00Z- handleDvl() - RDI_Pathfinder msg: 1633895280.59 epoch sec; seqNo:366 2021-10-10T19:48:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.32 , 59.85 , 46.04 , 59.34 2021-10-10T19:48:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.05 , -0.03 2021-10-10T19:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895280.63 epoch sec; seqNo:904; 4061584.86 north; 594354.84 east 2021-10-10T19:48:00Z- AHRS_M2 msg: 1633895280.96 epoch sec; seqNo:870 2021-10-10T19:48:00Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:00Z- handleDepth()-Depth_Keller msg: 1633895280973 epoch sec; seqNo:905; depth 40.66 2021-10-10T19:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895280.99 epoch sec; seqNo:905; 4061584.87 north; 594356.06 east 2021-10-10T19:48:01Z- AHRS_M2 msg: 1633895281.36 epoch sec; seqNo:871 2021-10-10T19:48:01Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:01Z- handleDepth()-Depth_Keller msg: 1633895281366 epoch sec; seqNo:906; depth 40.71 2021-10-10T19:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895281.38 epoch sec; seqNo:906; 4061585.25 north; 594356.06 east 2021-10-10T19:48:01Z- AHRS_M2 msg: 1633895281.77 epoch sec; seqNo:872 2021-10-10T19:48:01Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:01Z- handleDepth()-Depth_Keller msg: 1633895281775 epoch sec; seqNo:907; depth 40.78 2021-10-10T19:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895281.79 epoch sec; seqNo:907; 4061585.25 north; 594356.06 east 2021-10-10T19:48:02Z- AHRS_M2 msg: 1633895282.17 epoch sec; seqNo:873 2021-10-10T19:48:02Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:02Z- handleDepth()-Depth_Keller msg: 1633895282180 epoch sec; seqNo:908; depth 40.83 2021-10-10T19:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895282.20 epoch sec; seqNo:908; 4061585.63 north; 594356.05 east 2021-10-10T19:48:02Z- AHRS_M2 msg: 1633895282.57 epoch sec; seqNo:874 2021-10-10T19:48:02Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:02Z- handleDepth()-Depth_Keller msg: 1633895282577 epoch sec; seqNo:909; depth 40.88 2021-10-10T19:48:02Z- handleDvl() - RDI_Pathfinder msg: 1633895282.61 epoch sec; seqNo:367 2021-10-10T19:48:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.06 , 59.59 , 45.53 , 58.82 2021-10-10T19:48:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.10 , -0.02 2021-10-10T19:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895282.63 epoch sec; seqNo:909; 4061585.63 north; 594356.05 east 2021-10-10T19:48:02Z- AHRS_M2 msg: 1633895282.98 epoch sec; seqNo:875 2021-10-10T19:48:02Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:02Z- handleDepth()-Depth_Keller msg: 1633895282981 epoch sec; seqNo:910; depth 40.95 2021-10-10T19:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895283.00 epoch sec; seqNo:910; 4061586.01 north; 594356.05 east 2021-10-10T19:48:03Z- AHRS_M2 msg: 1633895283.38 epoch sec; seqNo:876 2021-10-10T19:48:03Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:03Z- handleDepth()-Depth_Keller msg: 1633895283388 epoch sec; seqNo:911; depth 41.01 2021-10-10T19:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895283.40 epoch sec; seqNo:911; 4061586.02 north; 594357.27 east 2021-10-10T19:48:03Z- LcmTrn::handleMessages() - handling 41 messages took 0.72 ms and 126 calls... 2021-10-10T19:48:03Z- waiting for 1633895281.56, time is 1633895283.40 2021-10-10T19:48:03Z- LcmTrn::updateTrn() >>>> pose time 1633895283.40, meas time 1633895282.61 <<<< 2021-10-10T19:48:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895282.61 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:03Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594357.27, 41.01) 2021-10-10T19:48:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:03Z- TerrainNav:: SubcloudNIS is 0.18, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:03Z- TNavBF::Projecting Measurements 2021-10-10T19:48:03Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:48:03Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:48:03Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:48:03Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:48:03Z- TNavFilter::4 good beams. 2021-10-10T19:48:03Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:03Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:03Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:48:03Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:48:03Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:48:03Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:03Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:03Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:03Z- TerrainMapOctree: (vehN, vehE ) = (4061585.64, 594356.68). 2021-10-10T19:48:03Z- TerrainMapOctree: Min Distance = 195.94. 2021-10-10T19:48:03Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:48:03Z- Forcing Subcloud Comparison 2021-10-10T19:48:03Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:48:03Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:03Z- Filter 0 partialDeltaRmsComputation: 30.805265 terrainVariance: 1.671782 1-SumSquareWeights: 0.999640 2021-10-10T19:48:03Z- Filter 0 meanExpectedMeasDiff: 5.397544 delta_rms_squared: 1.661785 alpha: 0.988108 2021-10-10T19:48:03Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:03Z- Filter 0 partialDeltaRmsComputation: 15.222477 terrainVariance: 1.558770 1-SumSquareWeights: 0.999640 2021-10-10T19:48:03Z- Filter 0 meanExpectedMeasDiff: -3.696445 delta_rms_squared: 1.548774 alpha: 0.987251 2021-10-10T19:48:03Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:03Z- Filter 0 partialDeltaRmsComputation: 22.497731 terrainVariance: 5.004125 1-SumSquareWeights: 0.999640 2021-10-10T19:48:03Z- Filter 0 meanExpectedMeasDiff: -4.182536 delta_rms_squared: 4.994129 alpha: 0.996011 2021-10-10T19:48:03Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:03Z- Filter 0 partialDeltaRmsComputation: 53.287115 terrainVariance: 0.908646 1-SumSquareWeights: 0.999640 2021-10-10T19:48:03Z- Filter 0 meanExpectedMeasDiff: 7.237297 delta_rms_squared: 0.898650 alpha: 0.978229 2021-10-10T19:48:03Z- Filter 0 SubcloudNIS: 0.254429 2021-10-10T19:48:03Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:48:03Z- TNavBF:: Filter 0 sumWeights = 0.000659 2021-10-10T19:48:03Z- Filter 0 NorthBias: -15.7 EastBias: 33.3 DepthBias: -6.0 NorthVariance: 148.8 EastVariance: 183.6 DepthVariance: 2.8 this->DepthBiasCov: 0.9 2021-10-10T19:48:03Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895282.61 sec. 2021-10-10T19:48:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:03Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:03Z- variances([0], [2], and psi_berg) = 148.771397 184.275859 0.000000 2021-10-10T19:48:03Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:03Z- LcmTrn::publishEstimates() - MLE : 4061580.52 594397.77 41.01 2021-10-10T19:48:03Z- LcmTrn::publishEstimates() - MMSE : 4061570.32 594390.60 35.01 2021-10-10T19:48:03Z- LcmTrn::publishEstimates() - COVAR: 148.77 184.28 2.88 0.00 2021-10-10T19:48:03Z- AHRS_M2 msg: 1633895283.79 epoch sec; seqNo:877 2021-10-10T19:48:03Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:03Z- handleDepth()-Depth_Keller msg: 1633895283796 epoch sec; seqNo:912; depth 41.06 2021-10-10T19:48:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:03Z- handleDvl() - RDI_Pathfinder msg: 1633895283.80 epoch sec; seqNo:368 2021-10-10T19:48:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.10 , -0.02 2021-10-10T19:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895283.82 epoch sec; seqNo:912; 4061586.40 north; 594357.27 east 2021-10-10T19:48:04Z- AHRS_M2 msg: 1633895284.19 epoch sec; seqNo:878 2021-10-10T19:48:04Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:04Z- handleDepth()-Depth_Keller msg: 1633895284199 epoch sec; seqNo:913; depth 41.10 2021-10-10T19:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895284.27 epoch sec; seqNo:913; 4061586.40 north; 594357.27 east 2021-10-10T19:48:04Z- AHRS_M2 msg: 1633895284.59 epoch sec; seqNo:879 2021-10-10T19:48:04Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.98 psi 2021-10-10T19:48:04Z- handleDepth()-Depth_Keller msg: 1633895284598 epoch sec; seqNo:914; depth 41.16 2021-10-10T19:48:04Z- handleDvl() - RDI_Pathfinder msg: 1633895284.62 epoch sec; seqNo:369 2021-10-10T19:48:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.06 , 59.08 , 45.53 , 58.82 2021-10-10T19:48:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , 0.02 2021-10-10T19:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895284.65 epoch sec; seqNo:914; 4061586.78 north; 594357.26 east 2021-10-10T19:48:05Z- AHRS_M2 msg: 1633895285.00 epoch sec; seqNo:880 2021-10-10T19:48:05Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:48:05Z- handleDepth()-Depth_Keller msg: 1633895285012 epoch sec; seqNo:915; depth 41.21 2021-10-10T19:48:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:05Z- handleDvl() - RDI_Pathfinder msg: 1633895285.01 epoch sec; seqNo:370 2021-10-10T19:48:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , 0.02 2021-10-10T19:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895285.03 epoch sec; seqNo:915; 4061586.78 north; 594357.26 east 2021-10-10T19:48:05Z- AHRS_M2 msg: 1633895285.40 epoch sec; seqNo:881 2021-10-10T19:48:05Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.98 psi 2021-10-10T19:48:05Z- handleDepth()-Depth_Keller msg: 1633895285406 epoch sec; seqNo:916; depth 41.26 2021-10-10T19:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895285.43 epoch sec; seqNo:916; 4061587.17 north; 594358.48 east 2021-10-10T19:48:05Z- AHRS_M2 msg: 1633895285.81 epoch sec; seqNo:882 2021-10-10T19:48:05Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.98 psi 2021-10-10T19:48:05Z- handleDepth()-Depth_Keller msg: 1633895285812 epoch sec; seqNo:917; depth 41.32 2021-10-10T19:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895285.82 epoch sec; seqNo:917; 4061587.17 north; 594358.48 east 2021-10-10T19:48:06Z- AHRS_M2 msg: 1633895286.24 epoch sec; seqNo:883 2021-10-10T19:48:06Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:06Z- handleDepth()-Depth_Keller msg: 1633895286272 epoch sec; seqNo:918; depth 41.37 2021-10-10T19:48:06Z- handleDvl() - RDI_Pathfinder msg: 1633895286.31 epoch sec; seqNo:371 2021-10-10T19:48:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.55 , 58.96 , 44.88 , 58.48 2021-10-10T19:48:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.02 2021-10-10T19:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895286.33 epoch sec; seqNo:918; 4061587.55 north; 594358.47 east 2021-10-10T19:48:06Z- AHRS_M2 msg: 1633895286.61 epoch sec; seqNo:884 2021-10-10T19:48:06Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:06Z- handleDepth()-Depth_Keller msg: 1633895286624 epoch sec; seqNo:919; depth 41.43 2021-10-10T19:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895286.64 epoch sec; seqNo:919; 4061587.55 north; 594358.47 east 2021-10-10T19:48:07Z- AHRS_M2 msg: 1633895287.02 epoch sec; seqNo:885 2021-10-10T19:48:07Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:07Z- handleDepth()-Depth_Keller msg: 1633895287027 epoch sec; seqNo:920; depth 41.46 2021-10-10T19:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895287.05 epoch sec; seqNo:920; 4061587.93 north; 594358.47 east 2021-10-10T19:48:07Z- AHRS_M2 msg: 1633895287.42 epoch sec; seqNo:886 2021-10-10T19:48:07Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:07Z- handleDepth()-Depth_Keller msg: 1633895287430 epoch sec; seqNo:921; depth 41.52 2021-10-10T19:48:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:07Z- handleDvl() - RDI_Pathfinder msg: 1633895287.43 epoch sec; seqNo:372 2021-10-10T19:48:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.02 2021-10-10T19:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895287.44 epoch sec; seqNo:921; 4061587.93 north; 594358.47 east 2021-10-10T19:48:07Z- AHRS_M2 msg: 1633895287.83 epoch sec; seqNo:887 2021-10-10T19:48:07Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:07Z- handleDepth()-Depth_Keller msg: 1633895287835 epoch sec; seqNo:922; depth 41.56 2021-10-10T19:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895287.85 epoch sec; seqNo:922; 4061588.32 north; 594359.69 east 2021-10-10T19:48:08Z- AHRS_M2 msg: 1633895288.28 epoch sec; seqNo:888 2021-10-10T19:48:08Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:08Z- handleDepth()-Depth_Keller msg: 1633895288283 epoch sec; seqNo:923; depth 41.61 2021-10-10T19:48:08Z- handleDvl() - RDI_Pathfinder msg: 1633895288.31 epoch sec; seqNo:373 2021-10-10T19:48:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.31 , 58.72 , 44.63 , 57.52 2021-10-10T19:48:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.03 , -0.04 2021-10-10T19:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895288.32 epoch sec; seqNo:923; 4061588.32 north; 594359.69 east 2021-10-10T19:48:08Z- handleDepth()-Depth_Keller msg: 1633895288656 epoch sec; seqNo:924; depth 41.66 2021-10-10T19:48:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:08Z- handleDvl() - RDI_Pathfinder msg: 1633895288.66 epoch sec; seqNo:374 2021-10-10T19:48:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.03 , -0.04 2021-10-10T19:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895288.68 epoch sec; seqNo:924; 4061588.70 north; 594359.68 east 2021-10-10T19:48:08Z- LcmTrn::handleMessages() - handling 45 messages took 0.78 ms and 129 calls... 2021-10-10T19:48:08Z- waiting for 1633895286.40, time is 1633895288.68 2021-10-10T19:48:08Z- LcmTrn::updateTrn() equating pose 1633895288.68 and meas times 1633895288.68 2021-10-10T19:48:08Z- LcmTrn::updateTrn() >>>> pose time 1633895288.68, meas time 1633895288.68 <<<< 2021-10-10T19:48:08Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895288.68, ping # 0. 2021-10-10T19:48:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895288.68 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:08Z- TerrainNav::motionUpdate() - currEstimate = (4061589, 594359.68, 41.66) 2021-10-10T19:48:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:08Z- TerrainNav:: SubcloudNIS is 0.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:08Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:08Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:08Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895288.68 sec.; No relevant navigation data available 2021-10-10T19:48:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:08Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:08Z- variances([0], [2], and psi_berg) = 148.741208 185.705094 0.000000 2021-10-10T19:48:08Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:08Z- LcmTrn::publishEstimates() - MLE : 4061583.20 594400.18 41.66 2021-10-10T19:48:08Z- LcmTrn::publishEstimates() - MMSE : 4061573.00 594392.99 35.66 2021-10-10T19:48:08Z- LcmTrn::publishEstimates() - COVAR: 148.74 185.71 3.07 0.00 2021-10-10T19:48:09Z- AHRS_M2 msg: 1633895289.04 epoch sec; seqNo:889 2021-10-10T19:48:09Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:09Z- handleDepth()-Depth_Keller msg: 1633895289050 epoch sec; seqNo:925; depth 41.71 2021-10-10T19:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895289.06 epoch sec; seqNo:925; 4061588.70 north; 594359.68 east 2021-10-10T19:48:09Z- AHRS_M2 msg: 1633895289.44 epoch sec; seqNo:890 2021-10-10T19:48:09Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:09Z- handleDepth()-Depth_Keller msg: 1633895289451 epoch sec; seqNo:926; depth 41.75 2021-10-10T19:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895289.46 epoch sec; seqNo:926; 4061589.09 north; 594360.90 east 2021-10-10T19:48:09Z- AHRS_M2 msg: 1633895289.85 epoch sec; seqNo:891 2021-10-10T19:48:09Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:09Z- handleDepth()-Depth_Keller msg: 1633895289860 epoch sec; seqNo:927; depth 41.79 2021-10-10T19:48:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:09Z- handleDvl() - RDI_Pathfinder msg: 1633895289.86 epoch sec; seqNo:375 2021-10-10T19:48:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.03 , -0.04 2021-10-10T19:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895289.88 epoch sec; seqNo:927; 4061589.09 north; 594360.90 east 2021-10-10T19:48:10Z- AHRS_M2 msg: 1633895290.28 epoch sec; seqNo:892 2021-10-10T19:48:10Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:10Z- handleDepth()-Depth_Keller msg: 1633895290286 epoch sec; seqNo:928; depth 41.84 2021-10-10T19:48:10Z- handleDvl() - RDI_Pathfinder msg: 1633895290.31 epoch sec; seqNo:376 2021-10-10T19:48:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.59 , 58.00 , 44.16 , 57.28 2021-10-10T19:48:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.06 2021-10-10T19:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895290.34 epoch sec; seqNo:928; 4061589.47 north; 594360.89 east 2021-10-10T19:48:10Z- AHRS_M2 msg: 1633895290.65 epoch sec; seqNo:893 2021-10-10T19:48:10Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:10Z- handleDepth()-Depth_Keller msg: 1633895290658 epoch sec; seqNo:929; depth 41.90 2021-10-10T19:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895290.67 epoch sec; seqNo:929; 4061589.47 north; 594360.89 east 2021-10-10T19:48:11Z- AHRS_M2 msg: 1633895291.06 epoch sec; seqNo:894 2021-10-10T19:48:11Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:11Z- handleDepth()-Depth_Keller msg: 1633895291062 epoch sec; seqNo:930; depth 41.93 2021-10-10T19:48:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:11Z- handleDvl() - RDI_Pathfinder msg: 1633895291.07 epoch sec; seqNo:377 2021-10-10T19:48:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.06 2021-10-10T19:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895291.08 epoch sec; seqNo:930; 4061589.85 north; 594360.89 east 2021-10-10T19:48:11Z- AHRS_M2 msg: 1633895291.46 epoch sec; seqNo:895 2021-10-10T19:48:11Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:11Z- handleDepth()-Depth_Keller msg: 1633895291475 epoch sec; seqNo:931; depth 41.97 2021-10-10T19:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895291.49 epoch sec; seqNo:931; 4061589.86 north; 594362.11 east 2021-10-10T19:48:11Z- AHRS_M2 msg: 1633895291.86 epoch sec; seqNo:896 2021-10-10T19:48:11Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:11Z- handleDepth()-Depth_Keller msg: 1633895291875 epoch sec; seqNo:932; depth 42.03 2021-10-10T19:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895291.90 epoch sec; seqNo:932; 4061590.24 north; 594362.11 east 2021-10-10T19:48:12Z- AHRS_M2 msg: 1633895292.28 epoch sec; seqNo:897 2021-10-10T19:48:12Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:12Z- handleDepth()-Depth_Keller msg: 1633895292289 epoch sec; seqNo:933; depth 42.08 2021-10-10T19:48:12Z- handleDvl() - RDI_Pathfinder msg: 1633895292.32 epoch sec; seqNo:378 2021-10-10T19:48:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.63 , 57.28 , 43.68 , 56.57 2021-10-10T19:48:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.11 , -0.04 2021-10-10T19:48:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895292.34 epoch sec; seqNo:933; 4061590.24 north; 594362.11 east 2021-10-10T19:48:12Z- AHRS_M2 msg: 1633895292.68 epoch sec; seqNo:898 2021-10-10T19:48:12Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:12Z- handleDepth()-Depth_Keller msg: 1633895292687 epoch sec; seqNo:934; depth 42.12 2021-10-10T19:48:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895292.71 epoch sec; seqNo:934; 4061590.62 north; 594362.10 east 2021-10-10T19:48:13Z- AHRS_M2 msg: 1633895293.08 epoch sec; seqNo:899 2021-10-10T19:48:13Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:13Z- handleDepth()-Depth_Keller msg: 1633895293093 epoch sec; seqNo:935; depth 42.15 2021-10-10T19:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895293.10 epoch sec; seqNo:935; 4061590.62 north; 594362.10 east 2021-10-10T19:48:13Z- AHRS_M2 msg: 1633895293.48 epoch sec; seqNo:900 2021-10-10T19:48:13Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:13Z- handleDepth()-Depth_Keller msg: 1633895293486 epoch sec; seqNo:936; depth 42.22 2021-10-10T19:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895293.50 epoch sec; seqNo:936; 4061591.00 north; 594362.10 east 2021-10-10T19:48:13Z- LcmTrn::handleMessages() - handling 40 messages took 0.66 ms and 126 calls... 2021-10-10T19:48:13Z- waiting for 1633895291.68, time is 1633895293.50 2021-10-10T19:48:13Z- LcmTrn::updateTrn() >>>> pose time 1633895293.50, meas time 1633895292.32 <<<< 2021-10-10T19:48:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895292.32 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:13Z- TerrainNav::motionUpdate() - currEstimate = (4061591, 594362.10, 42.22) 2021-10-10T19:48:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:13Z- TerrainNav:: SubcloudNIS is 0.25, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:13Z- TNavBF::Projecting Measurements 2021-10-10T19:48:13Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:48:13Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:48:13Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:48:13Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:48:13Z- TNavFilter::4 good beams. 2021-10-10T19:48:13Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:13Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:13Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:48:13Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:48:13Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:48:13Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:13Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:13Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:13Z- TerrainMapOctree: (vehN, vehE ) = (4061590.44, 594361.51). 2021-10-10T19:48:13Z- TerrainMapOctree: Min Distance = 194.66. 2021-10-10T19:48:13Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:48:13Z- Forcing Subcloud Comparison 2021-10-10T19:48:14Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:48:14Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:14Z- Filter 0 partialDeltaRmsComputation: 21.446181 terrainVariance: 1.373482 1-SumSquareWeights: 0.998707 2021-10-10T19:48:14Z- Filter 0 meanExpectedMeasDiff: 4.480257 delta_rms_squared: 1.363495 alpha: 0.985544 2021-10-10T19:48:14Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:14Z- Filter 0 partialDeltaRmsComputation: 21.927776 terrainVariance: 0.708581 1-SumSquareWeights: 0.998707 2021-10-10T19:48:14Z- Filter 0 meanExpectedMeasDiff: -4.606430 delta_rms_squared: 0.698594 alpha: 0.972168 2021-10-10T19:48:14Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:14Z- Filter 0 partialDeltaRmsComputation: 7.521886 terrainVariance: 2.354317 1-SumSquareWeights: 0.998707 2021-10-10T19:48:14Z- Filter 0 meanExpectedMeasDiff: -2.273229 delta_rms_squared: 2.344330 alpha: 0.991541 2021-10-10T19:48:14Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:14Z- Filter 0 partialDeltaRmsComputation: 36.213321 terrainVariance: 0.464023 1-SumSquareWeights: 0.998707 2021-10-10T19:48:14Z- Filter 0 meanExpectedMeasDiff: 5.979072 delta_rms_squared: 0.454036 alpha: 0.957809 2021-10-10T19:48:14Z- Filter 0 SubcloudNIS: 0.276572 2021-10-10T19:48:14Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:48:14Z- TNavBF:: Filter 0 sumWeights = 0.003897 2021-10-10T19:48:14Z- Filter 0 NorthBias: -20.6 EastBias: 35.0 DepthBias: -5.4 NorthVariance: 58.0 EastVariance: 29.8 DepthVariance: 1.3 this->DepthBiasCov: 0.7 2021-10-10T19:48:14Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895292.32 sec. 2021-10-10T19:48:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:14Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:14Z- variances([0], [2], and psi_berg) = 58.004624 29.905503 0.000000 2021-10-10T19:48:14Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:14Z- LcmTrn::publishEstimates() - MLE : 4061569.50 594401.60 42.22 2021-10-10T19:48:14Z- LcmTrn::publishEstimates() - MMSE : 4061570.39 594397.07 36.84 2021-10-10T19:48:14Z- LcmTrn::publishEstimates() - COVAR: 58.00 29.91 1.35 0.00 2021-10-10T19:48:14Z- AHRS_M2 msg: 1633895293.89 epoch sec; seqNo:901 2021-10-10T19:48:14Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:14Z- handleDepth()-Depth_Keller msg: 1633895293904 epoch sec; seqNo:937; depth 42.26 2021-10-10T19:48:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895293.92 epoch sec; seqNo:937; 4061591.39 north; 594363.31 east 2021-10-10T19:48:14Z- AHRS_M2 msg: 1633895294.30 epoch sec; seqNo:902 2021-10-10T19:48:14Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:14Z- handleDepth()-Depth_Keller msg: 1633895294308 epoch sec; seqNo:938; depth 42.30 2021-10-10T19:48:14Z- handleDvl() - RDI_Pathfinder msg: 1633895294.33 epoch sec; seqNo:379 2021-10-10T19:48:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.40 , 56.81 , 43.20 , 55.85 2021-10-10T19:48:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.08 , -0.00 2021-10-10T19:48:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895294.34 epoch sec; seqNo:938; 4061591.39 north; 594363.31 east 2021-10-10T19:48:14Z- AHRS_M2 msg: 1633895294.69 epoch sec; seqNo:903 2021-10-10T19:48:14Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:14Z- handleDepth()-Depth_Keller msg: 1633895294698 epoch sec; seqNo:939; depth 42.35 2021-10-10T19:48:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:14Z- handleDvl() - RDI_Pathfinder msg: 1633895294.70 epoch sec; seqNo:380 2021-10-10T19:48:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.08 , -0.00 2021-10-10T19:48:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895294.73 epoch sec; seqNo:939; 4061591.77 north; 594363.31 east 2021-10-10T19:48:15Z- AHRS_M2 msg: 1633895295.10 epoch sec; seqNo:904 2021-10-10T19:48:15Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.98 psi 2021-10-10T19:48:15Z- handleDepth()-Depth_Keller msg: 1633895295107 epoch sec; seqNo:940; depth 42.40 2021-10-10T19:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895295.12 epoch sec; seqNo:940; 4061591.77 north; 594363.31 east 2021-10-10T19:48:15Z- AHRS_M2 msg: 1633895295.50 epoch sec; seqNo:905 2021-10-10T19:48:15Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:15Z- handleDepth()-Depth_Keller msg: 1633895295512 epoch sec; seqNo:941; depth 42.45 2021-10-10T19:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895295.52 epoch sec; seqNo:941; 4061591.77 north; 594363.31 east 2021-10-10T19:48:15Z- AHRS_M2 msg: 1633895295.93 epoch sec; seqNo:906 2021-10-10T19:48:15Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.99 psi 2021-10-10T19:48:15Z- handleDepth()-Depth_Keller msg: 1633895295944 epoch sec; seqNo:942; depth 42.51 2021-10-10T19:48:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:15Z- handleDvl() - RDI_Pathfinder msg: 1633895295.95 epoch sec; seqNo:381 2021-10-10T19:48:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.08 , -0.00 2021-10-10T19:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895295.97 epoch sec; seqNo:942; 4061592.16 north; 594364.53 east 2021-10-10T19:48:16Z- AHRS_M2 msg: 1633895296.31 epoch sec; seqNo:907 2021-10-10T19:48:16Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:16Z- handleDepth()-Depth_Keller msg: 1633895296317 epoch sec; seqNo:943; depth 42.56 2021-10-10T19:48:16Z- handleDvl() - RDI_Pathfinder msg: 1633895296.35 epoch sec; seqNo:382 2021-10-10T19:48:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.16 , 56.57 , 42.72 , 55.61 2021-10-10T19:48:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.06 , 0.01 2021-10-10T19:48:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895296.36 epoch sec; seqNo:943; 4061592.16 north; 594364.53 east 2021-10-10T19:48:16Z- AHRS_M2 msg: 1633895296.71 epoch sec; seqNo:908 2021-10-10T19:48:16Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:16Z- handleDepth()-Depth_Keller msg: 1633895296718 epoch sec; seqNo:944; depth 42.60 2021-10-10T19:48:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895296.77 epoch sec; seqNo:944; 4061592.54 north; 594364.52 east 2021-10-10T19:48:17Z- AHRS_M2 msg: 1633895297.13 epoch sec; seqNo:909 2021-10-10T19:48:17Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:17Z- handleDepth()-Depth_Keller msg: 1633895297130 epoch sec; seqNo:945; depth 42.65 2021-10-10T19:48:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:17Z- handleDvl() - RDI_Pathfinder msg: 1633895297.13 epoch sec; seqNo:383 2021-10-10T19:48:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.06 , 0.01 2021-10-10T19:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895297.14 epoch sec; seqNo:945; 4061592.54 north; 594364.52 east 2021-10-10T19:48:17Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-10T19:48:17Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-10T19:48:17Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-10T19:48:17Z- AHRS_M2 msg: 1633895297.51 epoch sec; seqNo:910 2021-10-10T19:48:17Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:17Z- handleDepth()-Depth_Keller msg: 1633895297540 epoch sec; seqNo:946; depth 42.70 2021-10-10T19:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895297.56 epoch sec; seqNo:946; 4061592.92 north; 594364.52 east 2021-10-10T19:48:17Z- AHRS_M2 msg: 1633895297.92 epoch sec; seqNo:911 2021-10-10T19:48:17Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:17Z- handleDepth()-Depth_Keller msg: 1633895297940 epoch sec; seqNo:947; depth 42.76 2021-10-10T19:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895297.95 epoch sec; seqNo:947; 4061592.92 north; 594364.52 east 2021-10-10T19:48:18Z- AHRS_M2 msg: 1633895298.33 epoch sec; seqNo:912 2021-10-10T19:48:18Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:18Z- handleDepth()-Depth_Keller msg: 1633895298334 epoch sec; seqNo:948; depth 42.81 2021-10-10T19:48:18Z- handleDvl() - RDI_Pathfinder msg: 1633895298.36 epoch sec; seqNo:384 2021-10-10T19:48:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.91 , 56.32 , 42.48 , 55.61 2021-10-10T19:48:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.00 2021-10-10T19:48:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895298.39 epoch sec; seqNo:948; 4061593.31 north; 594365.73 east 2021-10-10T19:48:18Z- AHRS_M2 msg: 1633895298.73 epoch sec; seqNo:913 2021-10-10T19:48:18Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:18Z- handleDepth()-Depth_Keller msg: 1633895298738 epoch sec; seqNo:949; depth 42.87 2021-10-10T19:48:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895298.76 epoch sec; seqNo:949; 4061593.31 north; 594365.73 east 2021-10-10T19:48:19Z- LcmTrn::handleMessages() - handling 45 messages took 0.79 ms and 129 calls... 2021-10-10T19:48:19Z- waiting for 1633895296.50, time is 1633895298.76 2021-10-10T19:48:19Z- LcmTrn::updateTrn() >>>> pose time 1633895298.76, meas time 1633895298.36 <<<< 2021-10-10T19:48:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895298.36 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:19Z- TerrainNav::motionUpdate() - currEstimate = (4061593, 594365.73, 42.87) 2021-10-10T19:48:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:19Z- TerrainNav:: SubcloudNIS is 0.28, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:19Z- TNavBF::Projecting Measurements 2021-10-10T19:48:19Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:48:19Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:48:19Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:48:19Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:48:19Z- TNavFilter::4 good beams. 2021-10-10T19:48:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:19Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:19Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:48:19Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:48:19Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:48:19Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:19Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:19Z- TerrainMapOctree: (vehN, vehE ) = (4061593.14, 594365.46). 2021-10-10T19:48:19Z- TerrainMapOctree: Min Distance = 194.77. 2021-10-10T19:48:19Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:48:19Z- Forcing Subcloud Comparison 2021-10-10T19:48:19Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:48:19Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:19Z- Filter 0 partialDeltaRmsComputation: 17.987080 terrainVariance: 0.854789 1-SumSquareWeights: 0.996783 2021-10-10T19:48:19Z- Filter 0 meanExpectedMeasDiff: 4.139117 delta_rms_squared: 0.844821 alpha: 0.976874 2021-10-10T19:48:19Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:19Z- Filter 0 partialDeltaRmsComputation: 22.603483 terrainVariance: 0.322162 1-SumSquareWeights: 0.996783 2021-10-10T19:48:19Z- Filter 0 meanExpectedMeasDiff: -4.720309 delta_rms_squared: 0.312194 alpha: 0.939794 2021-10-10T19:48:19Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:19Z- Filter 0 partialDeltaRmsComputation: 4.200223 terrainVariance: 0.725597 1-SumSquareWeights: 0.996783 2021-10-10T19:48:19Z- Filter 0 meanExpectedMeasDiff: -1.864035 delta_rms_squared: 0.715629 alpha: 0.972812 2021-10-10T19:48:19Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:19Z- Filter 0 partialDeltaRmsComputation: 34.962151 terrainVariance: 0.202423 1-SumSquareWeights: 0.996783 2021-10-10T19:48:19Z- Filter 0 meanExpectedMeasDiff: 5.895738 delta_rms_squared: 0.192455 alpha: 0.905862 2021-10-10T19:48:19Z- Filter 0 SubcloudNIS: 0.339295 2021-10-10T19:48:19Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:48:19Z- TNavBF:: Filter 0 sumWeights = 0.005240 2021-10-10T19:48:19Z- Filter 0 NorthBias: -23.7 EastBias: 33.5 DepthBias: -5.1 NorthVariance: 28.5 EastVariance: 16.1 DepthVariance: 0.8 this->DepthBiasCov: 0.5 2021-10-10T19:48:19Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895298.36 sec. 2021-10-10T19:48:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:19Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:19Z- variances([0], [2], and psi_berg) = 28.529526 16.114707 0.000000 2021-10-10T19:48:19Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:19Z- LcmTrn::publishEstimates() - MLE : 4061566.81 594400.23 42.87 2021-10-10T19:48:19Z- LcmTrn::publishEstimates() - MMSE : 4061569.57 594399.25 37.75 2021-10-10T19:48:19Z- LcmTrn::publishEstimates() - COVAR: 28.53 16.11 0.87 0.00 2021-10-10T19:48:19Z- AHRS_M2 msg: 1633895299.14 epoch sec; seqNo:914 2021-10-10T19:48:19Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:19Z- handleDepth()-Depth_Keller msg: 1633895299149 epoch sec; seqNo:950; depth 42.91 2021-10-10T19:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895299.16 epoch sec; seqNo:950; 4061593.69 north; 594365.73 east 2021-10-10T19:48:19Z- AHRS_M2 msg: 1633895299.55 epoch sec; seqNo:915 2021-10-10T19:48:19Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:19Z- handleDepth()-Depth_Keller msg: 1633895299557 epoch sec; seqNo:951; depth 42.96 2021-10-10T19:48:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:19Z- handleDvl() - RDI_Pathfinder msg: 1633895299.56 epoch sec; seqNo:385 2021-10-10T19:48:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.00 2021-10-10T19:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895299.57 epoch sec; seqNo:951; 4061593.69 north; 594365.73 east 2021-10-10T19:48:19Z- AHRS_M2 msg: 1633895299.94 epoch sec; seqNo:916 2021-10-10T19:48:19Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:19Z- handleDepth()-Depth_Keller msg: 1633895299956 epoch sec; seqNo:952; depth 43.00 2021-10-10T19:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895299.98 epoch sec; seqNo:952; 4061594.07 north; 594365.72 east 2021-10-10T19:48:20Z- AHRS_M2 msg: 1633895300.35 epoch sec; seqNo:917 2021-10-10T19:48:20Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:20Z- handleDepth()-Depth_Keller msg: 1633895300354 epoch sec; seqNo:953; depth 43.06 2021-10-10T19:48:20Z- handleDvl() - RDI_Pathfinder msg: 1633895300.38 epoch sec; seqNo:386 2021-10-10T19:48:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.67 , 55.85 , 42.01 , 55.37 2021-10-10T19:48:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.00 2021-10-10T19:48:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895300.39 epoch sec; seqNo:953; 4061594.09 north; 594366.94 east 2021-10-10T19:48:20Z- AHRS_M2 msg: 1633895300.75 epoch sec; seqNo:918 2021-10-10T19:48:20Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:20Z- handleDepth()-Depth_Keller msg: 1633895300774 epoch sec; seqNo:954; depth 43.12 2021-10-10T19:48:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:20Z- handleDvl() - RDI_Pathfinder msg: 1633895300.78 epoch sec; seqNo:387 2021-10-10T19:48:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.00 2021-10-10T19:48:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895300.79 epoch sec; seqNo:954; 4061594.46 north; 594366.94 east 2021-10-10T19:48:21Z- AHRS_M2 msg: 1633895301.16 epoch sec; seqNo:919 2021-10-10T19:48:21Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:21Z- handleDepth()-Depth_Keller msg: 1633895301165 epoch sec; seqNo:955; depth 43.16 2021-10-10T19:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895301.19 epoch sec; seqNo:955; 4061594.46 north; 594366.94 east 2021-10-10T19:48:21Z- AHRS_M2 msg: 1633895301.56 epoch sec; seqNo:920 2021-10-10T19:48:21Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:21Z- handleDepth()-Depth_Keller msg: 1633895301567 epoch sec; seqNo:956; depth 43.22 2021-10-10T19:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895301.58 epoch sec; seqNo:956; 4061594.84 north; 594366.94 east 2021-10-10T19:48:21Z- AHRS_M2 msg: 1633895301.97 epoch sec; seqNo:921 2021-10-10T19:48:21Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:21Z- handleDepth()-Depth_Keller msg: 1633895301976 epoch sec; seqNo:957; depth 43.27 2021-10-10T19:48:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:21Z- handleDvl() - RDI_Pathfinder msg: 1633895301.98 epoch sec; seqNo:388 2021-10-10T19:48:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.00 2021-10-10T19:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895301.99 epoch sec; seqNo:957; 4061594.84 north; 594366.94 east 2021-10-10T19:48:22Z- AHRS_M2 msg: 1633895302.37 epoch sec; seqNo:922 2021-10-10T19:48:22Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:22Z- handleDepth()-Depth_Keller msg: 1633895302374 epoch sec; seqNo:958; depth 43.31 2021-10-10T19:48:22Z- handleDvl() - RDI_Pathfinder msg: 1633895302.39 epoch sec; seqNo:389 2021-10-10T19:48:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.44 , 55.61 , 41.53 , 55.37 2021-10-10T19:48:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.09 , 0.00 2021-10-10T19:48:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895302.44 epoch sec; seqNo:958; 4061595.24 north; 594368.15 east 2021-10-10T19:48:22Z- AHRS_M2 msg: 1633895302.77 epoch sec; seqNo:923 2021-10-10T19:48:22Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:22Z- handleDepth()-Depth_Keller msg: 1633895302778 epoch sec; seqNo:959; depth 43.37 2021-10-10T19:48:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895302.79 epoch sec; seqNo:959; 4061595.24 north; 594368.15 east 2021-10-10T19:48:23Z- AHRS_M2 msg: 1633895303.18 epoch sec; seqNo:924 2021-10-10T19:48:23Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:23Z- handleDepth()-Depth_Keller msg: 1633895303182 epoch sec; seqNo:960; depth 43.41 2021-10-10T19:48:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:23Z- handleDvl() - RDI_Pathfinder msg: 1633895303.18 epoch sec; seqNo:390 2021-10-10T19:48:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.09 , 0.00 2021-10-10T19:48:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895303.20 epoch sec; seqNo:960; 4061595.61 north; 594368.15 east 2021-10-10T19:48:23Z- AHRS_M2 msg: 1633895303.58 epoch sec; seqNo:925 2021-10-10T19:48:23Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:23Z- handleDepth()-Depth_Keller msg: 1633895303592 epoch sec; seqNo:961; depth 43.44 2021-10-10T19:48:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895303.60 epoch sec; seqNo:961; 4061595.61 north; 594368.15 east 2021-10-10T19:48:23Z- AHRS_M2 msg: 1633895303.98 epoch sec; seqNo:926 2021-10-10T19:48:23Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:23Z- handleDepth()-Depth_Keller msg: 1633895303990 epoch sec; seqNo:962; depth 43.51 2021-10-10T19:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895304.00 epoch sec; seqNo:962; 4061595.99 north; 594368.14 east 2021-10-10T19:48:24Z- LcmTrn::handleMessages() - handling 45 messages took 0.70 ms and 131 calls... 2021-10-10T19:48:24Z- waiting for 1633895301.76, time is 1633895304.00 2021-10-10T19:48:24Z- LcmTrn::updateTrn() >>>> pose time 1633895304.00, meas time 1633895303.18 <<<< 2021-10-10T19:48:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895303.18, ping # 0. 2021-10-10T19:48:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895303.18 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:24Z- TerrainNav::motionUpdate() - currEstimate = (4061596, 594368.14, 43.51) 2021-10-10T19:48:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:24Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:24Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:24Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:24Z- TNavBF::Projecting Measurements 2021-10-10T19:48:24Z- TNavFilter::Measurement from time = 1633895303.18 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:48:24Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:24Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:24Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:48:24Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:48:24Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:48:24Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:24Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:24Z- Filter 0 NorthBias: -23.7 EastBias: 33.5 DepthBias: -5.1 NorthVariance: 28.6 EastVariance: 16.2 DepthVariance: 1.0 this->DepthBiasCov: 0.7 2021-10-10T19:48:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:24Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:24Z- variances([0], [2], and psi_berg) = 28.573219 16.175253 0.000000 2021-10-10T19:48:24Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:24Z- LcmTrn::publishEstimates() - MLE : 4061569.49 594402.64 43.51 2021-10-10T19:48:24Z- LcmTrn::publishEstimates() - MMSE : 4061572.25 594401.66 38.39 2021-10-10T19:48:24Z- LcmTrn::publishEstimates() - COVAR: 28.57 16.18 1.05 0.00 2021-10-10T19:48:24Z- AHRS_M2 msg: 1633895304.39 epoch sec; seqNo:927 2021-10-10T19:48:24Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:24Z- handleDepth()-Depth_Keller msg: 1633895304394 epoch sec; seqNo:963; depth 43.55 2021-10-10T19:48:24Z- handleDvl() - RDI_Pathfinder msg: 1633895304.41 epoch sec; seqNo:391 2021-10-10T19:48:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.99 , 55.18 , 41.00 , 54.30 2021-10-10T19:48:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.00 2021-10-10T19:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895304.46 epoch sec; seqNo:963; 4061596.01 north; 594369.36 east 2021-10-10T19:48:24Z- AHRS_M2 msg: 1633895304.80 epoch sec; seqNo:928 2021-10-10T19:48:24Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:24Z- handleDepth()-Depth_Keller msg: 1633895304803 epoch sec; seqNo:964; depth 43.61 2021-10-10T19:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895304.82 epoch sec; seqNo:964; 4061596.39 north; 594369.36 east 2021-10-10T19:48:25Z- AHRS_M2 msg: 1633895305.20 epoch sec; seqNo:929 2021-10-10T19:48:25Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:25Z- handleDepth()-Depth_Keller msg: 1633895305209 epoch sec; seqNo:965; depth 43.65 2021-10-10T19:48:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895305.22 epoch sec; seqNo:965; 4061596.39 north; 594369.36 east 2021-10-10T19:48:25Z- AHRS_M2 msg: 1633895305.60 epoch sec; seqNo:930 2021-10-10T19:48:25Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:25Z- handleDepth()-Depth_Keller msg: 1633895305605 epoch sec; seqNo:966; depth 43.69 2021-10-10T19:48:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:25Z- handleDvl() - RDI_Pathfinder msg: 1633895305.61 epoch sec; seqNo:392 2021-10-10T19:48:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.00 2021-10-10T19:48:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895305.64 epoch sec; seqNo:966; 4061596.76 north; 594369.36 east 2021-10-10T19:48:26Z- AHRS_M2 msg: 1633895306.01 epoch sec; seqNo:931 2021-10-10T19:48:26Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:26Z- handleDepth()-Depth_Keller msg: 1633895306017 epoch sec; seqNo:967; depth 43.73 2021-10-10T19:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895306.03 epoch sec; seqNo:967; 4061596.76 north; 594369.36 east 2021-10-10T19:48:26Z- AHRS_M2 msg: 1633895306.42 epoch sec; seqNo:932 2021-10-10T19:48:26Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:26Z- handleDepth()-Depth_Keller msg: 1633895306422 epoch sec; seqNo:968; depth 43.79 2021-10-10T19:48:26Z- handleDvl() - RDI_Pathfinder msg: 1633895306.44 epoch sec; seqNo:393 2021-10-10T19:48:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.32 , 54.96 , 40.11 , 54.73 2021-10-10T19:48:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , -0.02 2021-10-10T19:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895306.47 epoch sec; seqNo:968; 4061597.16 north; 594370.57 east 2021-10-10T19:48:26Z- AHRS_M2 msg: 1633895306.82 epoch sec; seqNo:933 2021-10-10T19:48:26Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:26Z- handleDepth()-Depth_Keller msg: 1633895306836 epoch sec; seqNo:969; depth 43.84 2021-10-10T19:48:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:26Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:26Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:26Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:26Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:26Z- handleDvl() - RDI_Pathfinder msg: 1633895306.84 epoch sec; seqNo:394 2021-10-10T19:48:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , -0.02 2021-10-10T19:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895306.86 epoch sec; seqNo:969; 4061597.16 north; 594370.57 east 2021-10-10T19:48:27Z- AHRS_M2 msg: 1633895307.22 epoch sec; seqNo:934 2021-10-10T19:48:27Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.99 psi 2021-10-10T19:48:27Z- handleDepth()-Depth_Keller msg: 1633895307223 epoch sec; seqNo:970; depth 43.88 2021-10-10T19:48:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895307.24 epoch sec; seqNo:970; 4061597.54 north; 594370.57 east 2021-10-10T19:48:27Z- AHRS_M2 msg: 1633895307.62 epoch sec; seqNo:935 2021-10-10T19:48:27Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:27Z- handleDepth()-Depth_Keller msg: 1633895307626 epoch sec; seqNo:971; depth 43.91 2021-10-10T19:48:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895307.64 epoch sec; seqNo:971; 4061597.54 north; 594370.57 east 2021-10-10T19:48:28Z- AHRS_M2 msg: 1633895308.03 epoch sec; seqNo:936 2021-10-10T19:48:28Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:28Z- handleDepth()-Depth_Keller msg: 1633895308036 epoch sec; seqNo:972; depth 43.97 2021-10-10T19:48:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:28Z- handleDvl() - RDI_Pathfinder msg: 1633895308.04 epoch sec; seqNo:395 2021-10-10T19:48:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , -0.02 2021-10-10T19:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895308.05 epoch sec; seqNo:972; 4061597.91 north; 594370.56 east 2021-10-10T19:48:28Z- AHRS_M2 msg: 1633895308.43 epoch sec; seqNo:937 2021-10-10T19:48:28Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:28Z- handleDepth()-Depth_Keller msg: 1633895308439 epoch sec; seqNo:973; depth 44.01 2021-10-10T19:48:28Z- handleDvl() - RDI_Pathfinder msg: 1633895308.47 epoch sec; seqNo:396 2021-10-10T19:48:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.88 , 54.51 , 39.22 , 54.07 2021-10-10T19:48:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.04 2021-10-10T19:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895308.48 epoch sec; seqNo:973; 4061597.93 north; 594371.78 east 2021-10-10T19:48:28Z- AHRS_M2 msg: 1633895308.84 epoch sec; seqNo:938 2021-10-10T19:48:28Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:28Z- handleDepth()-Depth_Keller msg: 1633895308852 epoch sec; seqNo:974; depth 44.05 2021-10-10T19:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895308.88 epoch sec; seqNo:974; 4061598.31 north; 594371.78 east 2021-10-10T19:48:29Z- AHRS_M2 msg: 1633895309.24 epoch sec; seqNo:939 2021-10-10T19:48:29Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:29Z- handleDepth()-Depth_Keller msg: 1633895309252 epoch sec; seqNo:975; depth 44.11 2021-10-10T19:48:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:29Z- handleDvl() - RDI_Pathfinder msg: 1633895309.25 epoch sec; seqNo:397 2021-10-10T19:48:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.04 2021-10-10T19:48:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895309.27 epoch sec; seqNo:975; 4061598.31 north; 594371.78 east 2021-10-10T19:48:29Z- LcmTrn::handleMessages() - handling 46 messages took 0.83 ms and 129 calls... 2021-10-10T19:48:29Z- waiting for 1633895307.00, time is 1633895309.27 2021-10-10T19:48:29Z- LcmTrn::updateTrn() equating pose 1633895309.27 and meas times 1633895309.27 2021-10-10T19:48:29Z- LcmTrn::updateTrn() >>>> pose time 1633895309.27, meas time 1633895309.27 <<<< 2021-10-10T19:48:29Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895309.27, ping # 0. 2021-10-10T19:48:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895309.27 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:29Z- TerrainNav::motionUpdate() - currEstimate = (4061598, 594371.78, 44.11) 2021-10-10T19:48:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:29Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:29Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:29Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:29Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895309.27 sec.; No relevant navigation data available 2021-10-10T19:48:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:29Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:29Z- variances([0], [2], and psi_berg) = 28.609602 16.225380 0.000000 2021-10-10T19:48:29Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:29Z- LcmTrn::publishEstimates() - MLE : 4061571.81 594406.28 44.11 2021-10-10T19:48:29Z- LcmTrn::publishEstimates() - MMSE : 4061574.56 594405.30 38.99 2021-10-10T19:48:29Z- LcmTrn::publishEstimates() - COVAR: 28.61 16.23 1.27 0.00 2021-10-10T19:48:29Z- AHRS_M2 msg: 1633895309.64 epoch sec; seqNo:940 2021-10-10T19:48:29Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:29Z- handleDepth()-Depth_Keller msg: 1633895309646 epoch sec; seqNo:976; depth 44.16 2021-10-10T19:48:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895309.67 epoch sec; seqNo:976; 4061598.69 north; 594371.78 east 2021-10-10T19:48:30Z- AHRS_M2 msg: 1633895310.05 epoch sec; seqNo:941 2021-10-10T19:48:30Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:30Z- handleDepth()-Depth_Keller msg: 1633895310052 epoch sec; seqNo:977; depth 44.19 2021-10-10T19:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895310.06 epoch sec; seqNo:977; 4061598.69 north; 594371.78 east 2021-10-10T19:48:30Z- AHRS_M2 msg: 1633895310.45 epoch sec; seqNo:942 2021-10-10T19:48:30Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:30Z- handleDepth()-Depth_Keller msg: 1633895310454 epoch sec; seqNo:978; depth 44.24 2021-10-10T19:48:30Z- handleDvl() - RDI_Pathfinder msg: 1633895310.48 epoch sec; seqNo:398 2021-10-10T19:48:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.44 , 54.29 , 38.56 , 53.63 2021-10-10T19:48:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , -0.02 2021-10-10T19:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895310.51 epoch sec; seqNo:978; 4061599.08 north; 594372.99 east 2021-10-10T19:48:30Z- AHRS_M2 msg: 1633895310.86 epoch sec; seqNo:943 2021-10-10T19:48:30Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:30Z- handleDepth()-Depth_Keller msg: 1633895310862 epoch sec; seqNo:979; depth 44.29 2021-10-10T19:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895310.93 epoch sec; seqNo:979; 4061599.08 north; 594372.99 east 2021-10-10T19:48:31Z- AHRS_M2 msg: 1633895311.26 epoch sec; seqNo:944 2021-10-10T19:48:31Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:31Z- handleDepth()-Depth_Keller msg: 1633895311268 epoch sec; seqNo:980; depth 44.34 2021-10-10T19:48:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895311.28 epoch sec; seqNo:980; 4061599.46 north; 594372.99 east 2021-10-10T19:48:31Z- AHRS_M2 msg: 1633895311.66 epoch sec; seqNo:945 2021-10-10T19:48:31Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:31Z- handleDepth()-Depth_Keller msg: 1633895311669 epoch sec; seqNo:981; depth 44.38 2021-10-10T19:48:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:31Z- handleDvl() - RDI_Pathfinder msg: 1633895311.67 epoch sec; seqNo:399 2021-10-10T19:48:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , -0.02 2021-10-10T19:48:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895311.68 epoch sec; seqNo:981; 4061599.46 north; 594372.99 east 2021-10-10T19:48:32Z- AHRS_M2 msg: 1633895312.07 epoch sec; seqNo:946 2021-10-10T19:48:32Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:32Z- handleDepth()-Depth_Keller msg: 1633895312076 epoch sec; seqNo:982; depth 44.42 2021-10-10T19:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895312.10 epoch sec; seqNo:982; 4061599.84 north; 594372.98 east 2021-10-10T19:48:32Z- AHRS_M2 msg: 1633895312.47 epoch sec; seqNo:947 2021-10-10T19:48:32Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:32Z- handleDepth()-Depth_Keller msg: 1633895312474 epoch sec; seqNo:983; depth 44.47 2021-10-10T19:48:32Z- handleDvl() - RDI_Pathfinder msg: 1633895312.49 epoch sec; seqNo:400 2021-10-10T19:48:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.22 , 53.85 , 38.11 , 53.63 2021-10-10T19:48:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , -0.01 2021-10-10T19:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895312.53 epoch sec; seqNo:983; 4061599.85 north; 594374.20 east 2021-10-10T19:48:32Z- AHRS_M2 msg: 1633895312.88 epoch sec; seqNo:948 2021-10-10T19:48:32Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:32Z- handleDepth()-Depth_Keller msg: 1633895312892 epoch sec; seqNo:984; depth 44.52 2021-10-10T19:48:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:32Z- handleDvl() - RDI_Pathfinder msg: 1633895312.89 epoch sec; seqNo:401 2021-10-10T19:48:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , -0.01 2021-10-10T19:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895312.91 epoch sec; seqNo:984; 4061600.23 north; 594374.20 east 2021-10-10T19:48:33Z- AHRS_M2 msg: 1633895313.28 epoch sec; seqNo:949 2021-10-10T19:48:33Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:33Z- handleDepth()-Depth_Keller msg: 1633895313293 epoch sec; seqNo:985; depth 44.58 2021-10-10T19:48:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895313.31 epoch sec; seqNo:985; 4061600.23 north; 594374.20 east 2021-10-10T19:48:33Z- AHRS_M2 msg: 1633895313.68 epoch sec; seqNo:950 2021-10-10T19:48:33Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:33Z- handleDepth()-Depth_Keller msg: 1633895313686 epoch sec; seqNo:986; depth 44.62 2021-10-10T19:48:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895313.70 epoch sec; seqNo:986; 4061600.61 north; 594374.20 east 2021-10-10T19:48:34Z- AHRS_M2 msg: 1633895314.09 epoch sec; seqNo:951 2021-10-10T19:48:34Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:34Z- handleDepth()-Depth_Keller msg: 1633895314090 epoch sec; seqNo:987; depth 44.66 2021-10-10T19:48:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:34Z- handleDvl() - RDI_Pathfinder msg: 1633895314.09 epoch sec; seqNo:402 2021-10-10T19:48:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , -0.01 2021-10-10T19:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895314.10 epoch sec; seqNo:987; 4061600.61 north; 594374.20 east 2021-10-10T19:48:34Z- LcmTrn::handleMessages() - handling 41 messages took 0.63 ms and 128 calls... 2021-10-10T19:48:34Z- waiting for 1633895312.27, time is 1633895314.10 2021-10-10T19:48:34Z- LcmTrn::updateTrn() equating pose 1633895314.10 and meas times 1633895314.10 2021-10-10T19:48:34Z- LcmTrn::updateTrn() >>>> pose time 1633895314.10, meas time 1633895314.10 <<<< 2021-10-10T19:48:34Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895314.10, ping # 0. 2021-10-10T19:48:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895314.10 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:34Z- TerrainNav::motionUpdate() - currEstimate = (4061601, 594374.20, 44.66) 2021-10-10T19:48:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:34Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:34Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:34Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:34Z- TNavBF::Projecting Measurements 2021-10-10T19:48:34Z- TNavFilter::Measurement from time = 1633895314.10 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:48:34Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:34Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:34Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:48:34Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:48:34Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:48:34Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:34Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:34Z- Filter 0 NorthBias: -23.7 EastBias: 33.5 DepthBias: -5.1 NorthVariance: 28.6 EastVariance: 16.3 DepthVariance: 1.4 this->DepthBiasCov: 1.1 2021-10-10T19:48:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:34Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:34Z- variances([0], [2], and psi_berg) = 28.641620 16.269233 0.000000 2021-10-10T19:48:34Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:34Z- LcmTrn::publishEstimates() - MLE : 4061574.11 594408.70 44.66 2021-10-10T19:48:34Z- LcmTrn::publishEstimates() - MMSE : 4061576.86 594407.71 39.54 2021-10-10T19:48:34Z- LcmTrn::publishEstimates() - COVAR: 28.64 16.27 1.44 0.00 2021-10-10T19:48:34Z- AHRS_M2 msg: 1633895314.49 epoch sec; seqNo:952 2021-10-10T19:48:34Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:34Z- handleDepth()-Depth_Keller msg: 1633895314497 epoch sec; seqNo:988; depth 44.70 2021-10-10T19:48:34Z- handleDvl() - RDI_Pathfinder msg: 1633895314.52 epoch sec; seqNo:403 2021-10-10T19:48:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.55 , 53.40 , 37.45 , 52.96 2021-10-10T19:48:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , -0.03 2021-10-10T19:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895314.53 epoch sec; seqNo:988; 4061601.00 north; 594375.41 east 2021-10-10T19:48:34Z- AHRS_M2 msg: 1633895314.89 epoch sec; seqNo:953 2021-10-10T19:48:34Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:34Z- handleDepth()-Depth_Keller msg: 1633895314899 epoch sec; seqNo:989; depth 44.75 2021-10-10T19:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895314.91 epoch sec; seqNo:989; 4061601.00 north; 594375.41 east 2021-10-10T19:48:35Z- AHRS_M2 msg: 1633895315.31 epoch sec; seqNo:954 2021-10-10T19:48:35Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:35Z- handleDepth()-Depth_Keller msg: 1633895315310 epoch sec; seqNo:990; depth 44.80 2021-10-10T19:48:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:35Z- handleDvl() - RDI_Pathfinder msg: 1633895315.31 epoch sec; seqNo:404 2021-10-10T19:48:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , -0.03 2021-10-10T19:48:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895315.33 epoch sec; seqNo:990; 4061601.38 north; 594375.41 east 2021-10-10T19:48:35Z- AHRS_M2 msg: 1633895315.70 epoch sec; seqNo:955 2021-10-10T19:48:35Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:35Z- handleDepth()-Depth_Keller msg: 1633895315706 epoch sec; seqNo:991; depth 44.83 2021-10-10T19:48:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895315.72 epoch sec; seqNo:991; 4061601.38 north; 594375.41 east 2021-10-10T19:48:36Z- AHRS_M2 msg: 1633895316.11 epoch sec; seqNo:956 2021-10-10T19:48:36Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:36Z- handleDepth()-Depth_Keller msg: 1633895316109 epoch sec; seqNo:992; depth 44.89 2021-10-10T19:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895316.12 epoch sec; seqNo:992; 4061601.76 north; 594375.40 east 2021-10-10T19:48:36Z- AHRS_M2 msg: 1633895316.51 epoch sec; seqNo:957 2021-10-10T19:48:36Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:36Z- handleDepth()-Depth_Keller msg: 1633895316525 epoch sec; seqNo:993; depth 44.94 2021-10-10T19:48:36Z- handleDvl() - RDI_Pathfinder msg: 1633895316.55 epoch sec; seqNo:405 2021-10-10T19:48:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.66 , 52.96 , 37.22 , 52.96 2021-10-10T19:48:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , -0.03 2021-10-10T19:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895316.56 epoch sec; seqNo:993; 4061601.76 north; 594375.40 east 2021-10-10T19:48:36Z- AHRS_M2 msg: 1633895316.91 epoch sec; seqNo:958 2021-10-10T19:48:36Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:36Z- handleDepth()-Depth_Keller msg: 1633895316918 epoch sec; seqNo:994; depth 44.99 2021-10-10T19:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895316.96 epoch sec; seqNo:994; 4061602.15 north; 594376.62 east 2021-10-10T19:48:37Z- AHRS_M2 msg: 1633895317.32 epoch sec; seqNo:959 2021-10-10T19:48:37Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:37Z- handleDepth()-Depth_Keller msg: 1633895317326 epoch sec; seqNo:995; depth 45.04 2021-10-10T19:48:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895317.34 epoch sec; seqNo:995; 4061602.15 north; 594376.62 east 2021-10-10T19:48:37Z- AHRS_M2 msg: 1633895317.72 epoch sec; seqNo:960 2021-10-10T19:48:37Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:37Z- handleDepth()-Depth_Keller msg: 1633895317732 epoch sec; seqNo:996; depth 45.09 2021-10-10T19:48:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:37Z- handleDvl() - RDI_Pathfinder msg: 1633895317.73 epoch sec; seqNo:406 2021-10-10T19:48:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , -0.03 2021-10-10T19:48:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895317.75 epoch sec; seqNo:996; 4061602.53 north; 594376.62 east 2021-10-10T19:48:38Z- AHRS_M2 msg: 1633895318.12 epoch sec; seqNo:961 2021-10-10T19:48:38Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:38Z- handleDepth()-Depth_Keller msg: 1633895318136 epoch sec; seqNo:997; depth 45.14 2021-10-10T19:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895318.15 epoch sec; seqNo:997; 4061602.53 north; 594376.62 east 2021-10-10T19:48:38Z- AHRS_M2 msg: 1633895318.53 epoch sec; seqNo:962 2021-10-10T19:48:38Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:38Z- handleDepth()-Depth_Keller msg: 1633895318540 epoch sec; seqNo:998; depth 45.19 2021-10-10T19:48:38Z- handleDvl() - RDI_Pathfinder msg: 1633895318.56 epoch sec; seqNo:407 2021-10-10T19:48:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 52.73 , 36.78 , 52.73 2021-10-10T19:48:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.01 2021-10-10T19:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895318.59 epoch sec; seqNo:998; 4061602.91 north; 594376.61 east 2021-10-10T19:48:38Z- AHRS_M2 msg: 1633895318.94 epoch sec; seqNo:963 2021-10-10T19:48:38Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:38Z- handleDepth()-Depth_Keller msg: 1633895318950 epoch sec; seqNo:999; depth 45.24 2021-10-10T19:48:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:38Z- handleDvl() - RDI_Pathfinder msg: 1633895318.95 epoch sec; seqNo:408 2021-10-10T19:48:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.01 2021-10-10T19:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895318.98 epoch sec; seqNo:999; 4061602.92 north; 594377.83 east 2021-10-10T19:48:39Z- AHRS_M2 msg: 1633895319.34 epoch sec; seqNo:964 2021-10-10T19:48:39Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:39Z- handleDepth()-Depth_Keller msg: 1633895319344 epoch sec; seqNo:1000; depth 45.29 2021-10-10T19:48:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895319.37 epoch sec; seqNo:1000; 4061603.30 north; 594377.83 east 2021-10-10T19:48:39Z- LcmTrn::handleMessages() - handling 45 messages took 0.75 ms and 130 calls... 2021-10-10T19:48:39Z- waiting for 1633895317.10, time is 1633895319.37 2021-10-10T19:48:39Z- LcmTrn::updateTrn() >>>> pose time 1633895319.37, meas time 1633895318.95 <<<< 2021-10-10T19:48:39Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895318.95, ping # 0. 2021-10-10T19:48:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895318.95 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:39Z- TerrainNav::motionUpdate() - currEstimate = (4061603, 594377.83, 45.29) 2021-10-10T19:48:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:39Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:39Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:39Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:39Z- TNavBF::Projecting Measurements 2021-10-10T19:48:39Z- TNavFilter::Measurement from time = 1633895318.95 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:48:39Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:39Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:39Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:48:39Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:48:39Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:48:39Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:39Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:39Z- Filter 0 NorthBias: -23.7 EastBias: 33.5 DepthBias: -5.1 NorthVariance: 28.7 EastVariance: 16.3 DepthVariance: 1.7 this->DepthBiasCov: 1.4 2021-10-10T19:48:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:39Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:39Z- variances([0], [2], and psi_berg) = 28.687893 16.332218 0.000000 2021-10-10T19:48:39Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:39Z- LcmTrn::publishEstimates() - MLE : 4061576.80 594412.33 45.29 2021-10-10T19:48:39Z- LcmTrn::publishEstimates() - MMSE : 4061579.55 594411.34 40.16 2021-10-10T19:48:39Z- LcmTrn::publishEstimates() - COVAR: 28.69 16.33 1.67 0.00 2021-10-10T19:48:39Z- AHRS_M2 msg: 1633895319.74 epoch sec; seqNo:965 2021-10-10T19:48:39Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:39Z- handleDepth()-Depth_Keller msg: 1633895319746 epoch sec; seqNo:1001; depth 45.34 2021-10-10T19:48:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895319.76 epoch sec; seqNo:1001; 4061603.30 north; 594377.83 east 2021-10-10T19:48:40Z- handleDepth()-Depth_Keller msg: 1633895320164 epoch sec; seqNo:1002; depth 45.36 2021-10-10T19:48:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:40Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:40Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:40Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:40Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:40Z- handleDvl() - RDI_Pathfinder msg: 1633895320.17 epoch sec; seqNo:409 2021-10-10T19:48:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.01 2021-10-10T19:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895320.18 epoch sec; seqNo:1002; 4061603.68 north; 594377.82 east 2021-10-10T19:48:40Z- AHRS_M2 msg: 1633895320.55 epoch sec; seqNo:966 2021-10-10T19:48:40Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:40Z- handleDepth()-Depth_Keller msg: 1633895320558 epoch sec; seqNo:1003; depth 45.43 2021-10-10T19:48:40Z- handleDvl() - RDI_Pathfinder msg: 1633895320.58 epoch sec; seqNo:410 2021-10-10T19:48:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.43 , 52.15 , 36.61 , 51.95 2021-10-10T19:48:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.04 , 0.03 2021-10-10T19:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895320.60 epoch sec; seqNo:1003; 4061603.68 north; 594377.82 east 2021-10-10T19:48:40Z- AHRS_M2 msg: 1633895320.95 epoch sec; seqNo:967 2021-10-10T19:48:40Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:40Z- handleDepth()-Depth_Keller msg: 1633895320962 epoch sec; seqNo:1004; depth 45.49 2021-10-10T19:48:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895320.99 epoch sec; seqNo:1004; 4061603.69 north; 594379.04 east 2021-10-10T19:48:41Z- AHRS_M2 msg: 1633895321.36 epoch sec; seqNo:968 2021-10-10T19:48:41Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:41Z- handleDepth()-Depth_Keller msg: 1633895321367 epoch sec; seqNo:1005; depth 45.53 2021-10-10T19:48:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:41Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:41Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:41Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:41Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:41Z- handleDvl() - RDI_Pathfinder msg: 1633895321.37 epoch sec; seqNo:411 2021-10-10T19:48:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.04 , 0.03 2021-10-10T19:48:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895321.38 epoch sec; seqNo:1005; 4061604.07 north; 594379.04 east 2021-10-10T19:48:41Z- AHRS_M2 msg: 1633895321.76 epoch sec; seqNo:969 2021-10-10T19:48:41Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:41Z- handleDepth()-Depth_Keller msg: 1633895321775 epoch sec; seqNo:1006; depth 45.58 2021-10-10T19:48:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895321.79 epoch sec; seqNo:1006; 4061604.07 north; 594379.04 east 2021-10-10T19:48:42Z- AHRS_M2 msg: 1633895322.16 epoch sec; seqNo:970 2021-10-10T19:48:42Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:42Z- handleDepth()-Depth_Keller msg: 1633895322169 epoch sec; seqNo:1007; depth 45.62 2021-10-10T19:48:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895322.18 epoch sec; seqNo:1007; 4061604.45 north; 594379.04 east 2021-10-10T19:48:42Z- AHRS_M2 msg: 1633895322.57 epoch sec; seqNo:971 2021-10-10T19:48:42Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:42Z- handleDepth()-Depth_Keller msg: 1633895322574 epoch sec; seqNo:1008; depth 45.65 2021-10-10T19:48:42Z- handleDvl() - RDI_Pathfinder msg: 1633895322.60 epoch sec; seqNo:412 2021-10-10T19:48:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.81 , 51.95 , 36.61 , 51.75 2021-10-10T19:48:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , -0.01 2021-10-10T19:48:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895322.63 epoch sec; seqNo:1008; 4061604.45 north; 594379.04 east 2021-10-10T19:48:42Z- AHRS_M2 msg: 1633895322.98 epoch sec; seqNo:972 2021-10-10T19:48:42Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:42Z- handleDepth()-Depth_Keller msg: 1633895322981 epoch sec; seqNo:1009; depth 45.70 2021-10-10T19:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895323.00 epoch sec; seqNo:1009; 4061604.84 north; 594380.25 east 2021-10-10T19:48:43Z- AHRS_M2 msg: 1633895323.38 epoch sec; seqNo:973 2021-10-10T19:48:43Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:43Z- handleDepth()-Depth_Keller msg: 1633895323386 epoch sec; seqNo:1010; depth 45.74 2021-10-10T19:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895323.39 epoch sec; seqNo:1010; 4061604.84 north; 594380.25 east 2021-10-10T19:48:43Z- AHRS_M2 msg: 1633895323.79 epoch sec; seqNo:974 2021-10-10T19:48:43Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:43Z- handleDepth()-Depth_Keller msg: 1633895323793 epoch sec; seqNo:1011; depth 45.79 2021-10-10T19:48:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:43Z- handleDvl() - RDI_Pathfinder msg: 1633895323.80 epoch sec; seqNo:413 2021-10-10T19:48:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , -0.01 2021-10-10T19:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895323.81 epoch sec; seqNo:1011; 4061605.22 north; 594380.25 east 2021-10-10T19:48:44Z- AHRS_M2 msg: 1633895324.20 epoch sec; seqNo:975 2021-10-10T19:48:44Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:44Z- handleDepth()-Depth_Keller msg: 1633895324202 epoch sec; seqNo:1012; depth 45.84 2021-10-10T19:48:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895324.26 epoch sec; seqNo:1012; 4061605.22 north; 594380.25 east 2021-10-10T19:48:44Z- LcmTrn::handleMessages() - handling 40 messages took 0.64 ms and 127 calls... 2021-10-10T19:48:44Z- waiting for 1633895322.37, time is 1633895324.26 2021-10-10T19:48:44Z- LcmTrn::updateTrn() >>>> pose time 1633895324.26, meas time 1633895323.80 <<<< 2021-10-10T19:48:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895323.80, ping # 0. 2021-10-10T19:48:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895323.80 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:44Z- TerrainNav::motionUpdate() - currEstimate = (4061605, 594380.25, 45.84) 2021-10-10T19:48:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:44Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:44Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:44Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:44Z- TNavBF::Projecting Measurements 2021-10-10T19:48:44Z- TNavFilter::Measurement from time = 1633895323.80 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:48:44Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:44Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:44Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:48:44Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:48:44Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:48:44Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:44Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:44Z- Filter 0 NorthBias: -23.7 EastBias: 33.5 DepthBias: -5.1 NorthVariance: 28.7 EastVariance: 16.4 DepthVariance: 1.8 this->DepthBiasCov: 1.5 2021-10-10T19:48:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:44Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:44Z- variances([0], [2], and psi_berg) = 28.726748 16.384747 0.000000 2021-10-10T19:48:44Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:44Z- LcmTrn::publishEstimates() - MLE : 4061578.72 594414.75 45.84 2021-10-10T19:48:44Z- LcmTrn::publishEstimates() - MMSE : 4061581.47 594413.76 40.71 2021-10-10T19:48:44Z- LcmTrn::publishEstimates() - COVAR: 28.73 16.38 1.83 0.00 2021-10-10T19:48:44Z- AHRS_M2 msg: 1633895324.59 epoch sec; seqNo:976 2021-10-10T19:48:44Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:44Z- handleDepth()-Depth_Keller msg: 1633895324593 epoch sec; seqNo:1013; depth 45.89 2021-10-10T19:48:44Z- handleDvl() - RDI_Pathfinder msg: 1633895324.62 epoch sec; seqNo:414 2021-10-10T19:48:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.38 , 51.54 , 36.41 , 51.13 2021-10-10T19:48:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.03 2021-10-10T19:48:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895324.64 epoch sec; seqNo:1013; 4061605.60 north; 594380.24 east 2021-10-10T19:48:44Z- AHRS_M2 msg: 1633895324.99 epoch sec; seqNo:977 2021-10-10T19:48:45Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:45Z- handleDepth()-Depth_Keller msg: 1633895324997 epoch sec; seqNo:1014; depth 45.92 2021-10-10T19:48:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:45Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:45Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:45Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:45Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:45Z- handleDvl() - RDI_Pathfinder msg: 1633895325.00 epoch sec; seqNo:415 2021-10-10T19:48:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.03 2021-10-10T19:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895325.02 epoch sec; seqNo:1014; 4061605.61 north; 594381.46 east 2021-10-10T19:48:45Z- AHRS_M2 msg: 1633895325.40 epoch sec; seqNo:978 2021-10-10T19:48:45Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:45Z- handleDepth()-Depth_Keller msg: 1633895325406 epoch sec; seqNo:1015; depth 45.96 2021-10-10T19:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895325.42 epoch sec; seqNo:1015; 4061605.99 north; 594381.46 east 2021-10-10T19:48:45Z- AHRS_M2 msg: 1633895325.80 epoch sec; seqNo:979 2021-10-10T19:48:45Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:45Z- handleDepth()-Depth_Keller msg: 1633895325806 epoch sec; seqNo:1016; depth 46.00 2021-10-10T19:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895325.83 epoch sec; seqNo:1016; 4061605.99 north; 594381.46 east 2021-10-10T19:48:46Z- AHRS_M2 msg: 1633895326.23 epoch sec; seqNo:980 2021-10-10T19:48:46Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:46Z- handleDepth()-Depth_Keller msg: 1633895326243 epoch sec; seqNo:1017; depth 46.05 2021-10-10T19:48:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:46Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:46Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:46Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:46Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:46Z- handleDvl() - RDI_Pathfinder msg: 1633895326.25 epoch sec; seqNo:416 2021-10-10T19:48:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.03 2021-10-10T19:48:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895326.30 epoch sec; seqNo:1017; 4061606.37 north; 594381.46 east 2021-10-10T19:48:46Z- AHRS_M2 msg: 1633895326.62 epoch sec; seqNo:981 2021-10-10T19:48:46Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:46Z- handleDepth()-Depth_Keller msg: 1633895326629 epoch sec; seqNo:1018; depth 46.10 2021-10-10T19:48:46Z- handleDvl() - RDI_Pathfinder msg: 1633895326.65 epoch sec; seqNo:417 2021-10-10T19:48:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.79 , 51.33 , 35.58 , 50.51 2021-10-10T19:48:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.10 , -0.02 2021-10-10T19:48:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895326.67 epoch sec; seqNo:1018; 4061606.37 north; 594381.46 east 2021-10-10T19:48:47Z- AHRS_M2 msg: 1633895327.02 epoch sec; seqNo:982 2021-10-10T19:48:47Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:47Z- handleDepth()-Depth_Keller msg: 1633895327022 epoch sec; seqNo:1019; depth 46.14 2021-10-10T19:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895327.04 epoch sec; seqNo:1019; 4061606.76 north; 594382.67 east 2021-10-10T19:48:47Z- AHRS_M2 msg: 1633895327.42 epoch sec; seqNo:983 2021-10-10T19:48:47Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:47Z- handleDepth()-Depth_Keller msg: 1633895327424 epoch sec; seqNo:1020; depth 46.19 2021-10-10T19:48:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:47Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:47Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:47Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:47Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:47Z- handleDvl() - RDI_Pathfinder msg: 1633895327.43 epoch sec; seqNo:418 2021-10-10T19:48:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.10 , -0.02 2021-10-10T19:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895327.44 epoch sec; seqNo:1020; 4061606.76 north; 594382.67 east 2021-10-10T19:48:47Z- AHRS_M2 msg: 1633895327.82 epoch sec; seqNo:984 2021-10-10T19:48:47Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:47Z- handleDepth()-Depth_Keller msg: 1633895327835 epoch sec; seqNo:1021; depth 46.23 2021-10-10T19:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895327.85 epoch sec; seqNo:1021; 4061607.14 north; 594382.67 east 2021-10-10T19:48:48Z- AHRS_M2 msg: 1633895328.27 epoch sec; seqNo:985 2021-10-10T19:48:48Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:48Z- handleDepth()-Depth_Keller msg: 1633895328280 epoch sec; seqNo:1022; depth 46.27 2021-10-10T19:48:48Z- handleDvl() - RDI_Pathfinder msg: 1633895328.31 epoch sec; seqNo:419 2021-10-10T19:48:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.38 , 50.31 , 35.79 , 49.90 2021-10-10T19:48:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.09 , 0.01 2021-10-10T19:48:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895328.33 epoch sec; seqNo:1022; 4061607.14 north; 594382.67 east 2021-10-10T19:48:48Z- AHRS_M2 msg: 1633895328.63 epoch sec; seqNo:986 2021-10-10T19:48:48Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:48Z- handleDepth()-Depth_Keller msg: 1633895328640 epoch sec; seqNo:1023; depth 46.32 2021-10-10T19:48:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:48Z- handleDvl() - RDI_Pathfinder msg: 1633895328.64 epoch sec; seqNo:420 2021-10-10T19:48:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.09 , 0.01 2021-10-10T19:48:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895328.66 epoch sec; seqNo:1023; 4061607.52 north; 594382.66 east 2021-10-10T19:48:49Z- AHRS_M2 msg: 1633895329.04 epoch sec; seqNo:987 2021-10-10T19:48:49Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:49Z- handleDepth()-Depth_Keller msg: 1633895329046 epoch sec; seqNo:1024; depth 46.36 2021-10-10T19:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895329.06 epoch sec; seqNo:1024; 4061607.53 north; 594383.88 east 2021-10-10T19:48:49Z- AHRS_M2 msg: 1633895329.44 epoch sec; seqNo:988 2021-10-10T19:48:49Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:49Z- handleDepth()-Depth_Keller msg: 1633895329442 epoch sec; seqNo:1025; depth 46.40 2021-10-10T19:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895329.46 epoch sec; seqNo:1025; 4061607.91 north; 594383.88 east 2021-10-10T19:48:49Z- LcmTrn::handleMessages() - handling 46 messages took 0.77 ms and 130 calls... 2021-10-10T19:48:49Z- waiting for 1633895327.26, time is 1633895329.46 2021-10-10T19:48:49Z- LcmTrn::updateTrn() >>>> pose time 1633895329.46, meas time 1633895328.64 <<<< 2021-10-10T19:48:49Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895328.64, ping # 0. 2021-10-10T19:48:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895328.64 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:49Z- TerrainNav::motionUpdate() - currEstimate = (4061608, 594383.88, 46.40) 2021-10-10T19:48:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:49Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:49Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:49Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:49Z- TNavBF::Projecting Measurements 2021-10-10T19:48:49Z- TNavFilter::Measurement from time = 1633895328.64 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:48:49Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:49Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:49Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:48:49Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:48:49Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:48:49Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:49Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:49Z- Filter 0 NorthBias: -23.7 EastBias: 33.5 DepthBias: -5.1 NorthVariance: 28.8 EastVariance: 16.4 DepthVariance: 2.0 this->DepthBiasCov: 1.7 2021-10-10T19:48:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:49Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:49Z- variances([0], [2], and psi_berg) = 28.775801 16.450665 0.000000 2021-10-10T19:48:49Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:49Z- LcmTrn::publishEstimates() - MLE : 4061581.41 594418.38 46.40 2021-10-10T19:48:49Z- LcmTrn::publishEstimates() - MMSE : 4061584.17 594417.40 41.28 2021-10-10T19:48:49Z- LcmTrn::publishEstimates() - COVAR: 28.78 16.45 2.06 0.00 2021-10-10T19:48:49Z- AHRS_M2 msg: 1633895329.84 epoch sec; seqNo:989 2021-10-10T19:48:49Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:49Z- handleDepth()-Depth_Keller msg: 1633895329845 epoch sec; seqNo:1026; depth 46.46 2021-10-10T19:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895329.86 epoch sec; seqNo:1026; 4061607.91 north; 594383.88 east 2021-10-10T19:48:50Z- AHRS_M2 msg: 1633895330.28 epoch sec; seqNo:990 2021-10-10T19:48:50Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 1.01 psi 2021-10-10T19:48:50Z- handleDepth()-Depth_Keller msg: 1633895330283 epoch sec; seqNo:1027; depth 46.50 2021-10-10T19:48:50Z- handleDvl() - RDI_Pathfinder msg: 1633895330.32 epoch sec; seqNo:421 2021-10-10T19:48:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.77 , 49.49 , 35.38 , 49.90 2021-10-10T19:48:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.05 , 0.02 2021-10-10T19:48:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895330.33 epoch sec; seqNo:1027; 4061608.29 north; 594383.88 east 2021-10-10T19:48:50Z- AHRS_M2 msg: 1633895330.65 epoch sec; seqNo:991 2021-10-10T19:48:50Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 1.00 psi 2021-10-10T19:48:50Z- handleDepth()-Depth_Keller msg: 1633895330654 epoch sec; seqNo:1028; depth 46.55 2021-10-10T19:48:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895330.68 epoch sec; seqNo:1028; 4061608.29 north; 594383.88 east 2021-10-10T19:48:51Z- AHRS_M2 msg: 1633895331.05 epoch sec; seqNo:992 2021-10-10T19:48:51Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:51Z- handleDepth()-Depth_Keller msg: 1633895331057 epoch sec; seqNo:1029; depth 46.61 2021-10-10T19:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895331.08 epoch sec; seqNo:1029; 4061608.68 north; 594385.09 east 2021-10-10T19:48:51Z- AHRS_M2 msg: 1633895331.46 epoch sec; seqNo:993 2021-10-10T19:48:51Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:51Z- handleDepth()-Depth_Keller msg: 1633895331462 epoch sec; seqNo:1030; depth 46.66 2021-10-10T19:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895331.47 epoch sec; seqNo:1030; 4061608.68 north; 594385.09 east 2021-10-10T19:48:51Z- AHRS_M2 msg: 1633895331.86 epoch sec; seqNo:994 2021-10-10T19:48:51Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:51Z- handleDepth()-Depth_Keller msg: 1633895331867 epoch sec; seqNo:1031; depth 46.69 2021-10-10T19:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895331.88 epoch sec; seqNo:1031; 4061608.68 north; 594385.09 east 2021-10-10T19:48:52Z- AHRS_M2 msg: 1633895332.28 epoch sec; seqNo:995 2021-10-10T19:48:52Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:52Z- handleDepth()-Depth_Keller msg: 1633895332289 epoch sec; seqNo:1032; depth 46.75 2021-10-10T19:48:52Z- handleDvl() - RDI_Pathfinder msg: 1633895332.31 epoch sec; seqNo:422 2021-10-10T19:48:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.36 , 49.08 , 35.18 , 49.49 2021-10-10T19:48:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.03 , 0.01 2021-10-10T19:48:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895332.35 epoch sec; seqNo:1032; 4061609.06 north; 594385.09 east 2021-10-10T19:48:52Z- AHRS_M2 msg: 1633895332.67 epoch sec; seqNo:996 2021-10-10T19:48:52Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:52Z- handleDepth()-Depth_Keller msg: 1633895332676 epoch sec; seqNo:1033; depth 46.79 2021-10-10T19:48:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895332.69 epoch sec; seqNo:1033; 4061609.06 north; 594385.09 east 2021-10-10T19:48:53Z- AHRS_M2 msg: 1633895333.08 epoch sec; seqNo:997 2021-10-10T19:48:53Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:53Z- handleDepth()-Depth_Keller msg: 1633895333081 epoch sec; seqNo:1034; depth 46.83 2021-10-10T19:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895333.09 epoch sec; seqNo:1034; 4061609.45 north; 594386.30 east 2021-10-10T19:48:53Z- AHRS_M2 msg: 1633895333.48 epoch sec; seqNo:998 2021-10-10T19:48:53Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:53Z- handleDepth()-Depth_Keller msg: 1633895333482 epoch sec; seqNo:1035; depth 46.88 2021-10-10T19:48:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:53Z- handleDvl() - RDI_Pathfinder msg: 1633895333.48 epoch sec; seqNo:423 2021-10-10T19:48:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.03 , 0.01 2021-10-10T19:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895333.51 epoch sec; seqNo:1035; 4061609.45 north; 594386.30 east 2021-10-10T19:48:53Z- AHRS_M2 msg: 1633895333.88 epoch sec; seqNo:999 2021-10-10T19:48:53Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:53Z- handleDepth()-Depth_Keller msg: 1633895333885 epoch sec; seqNo:1036; depth 46.93 2021-10-10T19:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895333.90 epoch sec; seqNo:1036; 4061609.83 north; 594386.30 east 2021-10-10T19:48:54Z- AHRS_M2 msg: 1633895334.29 epoch sec; seqNo:1000 2021-10-10T19:48:54Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:54Z- handleDepth()-Depth_Keller msg: 1633895334301 epoch sec; seqNo:1037; depth 46.96 2021-10-10T19:48:54Z- handleDvl() - RDI_Pathfinder msg: 1633895334.32 epoch sec; seqNo:424 2021-10-10T19:48:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.15 , 48.47 , 34.97 , 49.08 2021-10-10T19:48:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , -0.02 2021-10-10T19:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895334.35 epoch sec; seqNo:1037; 4061609.83 north; 594386.30 east 2021-10-10T19:48:54Z- LcmTrn::handleMessages() - handling 40 messages took 0.64 ms and 127 calls... 2021-10-10T19:48:54Z- waiting for 1633895332.46, time is 1633895334.35 2021-10-10T19:48:54Z- LcmTrn::updateTrn() equating pose 1633895334.35 and meas times 1633895334.35 2021-10-10T19:48:54Z- LcmTrn::updateTrn() >>>> pose time 1633895334.35, meas time 1633895334.35 <<<< 2021-10-10T19:48:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895334.35 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:54Z- TerrainNav::motionUpdate() - currEstimate = (4061610, 594386.30, 46.96) 2021-10-10T19:48:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:54Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:54Z- TNavBF::Projecting Measurements 2021-10-10T19:48:54Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:48:54Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:48:54Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:48:54Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:48:54Z- TNavFilter::4 good beams. 2021-10-10T19:48:54Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:48:54Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:48:54Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:48:54Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:48:54Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:48:54Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:48:54Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:48:54Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:54Z- TerrainMapOctree: (vehN, vehE ) = (4061609.83, 594386.30). 2021-10-10T19:48:54Z- TerrainMapOctree: Min Distance = 195.51. 2021-10-10T19:48:54Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:48:54Z- Forcing Subcloud Comparison 2021-10-10T19:48:54Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:48:54Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:54Z- Filter 0 partialDeltaRmsComputation: 10.762207 terrainVariance: 0.306267 1-SumSquareWeights: 0.995270 2021-10-10T19:48:54Z- Filter 0 meanExpectedMeasDiff: 3.233565 delta_rms_squared: 0.296314 alpha: 0.936772 2021-10-10T19:48:54Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:54Z- Filter 0 partialDeltaRmsComputation: 2.526733 terrainVariance: 2.165559 1-SumSquareWeights: 0.995270 2021-10-10T19:48:54Z- Filter 0 meanExpectedMeasDiff: -0.600977 delta_rms_squared: 2.155607 alpha: 0.990807 2021-10-10T19:48:54Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:54Z- Filter 0 partialDeltaRmsComputation: 17.573002 terrainVariance: 1.077733 1-SumSquareWeights: 0.995270 2021-10-10T19:48:54Z- Filter 0 meanExpectedMeasDiff: -4.061437 delta_rms_squared: 1.067780 alpha: 0.981614 2021-10-10T19:48:54Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:48:54Z- Filter 0 partialDeltaRmsComputation: 40.222110 terrainVariance: 0.441645 1-SumSquareWeights: 0.995270 2021-10-10T19:48:54Z- Filter 0 meanExpectedMeasDiff: 6.307176 delta_rms_squared: 0.431693 alpha: 0.955722 2021-10-10T19:48:54Z- Filter 0 SubcloudNIS: 0.418999 2021-10-10T19:48:54Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:48:54Z- TNavBF:: Filter 0 sumWeights = 0.003833 2021-10-10T19:48:54Z- Filter 0 NorthBias: -22.2 EastBias: 34.6 DepthBias: -3.0 NorthVariance: 16.1 EastVariance: 8.1 DepthVariance: 1.3 this->DepthBiasCov: 0.7 2021-10-10T19:48:54Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895334.35 sec. 2021-10-10T19:48:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:54Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:54Z- variances([0], [2], and psi_berg) = 16.107674 8.089497 0.000000 2021-10-10T19:48:54Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:54Z- LcmTrn::publishEstimates() - MLE : 4061587.33 594424.80 46.96 2021-10-10T19:48:54Z- LcmTrn::publishEstimates() - MMSE : 4061587.66 594420.92 44.00 2021-10-10T19:48:54Z- LcmTrn::publishEstimates() - COVAR: 16.11 8.09 1.33 0.00 2021-10-10T19:48:54Z- AHRS_M2 msg: 1633895334.69 epoch sec; seqNo:1001 2021-10-10T19:48:54Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:54Z- handleDepth()-Depth_Keller msg: 1633895334705 epoch sec; seqNo:1038; depth 47.02 2021-10-10T19:48:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:54Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:54Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:54Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:54Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:54Z- handleDvl() - RDI_Pathfinder msg: 1633895334.71 epoch sec; seqNo:425 2021-10-10T19:48:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , -0.02 2021-10-10T19:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895334.72 epoch sec; seqNo:1038; 4061610.21 north; 594386.30 east 2021-10-10T19:48:55Z- AHRS_M2 msg: 1633895335.09 epoch sec; seqNo:1002 2021-10-10T19:48:55Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:55Z- handleDepth()-Depth_Keller msg: 1633895335104 epoch sec; seqNo:1039; depth 47.06 2021-10-10T19:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895335.13 epoch sec; seqNo:1039; 4061610.23 north; 594387.52 east 2021-10-10T19:48:55Z- AHRS_M2 msg: 1633895335.50 epoch sec; seqNo:1003 2021-10-10T19:48:55Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:55Z- handleDepth()-Depth_Keller msg: 1633895335504 epoch sec; seqNo:1040; depth 47.10 2021-10-10T19:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895335.52 epoch sec; seqNo:1040; 4061610.60 north; 594387.51 east 2021-10-10T19:48:55Z- AHRS_M2 msg: 1633895335.90 epoch sec; seqNo:1004 2021-10-10T19:48:55Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:55Z- handleDepth()-Depth_Keller msg: 1633895335910 epoch sec; seqNo:1041; depth 47.17 2021-10-10T19:48:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:55Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:55Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:55Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:55Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:55Z- handleDvl() - RDI_Pathfinder msg: 1633895335.93 epoch sec; seqNo:426 2021-10-10T19:48:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , -0.02 2021-10-10T19:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895335.97 epoch sec; seqNo:1041; 4061610.60 north; 594387.51 east 2021-10-10T19:48:56Z- AHRS_M2 msg: 1633895336.31 epoch sec; seqNo:1005 2021-10-10T19:48:56Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:56Z- handleDepth()-Depth_Keller msg: 1633895336317 epoch sec; seqNo:1042; depth 47.20 2021-10-10T19:48:56Z- handleDvl() - RDI_Pathfinder msg: 1633895336.34 epoch sec; seqNo:427 2021-10-10T19:48:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.56 , 47.62 , 34.49 , 48.55 2021-10-10T19:48:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.06 , -0.03 2021-10-10T19:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895336.35 epoch sec; seqNo:1042; 4061610.98 north; 594387.51 east 2021-10-10T19:48:56Z- AHRS_M2 msg: 1633895336.71 epoch sec; seqNo:1006 2021-10-10T19:48:56Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:56Z- handleDepth()-Depth_Keller msg: 1633895336716 epoch sec; seqNo:1043; depth 47.27 2021-10-10T19:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895336.73 epoch sec; seqNo:1043; 4061610.98 north; 594387.51 east 2021-10-10T19:48:57Z- AHRS_M2 msg: 1633895337.12 epoch sec; seqNo:1007 2021-10-10T19:48:57Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:57Z- handleDepth()-Depth_Keller msg: 1633895337125 epoch sec; seqNo:1044; depth 47.31 2021-10-10T19:48:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:57Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:57Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:57Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:57Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:57Z- handleDvl() - RDI_Pathfinder msg: 1633895337.13 epoch sec; seqNo:428 2021-10-10T19:48:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.06 , -0.03 2021-10-10T19:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895337.14 epoch sec; seqNo:1044; 4061611.36 north; 594387.50 east 2021-10-10T19:48:57Z- AHRS_M2 msg: 1633895337.52 epoch sec; seqNo:1008 2021-10-10T19:48:57Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:57Z- handleDepth()-Depth_Keller msg: 1633895337532 epoch sec; seqNo:1045; depth 47.34 2021-10-10T19:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895337.54 epoch sec; seqNo:1045; 4061611.38 north; 594388.72 east 2021-10-10T19:48:57Z- AHRS_M2 msg: 1633895337.92 epoch sec; seqNo:1009 2021-10-10T19:48:57Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.01 psi 2021-10-10T19:48:57Z- handleDepth()-Depth_Keller msg: 1633895337925 epoch sec; seqNo:1046; depth 47.39 2021-10-10T19:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895337.94 epoch sec; seqNo:1046; 4061611.38 north; 594388.72 east 2021-10-10T19:48:58Z- AHRS_M2 msg: 1633895338.33 epoch sec; seqNo:1010 2021-10-10T19:48:58Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 1.00 psi 2021-10-10T19:48:58Z- handleDepth()-Depth_Keller msg: 1633895338336 epoch sec; seqNo:1047; depth 47.43 2021-10-10T19:48:58Z- handleDvl() - RDI_Pathfinder msg: 1633895338.37 epoch sec; seqNo:429 2021-10-10T19:48:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.62 , 46.67 , 34.30 , 47.61 2021-10-10T19:48:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , -0.02 2021-10-10T19:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895338.39 epoch sec; seqNo:1047; 4061611.75 north; 594388.72 east 2021-10-10T19:48:58Z- AHRS_M2 msg: 1633895338.73 epoch sec; seqNo:1011 2021-10-10T19:48:58Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 1.00 psi 2021-10-10T19:48:58Z- handleDepth()-Depth_Keller msg: 1633895338733 epoch sec; seqNo:1048; depth 47.49 2021-10-10T19:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895338.75 epoch sec; seqNo:1048; 4061611.75 north; 594388.72 east 2021-10-10T19:48:59Z- AHRS_M2 msg: 1633895339.14 epoch sec; seqNo:1012 2021-10-10T19:48:59Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 1.00 psi 2021-10-10T19:48:59Z- handleDepth()-Depth_Keller msg: 1633895339148 epoch sec; seqNo:1049; depth 47.53 2021-10-10T19:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895339.16 epoch sec; seqNo:1049; 4061612.13 north; 594388.71 east 2021-10-10T19:48:59Z- AHRS_M2 msg: 1633895339.54 epoch sec; seqNo:1013 2021-10-10T19:48:59Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 1.00 psi 2021-10-10T19:48:59Z- handleDepth()-Depth_Keller msg: 1633895339542 epoch sec; seqNo:1050; depth 47.58 2021-10-10T19:48:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:48:59Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:48:59Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:48:59Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:48:59Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:48:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:48:59Z- handleDvl() - RDI_Pathfinder msg: 1633895339.54 epoch sec; seqNo:430 2021-10-10T19:48:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:48:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , -0.02 2021-10-10T19:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895339.56 epoch sec; seqNo:1050; 4061612.15 north; 594389.94 east 2021-10-10T19:48:59Z- LcmTrn::handleMessages() - handling 45 messages took 0.76 ms and 130 calls... 2021-10-10T19:48:59Z- waiting for 1633895337.35, time is 1633895339.56 2021-10-10T19:48:59Z- LcmTrn::updateTrn() equating pose 1633895339.56 and meas times 1633895339.56 2021-10-10T19:48:59Z- LcmTrn::updateTrn() >>>> pose time 1633895339.56, meas time 1633895339.56 <<<< 2021-10-10T19:48:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895339.56, ping # 0. 2021-10-10T19:48:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895339.56 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:48:59Z- TerrainNav::motionUpdate() - currEstimate = (4061612, 594389.94, 47.58) 2021-10-10T19:48:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:48:59Z- TerrainNav:: SubcloudNIS is 0.42, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:48:59Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:48:59Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:48:59Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895339.56 sec.; No relevant navigation data available 2021-10-10T19:48:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:48:59Z- TNavBF::mmse selected from filter -1 2021-10-10T19:48:59Z- variances([0], [2], and psi_berg) = 16.144541 8.126354 0.000000 2021-10-10T19:48:59Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:48:59Z- LcmTrn::publishEstimates() - MLE : 4061589.65 594428.44 47.58 2021-10-10T19:48:59Z- LcmTrn::publishEstimates() - MMSE : 4061589.98 594424.56 44.61 2021-10-10T19:48:59Z- LcmTrn::publishEstimates() - COVAR: 16.14 8.13 1.55 0.00 2021-10-10T19:48:59Z- AHRS_M2 msg: 1633895339.94 epoch sec; seqNo:1014 2021-10-10T19:48:59Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 1.00 psi 2021-10-10T19:48:59Z- handleDepth()-Depth_Keller msg: 1633895339952 epoch sec; seqNo:1051; depth 47.63 2021-10-10T19:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895339.97 epoch sec; seqNo:1051; 4061612.53 north; 594389.93 east 2021-10-10T19:49:00Z- AHRS_M2 msg: 1633895340.35 epoch sec; seqNo:1015 2021-10-10T19:49:00Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 1.00 psi 2021-10-10T19:49:00Z- handleDepth()-Depth_Keller msg: 1633895340350 epoch sec; seqNo:1052; depth 47.67 2021-10-10T19:49:00Z- handleDvl() - RDI_Pathfinder msg: 1633895340.38 epoch sec; seqNo:431 2021-10-10T19:49:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.43 , 45.92 , 33.93 , 47.05 2021-10-10T19:49:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , 0.01 2021-10-10T19:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895340.40 epoch sec; seqNo:1052; 4061612.90 north; 594389.93 east 2021-10-10T19:49:00Z- AHRS_M2 msg: 1633895340.76 epoch sec; seqNo:1016 2021-10-10T19:49:00Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 1.00 psi 2021-10-10T19:49:00Z- handleDepth()-Depth_Keller msg: 1633895340759 epoch sec; seqNo:1053; depth 47.73 2021-10-10T19:49:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:00Z- handleDvl() - RDI_Pathfinder msg: 1633895340.76 epoch sec; seqNo:432 2021-10-10T19:49:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , 0.01 2021-10-10T19:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895340.79 epoch sec; seqNo:1053; 4061612.90 north; 594389.93 east 2021-10-10T19:49:01Z- AHRS_M2 msg: 1633895341.16 epoch sec; seqNo:1017 2021-10-10T19:49:01Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 1.00 psi 2021-10-10T19:49:01Z- handleDepth()-Depth_Keller msg: 1633895341162 epoch sec; seqNo:1054; depth 47.80 2021-10-10T19:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895341.17 epoch sec; seqNo:1054; 4061612.90 north; 594389.93 east 2021-10-10T19:49:01Z- AHRS_M2 msg: 1633895341.56 epoch sec; seqNo:1018 2021-10-10T19:49:01Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 1.00 psi 2021-10-10T19:49:01Z- handleDepth()-Depth_Keller msg: 1633895341568 epoch sec; seqNo:1055; depth 47.82 2021-10-10T19:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895341.58 epoch sec; seqNo:1055; 4061613.30 north; 594391.14 east 2021-10-10T19:49:01Z- AHRS_M2 msg: 1633895341.96 epoch sec; seqNo:1019 2021-10-10T19:49:01Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:01Z- handleDepth()-Depth_Keller msg: 1633895341966 epoch sec; seqNo:1056; depth 47.87 2021-10-10T19:49:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:01Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:01Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:01Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:01Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:01Z- handleDvl() - RDI_Pathfinder msg: 1633895341.98 epoch sec; seqNo:433 2021-10-10T19:49:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.10 , 0.01 2021-10-10T19:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895342.00 epoch sec; seqNo:1056; 4061613.30 north; 594391.14 east 2021-10-10T19:49:02Z- AHRS_M2 msg: 1633895342.37 epoch sec; seqNo:1020 2021-10-10T19:49:02Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:02Z- handleDepth()-Depth_Keller msg: 1633895342370 epoch sec; seqNo:1057; depth 47.92 2021-10-10T19:49:02Z- handleDvl() - RDI_Pathfinder msg: 1633895342.40 epoch sec; seqNo:434 2021-10-10T19:49:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.18 , 45.55 , 33.55 , 46.86 2021-10-10T19:49:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-10T19:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895342.43 epoch sec; seqNo:1057; 4061613.68 north; 594391.14 east 2021-10-10T19:49:02Z- AHRS_M2 msg: 1633895342.77 epoch sec; seqNo:1021 2021-10-10T19:49:02Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:02Z- handleDepth()-Depth_Keller msg: 1633895342779 epoch sec; seqNo:1058; depth 47.99 2021-10-10T19:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895342.79 epoch sec; seqNo:1058; 4061613.68 north; 594391.14 east 2021-10-10T19:49:03Z- AHRS_M2 msg: 1633895343.17 epoch sec; seqNo:1022 2021-10-10T19:49:03Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:03Z- handleDepth()-Depth_Keller msg: 1633895343183 epoch sec; seqNo:1059; depth 48.04 2021-10-10T19:49:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:03Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:03Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:03Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:03Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:03Z- handleDvl() - RDI_Pathfinder msg: 1633895343.19 epoch sec; seqNo:435 2021-10-10T19:49:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-10T19:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895343.20 epoch sec; seqNo:1059; 4061614.05 north; 594391.13 east 2021-10-10T19:49:03Z- AHRS_M2 msg: 1633895343.58 epoch sec; seqNo:1023 2021-10-10T19:49:03Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:03Z- handleDepth()-Depth_Keller msg: 1633895343586 epoch sec; seqNo:1060; depth 48.08 2021-10-10T19:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895343.60 epoch sec; seqNo:1060; 4061614.05 north; 594391.13 east 2021-10-10T19:49:03Z- AHRS_M2 msg: 1633895343.98 epoch sec; seqNo:1024 2021-10-10T19:49:03Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:04Z- handleDepth()-Depth_Keller msg: 1633895343999 epoch sec; seqNo:1061; depth 48.13 2021-10-10T19:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895344.01 epoch sec; seqNo:1061; 4061614.45 north; 594392.35 east 2021-10-10T19:49:04Z- AHRS_M2 msg: 1633895344.39 epoch sec; seqNo:1025 2021-10-10T19:49:04Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:04Z- handleDepth()-Depth_Keller msg: 1633895344390 epoch sec; seqNo:1062; depth 48.19 2021-10-10T19:49:04Z- handleDvl() - RDI_Pathfinder msg: 1633895344.42 epoch sec; seqNo:436 2021-10-10T19:49:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.80 , 44.80 , 33.37 , 46.11 2021-10-10T19:49:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , -0.00 2021-10-10T19:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895344.44 epoch sec; seqNo:1062; 4061614.45 north; 594392.35 east 2021-10-10T19:49:04Z- AHRS_M2 msg: 1633895344.79 epoch sec; seqNo:1026 2021-10-10T19:49:04Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:04Z- handleDepth()-Depth_Keller msg: 1633895344798 epoch sec; seqNo:1063; depth 48.23 2021-10-10T19:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895344.82 epoch sec; seqNo:1063; 4061614.83 north; 594392.35 east 2021-10-10T19:49:04Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T19:49:04Z- waiting for 1633895342.56, time is 1633895344.82 2021-10-10T19:49:04Z- LcmTrn::updateTrn() >>>> pose time 1633895344.82, meas time 1633895344.42 <<<< 2021-10-10T19:49:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895344.42 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:04Z- TerrainNav::motionUpdate() - currEstimate = (4061615, 594392.35, 48.23) 2021-10-10T19:49:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:04Z- TerrainNav:: SubcloudNIS is 0.42, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:04Z- TNavBF::Projecting Measurements 2021-10-10T19:49:04Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:49:04Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:49:04Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:49:04Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:49:04Z- TNavFilter::4 good beams. 2021-10-10T19:49:04Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:49:04Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:49:04Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:49:04Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:49:04Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:49:04Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:49:04Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:49:04Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:04Z- TerrainMapOctree: (vehN, vehE ) = (4061614.62, 594392.16). 2021-10-10T19:49:04Z- TerrainMapOctree: Min Distance = 196.31. 2021-10-10T19:49:04Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:49:05Z- Forcing Subcloud Comparison 2021-10-10T19:49:05Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:49:05Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:05Z- Filter 0 partialDeltaRmsComputation: 6.621646 terrainVariance: 0.246296 1-SumSquareWeights: 0.988815 2021-10-10T19:49:05Z- Filter 0 meanExpectedMeasDiff: 2.524946 delta_rms_squared: 0.236407 alpha: 0.921999 2021-10-10T19:49:05Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:05Z- Filter 0 partialDeltaRmsComputation: 1.304537 terrainVariance: 0.713417 1-SumSquareWeights: 0.988815 2021-10-10T19:49:05Z- Filter 0 meanExpectedMeasDiff: -0.768843 delta_rms_squared: 0.703529 alpha: 0.972358 2021-10-10T19:49:05Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:05Z- Filter 0 partialDeltaRmsComputation: 23.161672 terrainVariance: 2.519854 1-SumSquareWeights: 0.988815 2021-10-10T19:49:05Z- Filter 0 meanExpectedMeasDiff: -4.543327 delta_rms_squared: 2.509966 alpha: 0.992095 2021-10-10T19:49:05Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:05Z- Filter 0 partialDeltaRmsComputation: 36.479123 terrainVariance: 0.852735 1-SumSquareWeights: 0.988815 2021-10-10T19:49:05Z- Filter 0 meanExpectedMeasDiff: 5.968784 delta_rms_squared: 0.842847 alpha: 0.976821 2021-10-10T19:49:05Z- Filter 0 SubcloudNIS: 0.433841 2021-10-10T19:49:05Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:49:05Z- TNavBF:: Filter 0 sumWeights = 0.006622 2021-10-10T19:49:05Z- Filter 0 NorthBias: -25.0 EastBias: 32.4 DepthBias: -2.7 NorthVariance: 11.0 EastVariance: 2.8 DepthVariance: 0.7 this->DepthBiasCov: 0.5 2021-10-10T19:49:05Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895344.42 sec. 2021-10-10T19:49:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:05Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:05Z- variances([0], [2], and psi_berg) = 11.036236 2.766438 0.000000 2021-10-10T19:49:05Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:05Z- LcmTrn::publishEstimates() - MLE : 4061588.33 594425.85 48.23 2021-10-10T19:49:05Z- LcmTrn::publishEstimates() - MMSE : 4061589.80 594424.72 45.58 2021-10-10T19:49:05Z- LcmTrn::publishEstimates() - COVAR: 11.04 2.77 0.68 0.00 2021-10-10T19:49:05Z- AHRS_M2 msg: 1633895345.19 epoch sec; seqNo:1027 2021-10-10T19:49:05Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:05Z- handleDepth()-Depth_Keller msg: 1633895345200 epoch sec; seqNo:1064; depth 48.28 2021-10-10T19:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895345.21 epoch sec; seqNo:1064; 4061614.83 north; 594392.35 east 2021-10-10T19:49:05Z- AHRS_M2 msg: 1633895345.60 epoch sec; seqNo:1028 2021-10-10T19:49:05Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:05Z- handleDepth()-Depth_Keller msg: 1633895345609 epoch sec; seqNo:1065; depth 48.34 2021-10-10T19:49:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:05Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:05Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:05Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:05Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:05Z- handleDvl() - RDI_Pathfinder msg: 1633895345.61 epoch sec; seqNo:437 2021-10-10T19:49:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , -0.00 2021-10-10T19:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895345.62 epoch sec; seqNo:1065; 4061615.20 north; 594392.34 east 2021-10-10T19:49:06Z- AHRS_M2 msg: 1633895346.00 epoch sec; seqNo:1029 2021-10-10T19:49:06Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:06Z- handleDepth()-Depth_Keller msg: 1633895346008 epoch sec; seqNo:1066; depth 48.39 2021-10-10T19:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895346.02 epoch sec; seqNo:1066; 4061615.22 north; 594393.56 east 2021-10-10T19:49:06Z- AHRS_M2 msg: 1633895346.40 epoch sec; seqNo:1030 2021-10-10T19:49:06Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:06Z- handleDepth()-Depth_Keller msg: 1633895346412 epoch sec; seqNo:1067; depth 48.43 2021-10-10T19:49:06Z- handleDvl() - RDI_Pathfinder msg: 1633895346.43 epoch sec; seqNo:438 2021-10-10T19:49:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.05 , 44.61 , 32.99 , 45.55 2021-10-10T19:49:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T19:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895346.46 epoch sec; seqNo:1067; 4061615.60 north; 594393.56 east 2021-10-10T19:49:06Z- AHRS_M2 msg: 1633895346.81 epoch sec; seqNo:1031 2021-10-10T19:49:06Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:06Z- handleDepth()-Depth_Keller msg: 1633895346822 epoch sec; seqNo:1068; depth 48.49 2021-10-10T19:49:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:06Z- handleDvl() - RDI_Pathfinder msg: 1633895346.83 epoch sec; seqNo:439 2021-10-10T19:49:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T19:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895346.85 epoch sec; seqNo:1068; 4061615.60 north; 594393.56 east 2021-10-10T19:49:07Z- AHRS_M2 msg: 1633895347.21 epoch sec; seqNo:1032 2021-10-10T19:49:07Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 0.99 psi 2021-10-10T19:49:07Z- handleDepth()-Depth_Keller msg: 1633895347226 epoch sec; seqNo:1069; depth 48.52 2021-10-10T19:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895347.24 epoch sec; seqNo:1069; 4061615.98 north; 594393.55 east 2021-10-10T19:49:07Z- AHRS_M2 msg: 1633895347.62 epoch sec; seqNo:1033 2021-10-10T19:49:07Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.99 psi 2021-10-10T19:49:07Z- handleDepth()-Depth_Keller msg: 1633895347621 epoch sec; seqNo:1070; depth 48.56 2021-10-10T19:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895347.63 epoch sec; seqNo:1070; 4061615.98 north; 594393.55 east 2021-10-10T19:49:08Z- AHRS_M2 msg: 1633895348.03 epoch sec; seqNo:1034 2021-10-10T19:49:08Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.98 psi 2021-10-10T19:49:08Z- handleDepth()-Depth_Keller msg: 1633895348046 epoch sec; seqNo:1071; depth 48.62 2021-10-10T19:49:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:08Z- handleDvl() - RDI_Pathfinder msg: 1633895348.05 epoch sec; seqNo:440 2021-10-10T19:49:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.00 2021-10-10T19:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895348.07 epoch sec; seqNo:1071; 4061616.37 north; 594394.77 east 2021-10-10T19:49:08Z- AHRS_M2 msg: 1633895348.43 epoch sec; seqNo:1035 2021-10-10T19:49:08Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.98 psi 2021-10-10T19:49:08Z- handleDepth()-Depth_Keller msg: 1633895348430 epoch sec; seqNo:1072; depth 48.66 2021-10-10T19:49:08Z- handleDvl() - RDI_Pathfinder msg: 1633895348.46 epoch sec; seqNo:441 2021-10-10T19:49:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.30 , 43.86 , 32.43 , 45.36 2021-10-10T19:49:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.09 , 0.01 2021-10-10T19:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895348.48 epoch sec; seqNo:1072; 4061616.37 north; 594394.77 east 2021-10-10T19:49:08Z- AHRS_M2 msg: 1633895348.83 epoch sec; seqNo:1036 2021-10-10T19:49:08Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.98 psi 2021-10-10T19:49:08Z- handleDepth()-Depth_Keller msg: 1633895348836 epoch sec; seqNo:1073; depth 48.72 2021-10-10T19:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895348.85 epoch sec; seqNo:1073; 4061616.75 north; 594394.77 east 2021-10-10T19:49:09Z- AHRS_M2 msg: 1633895349.24 epoch sec; seqNo:1037 2021-10-10T19:49:09Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 0.98 psi 2021-10-10T19:49:09Z- handleDepth()-Depth_Keller msg: 1633895349244 epoch sec; seqNo:1074; depth 48.76 2021-10-10T19:49:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:09Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:09Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:09Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:09Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:09Z- handleDvl() - RDI_Pathfinder msg: 1633895349.25 epoch sec; seqNo:442 2021-10-10T19:49:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.09 , 0.01 2021-10-10T19:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895349.26 epoch sec; seqNo:1074; 4061616.75 north; 594394.77 east 2021-10-10T19:49:09Z- AHRS_M2 msg: 1633895349.64 epoch sec; seqNo:1038 2021-10-10T19:49:09Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 0.98 psi 2021-10-10T19:49:09Z- handleDepth()-Depth_Keller msg: 1633895349643 epoch sec; seqNo:1075; depth 48.81 2021-10-10T19:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895349.66 epoch sec; seqNo:1075; 4061617.13 north; 594394.76 east 2021-10-10T19:49:10Z- AHRS_M2 msg: 1633895350.04 epoch sec; seqNo:1039 2021-10-10T19:49:10Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.98 psi 2021-10-10T19:49:10Z- handleDepth()-Depth_Keller msg: 1633895350045 epoch sec; seqNo:1076; depth 48.85 2021-10-10T19:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895350.06 epoch sec; seqNo:1076; 4061617.14 north; 594395.98 east 2021-10-10T19:49:10Z- LcmTrn::handleMessages() - handling 45 messages took 0.68 ms and 131 calls... 2021-10-10T19:49:10Z- waiting for 1633895347.82, time is 1633895350.06 2021-10-10T19:49:10Z- LcmTrn::updateTrn() >>>> pose time 1633895350.06, meas time 1633895349.25 <<<< 2021-10-10T19:49:10Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895349.25, ping # 0. 2021-10-10T19:49:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895349.25 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:10Z- TerrainNav::motionUpdate() - currEstimate = (4061617, 594395.98, 48.85) 2021-10-10T19:49:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:10Z- TerrainNav:: SubcloudNIS is 0.43, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:10Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:49:10Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:49:10Z- TNavBF::Projecting Measurements 2021-10-10T19:49:10Z- TNavFilter::Measurement from time = 1633895349.25 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:49:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:49:10Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:49:10Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:49:10Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:49:10Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:49:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:49:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:49:10Z- Filter 0 NorthBias: -25.0 EastBias: 32.4 DepthBias: -2.7 NorthVariance: 11.1 EastVariance: 2.8 DepthVariance: 0.9 this->DepthBiasCov: 0.7 2021-10-10T19:49:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:10Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:10Z- variances([0], [2], and psi_berg) = 11.084653 2.814855 0.000000 2021-10-10T19:49:10Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:10Z- LcmTrn::publishEstimates() - MLE : 4061590.64 594429.48 48.85 2021-10-10T19:49:10Z- LcmTrn::publishEstimates() - MMSE : 4061592.11 594428.36 46.19 2021-10-10T19:49:10Z- LcmTrn::publishEstimates() - COVAR: 11.08 2.81 0.91 0.00 2021-10-10T19:49:10Z- AHRS_M2 msg: 1633895350.45 epoch sec; seqNo:1040 2021-10-10T19:49:10Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.98 psi 2021-10-10T19:49:10Z- handleDepth()-Depth_Keller msg: 1633895350452 epoch sec; seqNo:1077; depth 48.90 2021-10-10T19:49:10Z- handleDvl() - RDI_Pathfinder msg: 1633895350.47 epoch sec; seqNo:443 2021-10-10T19:49:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.30 , 42.74 , 32.24 , 44.80 2021-10-10T19:49:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-10T19:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895350.51 epoch sec; seqNo:1077; 4061617.52 north; 594395.98 east 2021-10-10T19:49:10Z- AHRS_M2 msg: 1633895350.85 epoch sec; seqNo:1041 2021-10-10T19:49:10Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.98 psi 2021-10-10T19:49:10Z- handleDepth()-Depth_Keller msg: 1633895350866 epoch sec; seqNo:1078; depth 48.95 2021-10-10T19:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895350.88 epoch sec; seqNo:1078; 4061617.52 north; 594395.98 east 2021-10-10T19:49:11Z- AHRS_M2 msg: 1633895351.25 epoch sec; seqNo:1042 2021-10-10T19:49:11Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.98 psi 2021-10-10T19:49:11Z- handleDepth()-Depth_Keller msg: 1633895351264 epoch sec; seqNo:1079; depth 48.99 2021-10-10T19:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895351.29 epoch sec; seqNo:1079; 4061617.90 north; 594395.97 east 2021-10-10T19:49:11Z- AHRS_M2 msg: 1633895351.66 epoch sec; seqNo:1043 2021-10-10T19:49:11Z- AHRS_M2 msg: -0.21 phi; -0.12 theta; 0.98 psi 2021-10-10T19:49:11Z- handleDepth()-Depth_Keller msg: 1633895351668 epoch sec; seqNo:1080; depth 49.03 2021-10-10T19:49:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:11Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:11Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:11Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:11Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:11Z- handleDvl() - RDI_Pathfinder msg: 1633895351.67 epoch sec; seqNo:444 2021-10-10T19:49:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-10T19:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895351.68 epoch sec; seqNo:1080; 4061617.90 north; 594395.97 east 2021-10-10T19:49:12Z- AHRS_M2 msg: 1633895352.07 epoch sec; seqNo:1044 2021-10-10T19:49:12Z- AHRS_M2 msg: -0.21 phi; -0.11 theta; 0.98 psi 2021-10-10T19:49:12Z- handleDepth()-Depth_Keller msg: 1633895352076 epoch sec; seqNo:1081; depth 49.06 2021-10-10T19:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895352.09 epoch sec; seqNo:1081; 4061618.29 north; 594397.19 east 2021-10-10T19:49:12Z- AHRS_M2 msg: 1633895352.46 epoch sec; seqNo:1045 2021-10-10T19:49:12Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 0.97 psi 2021-10-10T19:49:12Z- handleDepth()-Depth_Keller msg: 1633895352478 epoch sec; seqNo:1082; depth 49.10 2021-10-10T19:49:12Z- handleDvl() - RDI_Pathfinder msg: 1633895352.50 epoch sec; seqNo:445 2021-10-10T19:49:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.18 , 41.58 , 32.21 , 43.79 2021-10-10T19:49:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.02 2021-10-10T19:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895352.52 epoch sec; seqNo:1082; 4061618.67 north; 594397.19 east 2021-10-10T19:49:12Z- AHRS_M2 msg: 1633895352.87 epoch sec; seqNo:1046 2021-10-10T19:49:12Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 0.97 psi 2021-10-10T19:49:12Z- handleDepth()-Depth_Keller msg: 1633895352880 epoch sec; seqNo:1083; depth 49.14 2021-10-10T19:49:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:12Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:12Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:12Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:12Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:12Z- handleDvl() - RDI_Pathfinder msg: 1633895352.88 epoch sec; seqNo:446 2021-10-10T19:49:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.02 2021-10-10T19:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895352.91 epoch sec; seqNo:1083; 4061618.67 north; 594397.19 east 2021-10-10T19:49:13Z- AHRS_M2 msg: 1633895353.28 epoch sec; seqNo:1047 2021-10-10T19:49:13Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 0.97 psi 2021-10-10T19:49:13Z- handleDepth()-Depth_Keller msg: 1633895353283 epoch sec; seqNo:1084; depth 49.18 2021-10-10T19:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895353.30 epoch sec; seqNo:1084; 4061619.05 north; 594397.18 east 2021-10-10T19:49:13Z- AHRS_M2 msg: 1633895353.69 epoch sec; seqNo:1048 2021-10-10T19:49:13Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 0.97 psi 2021-10-10T19:49:13Z- handleDepth()-Depth_Keller msg: 1633895353692 epoch sec; seqNo:1085; depth 49.22 2021-10-10T19:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895353.70 epoch sec; seqNo:1085; 4061619.05 north; 594397.18 east 2021-10-10T19:49:14Z- AHRS_M2 msg: 1633895354.08 epoch sec; seqNo:1049 2021-10-10T19:49:14Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 0.97 psi 2021-10-10T19:49:14Z- handleDepth()-Depth_Keller msg: 1633895354092 epoch sec; seqNo:1086; depth 49.27 2021-10-10T19:49:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:14Z- handleDvl() - RDI_Pathfinder msg: 1633895354.09 epoch sec; seqNo:447 2021-10-10T19:49:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , -0.02 2021-10-10T19:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895354.12 epoch sec; seqNo:1086; 4061619.44 north; 594398.40 east 2021-10-10T19:49:14Z- AHRS_M2 msg: 1633895354.49 epoch sec; seqNo:1050 2021-10-10T19:49:14Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 0.97 psi 2021-10-10T19:49:14Z- handleDepth()-Depth_Keller msg: 1633895354500 epoch sec; seqNo:1087; depth 49.30 2021-10-10T19:49:14Z- handleDvl() - RDI_Pathfinder msg: 1633895354.52 epoch sec; seqNo:448 2021-10-10T19:49:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.01 , 39.36 , 31.87 , 42.60 2021-10-10T19:49:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , -0.02 2021-10-10T19:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895354.54 epoch sec; seqNo:1087; 4061619.44 north; 594398.40 east 2021-10-10T19:49:14Z- AHRS_M2 msg: 1633895354.89 epoch sec; seqNo:1051 2021-10-10T19:49:14Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 0.97 psi 2021-10-10T19:49:14Z- handleDepth()-Depth_Keller msg: 1633895354897 epoch sec; seqNo:1088; depth 49.35 2021-10-10T19:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895354.91 epoch sec; seqNo:1088; 4061619.82 north; 594398.39 east 2021-10-10T19:49:15Z- LcmTrn::handleMessages() - handling 42 messages took 0.74 ms and 127 calls... 2021-10-10T19:49:15Z- waiting for 1633895353.06, time is 1633895354.91 2021-10-10T19:49:15Z- LcmTrn::updateTrn() >>>> pose time 1633895354.91, meas time 1633895354.52 <<<< 2021-10-10T19:49:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895354.52 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:15Z- TerrainNav::motionUpdate() - currEstimate = (4061620, 594398.39, 49.35) 2021-10-10T19:49:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:15Z- TerrainNav:: SubcloudNIS is 0.43, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:15Z- TNavBF::Projecting Measurements 2021-10-10T19:49:15Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:49:15Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:49:15Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:49:15Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:49:15Z- TNavFilter::4 good beams. 2021-10-10T19:49:15Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:49:15Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:49:15Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:49:15Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:49:15Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:49:15Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:49:15Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:49:15Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:15Z- TerrainMapOctree: (vehN, vehE ) = (4061619.60, 594398.20). 2021-10-10T19:49:15Z- TerrainMapOctree: Min Distance = 197.40. 2021-10-10T19:49:15Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:49:15Z- Forcing Subcloud Comparison 2021-10-10T19:49:15Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:49:15Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:15Z- Filter 0 partialDeltaRmsComputation: 3.451817 terrainVariance: 0.104267 1-SumSquareWeights: 0.973466 2021-10-10T19:49:15Z- Filter 0 meanExpectedMeasDiff: 1.829631 delta_rms_squared: 0.094533 alpha: 0.825377 2021-10-10T19:49:15Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:15Z- Filter 0 partialDeltaRmsComputation: 5.745763 terrainVariance: 0.528784 1-SumSquareWeights: 0.973466 2021-10-10T19:49:15Z- Filter 0 meanExpectedMeasDiff: -2.284071 delta_rms_squared: 0.519049 alpha: 0.962898 2021-10-10T19:49:15Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:15Z- Filter 0 partialDeltaRmsComputation: 33.101697 terrainVariance: 1.128601 1-SumSquareWeights: 0.973466 2021-10-10T19:49:15Z- Filter 0 meanExpectedMeasDiff: -5.654476 delta_rms_squared: 1.118866 alpha: 0.982439 2021-10-10T19:49:15Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:15Z- Filter 0 partialDeltaRmsComputation: 55.192999 terrainVariance: 2.040401 1-SumSquareWeights: 0.973466 2021-10-10T19:49:15Z- Filter 0 meanExpectedMeasDiff: 7.290583 delta_rms_squared: 2.030666 alpha: 0.990247 2021-10-10T19:49:15Z- Filter 0 SubcloudNIS: 0.542040 2021-10-10T19:49:15Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:49:15Z- TNavBF:: Filter 0 sumWeights = 0.000338 2021-10-10T19:49:15Z- Filter 0 NorthBias: -26.5 EastBias: 29.7 DepthBias: -3.0 NorthVariance: 4.8 EastVariance: 3.6 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-10T19:49:15Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895354.52 sec. 2021-10-10T19:49:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:15Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:15Z- variances([0], [2], and psi_berg) = 4.856682 3.579237 0.000000 2021-10-10T19:49:15Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:15Z- LcmTrn::publishEstimates() - MLE : 4061594.32 594426.89 49.35 2021-10-10T19:49:15Z- LcmTrn::publishEstimates() - MMSE : 4061593.30 594428.13 46.34 2021-10-10T19:49:15Z- LcmTrn::publishEstimates() - COVAR: 4.86 3.58 0.61 0.00 2021-10-10T19:49:15Z- AHRS_M2 msg: 1633895355.30 epoch sec; seqNo:1052 2021-10-10T19:49:15Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 0.97 psi 2021-10-10T19:49:15Z- handleDepth()-Depth_Keller msg: 1633895355308 epoch sec; seqNo:1089; depth 49.37 2021-10-10T19:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895355.32 epoch sec; seqNo:1089; 4061619.82 north; 594398.39 east 2021-10-10T19:49:15Z- AHRS_M2 msg: 1633895355.70 epoch sec; seqNo:1053 2021-10-10T19:49:15Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 0.97 psi 2021-10-10T19:49:15Z- handleDepth()-Depth_Keller msg: 1633895355709 epoch sec; seqNo:1090; depth 49.42 2021-10-10T19:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895355.72 epoch sec; seqNo:1090; 4061620.20 north; 594398.39 east 2021-10-10T19:49:16Z- AHRS_M2 msg: 1633895356.10 epoch sec; seqNo:1054 2021-10-10T19:49:16Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 0.97 psi 2021-10-10T19:49:16Z- handleDepth()-Depth_Keller msg: 1633895356108 epoch sec; seqNo:1091; depth 49.46 2021-10-10T19:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895356.12 epoch sec; seqNo:1091; 4061620.20 north; 594398.39 east 2021-10-10T19:49:16Z- handleDepth()-Depth_Keller msg: 1633895356525 epoch sec; seqNo:1092; depth 49.50 2021-10-10T19:49:16Z- handleDvl() - RDI_Pathfinder msg: 1633895356.55 epoch sec; seqNo:449 2021-10-10T19:49:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.67 , 39.19 , 31.69 , 42.26 2021-10-10T19:49:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.00 2021-10-10T19:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895356.57 epoch sec; seqNo:1092; 4061620.59 north; 594399.61 east 2021-10-10T19:49:16Z- AHRS_M2 msg: 1633895356.91 epoch sec; seqNo:1055 2021-10-10T19:49:16Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 0.97 psi 2021-10-10T19:49:16Z- handleDepth()-Depth_Keller msg: 1633895356923 epoch sec; seqNo:1093; depth 49.54 2021-10-10T19:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895356.94 epoch sec; seqNo:1093; 4061620.59 north; 594399.61 east 2021-10-10T19:49:17Z- AHRS_M2 msg: 1633895357.31 epoch sec; seqNo:1056 2021-10-10T19:49:17Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 0.97 psi 2021-10-10T19:49:17Z- handleDepth()-Depth_Keller msg: 1633895357319 epoch sec; seqNo:1094; depth 49.56 2021-10-10T19:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895357.35 epoch sec; seqNo:1094; 4061620.97 north; 594399.60 east 2021-10-10T19:49:17Z- AHRS_M2 msg: 1633895357.72 epoch sec; seqNo:1057 2021-10-10T19:49:17Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 0.97 psi 2021-10-10T19:49:17Z- handleDepth()-Depth_Keller msg: 1633895357722 epoch sec; seqNo:1095; depth 49.62 2021-10-10T19:49:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:17Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:17Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:17Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:17Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:17Z- handleDvl() - RDI_Pathfinder msg: 1633895357.73 epoch sec; seqNo:450 2021-10-10T19:49:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , 0.00 2021-10-10T19:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895357.74 epoch sec; seqNo:1095; 4061620.97 north; 594399.60 east 2021-10-10T19:49:18Z- AHRS_M2 msg: 1633895358.13 epoch sec; seqNo:1058 2021-10-10T19:49:18Z- AHRS_M2 msg: -0.21 phi; -0.08 theta; 0.96 psi 2021-10-10T19:49:18Z- handleDepth()-Depth_Keller msg: 1633895358138 epoch sec; seqNo:1096; depth 49.66 2021-10-10T19:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895358.15 epoch sec; seqNo:1096; 4061621.35 north; 594399.60 east 2021-10-10T19:49:18Z- AHRS_M2 msg: 1633895358.53 epoch sec; seqNo:1059 2021-10-10T19:49:18Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 0.96 psi 2021-10-10T19:49:18Z- handleDepth()-Depth_Keller msg: 1633895358540 epoch sec; seqNo:1097; depth 49.70 2021-10-10T19:49:18Z- handleDvl() - RDI_Pathfinder msg: 1633895358.56 epoch sec; seqNo:451 2021-10-10T19:49:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.67 , 39.36 , 31.86 , 41.06 2021-10-10T19:49:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.02 2021-10-10T19:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895358.58 epoch sec; seqNo:1097; 4061621.36 north; 594400.82 east 2021-10-10T19:49:18Z- AHRS_M2 msg: 1633895358.93 epoch sec; seqNo:1060 2021-10-10T19:49:18Z- AHRS_M2 msg: -0.24 phi; -0.08 theta; 0.95 psi 2021-10-10T19:49:18Z- handleDepth()-Depth_Keller msg: 1633895358934 epoch sec; seqNo:1098; depth 49.73 2021-10-10T19:49:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:18Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:18Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:18Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:18Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:18Z- handleDvl() - RDI_Pathfinder msg: 1633895358.94 epoch sec; seqNo:452 2021-10-10T19:49:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.02 2021-10-10T19:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895358.97 epoch sec; seqNo:1098; 4061621.74 north; 594400.81 east 2021-10-10T19:49:19Z- AHRS_M2 msg: 1633895359.34 epoch sec; seqNo:1061 2021-10-10T19:49:19Z- AHRS_M2 msg: -0.26 phi; -0.08 theta; 0.94 psi 2021-10-10T19:49:19Z- handleDepth()-Depth_Keller msg: 1633895359340 epoch sec; seqNo:1099; depth 49.76 2021-10-10T19:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895359.35 epoch sec; seqNo:1099; 4061621.74 north; 594400.81 east 2021-10-10T19:49:19Z- AHRS_M2 msg: 1633895359.74 epoch sec; seqNo:1062 2021-10-10T19:49:19Z- AHRS_M2 msg: -0.29 phi; -0.08 theta; 0.93 psi 2021-10-10T19:49:19Z- handleDepth()-Depth_Keller msg: 1633895359743 epoch sec; seqNo:1100; depth 49.79 2021-10-10T19:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895359.76 epoch sec; seqNo:1100; 4061622.12 north; 594400.81 east 2021-10-10T19:49:20Z- AHRS_M2 msg: 1633895360.14 epoch sec; seqNo:1063 2021-10-10T19:49:20Z- AHRS_M2 msg: -0.32 phi; -0.08 theta; 0.91 psi 2021-10-10T19:49:20Z- handleDepth()-Depth_Keller msg: 1633895360153 epoch sec; seqNo:1101; depth 49.82 2021-10-10T19:49:20Z- handleDvl() - RDI_Pathfinder msg: 1633895360.19 epoch sec; seqNo:453 2021-10-10T19:49:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.65 , 40.21 , 32.37 , 40.89 2021-10-10T19:49:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , 0.02 2021-10-10T19:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895360.20 epoch sec; seqNo:1101; 4061622.12 north; 594400.81 east 2021-10-10T19:49:20Z- LcmTrn::handleMessages() - handling 43 messages took 0.75 ms and 128 calls... 2021-10-10T19:49:20Z- waiting for 1633895357.91, time is 1633895360.20 2021-10-10T19:49:20Z- LcmTrn::updateTrn() equating pose 1633895360.20 and meas times 1633895360.20 2021-10-10T19:49:20Z- LcmTrn::updateTrn() >>>> pose time 1633895360.20, meas time 1633895360.20 <<<< 2021-10-10T19:49:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895360.20 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:20Z- TerrainNav::motionUpdate() - currEstimate = (4061622, 594400.81, 49.82) 2021-10-10T19:49:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:20Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:20Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895360.20 sec.; No relevant navigation data available 2021-10-10T19:49:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:20Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:20Z- variances([0], [2], and psi_berg) = 4.889134 3.611688 0.000000 2021-10-10T19:49:20Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:20Z- LcmTrn::publishEstimates() - MLE : 4061596.62 594429.31 49.82 2021-10-10T19:49:20Z- LcmTrn::publishEstimates() - MMSE : 4061595.60 594430.54 46.81 2021-10-10T19:49:20Z- LcmTrn::publishEstimates() - COVAR: 4.89 3.61 0.78 0.00 2021-10-10T19:49:20Z- AHRS_M2 msg: 1633895360.55 epoch sec; seqNo:1064 2021-10-10T19:49:20Z- AHRS_M2 msg: -0.35 phi; -0.09 theta; 0.89 psi 2021-10-10T19:49:20Z- handleDepth()-Depth_Keller msg: 1633895360556 epoch sec; seqNo:1102; depth 49.84 2021-10-10T19:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895360.57 epoch sec; seqNo:1102; 4061622.50 north; 594400.81 east 2021-10-10T19:49:20Z- AHRS_M2 msg: 1633895360.97 epoch sec; seqNo:1065 2021-10-10T19:49:20Z- AHRS_M2 msg: -0.39 phi; -0.09 theta; 0.86 psi 2021-10-10T19:49:20Z- handleDepth()-Depth_Keller msg: 1633895360972 epoch sec; seqNo:1103; depth 49.89 2021-10-10T19:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895360.98 epoch sec; seqNo:1103; 4061622.51 north; 594402.03 east 2021-10-10T19:49:21Z- AHRS_M2 msg: 1633895361.35 epoch sec; seqNo:1066 2021-10-10T19:49:21Z- AHRS_M2 msg: -0.41 phi; -0.10 theta; 0.84 psi 2021-10-10T19:49:21Z- handleDepth()-Depth_Keller msg: 1633895361357 epoch sec; seqNo:1104; depth 49.90 2021-10-10T19:49:21Z- handleDvl() - RDI_Pathfinder msg: 1633895361.38 epoch sec; seqNo:454 2021-10-10T19:49:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.65 , 42.77 , 32.89 , 42.09 2021-10-10T19:49:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.02 2021-10-10T19:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895361.40 epoch sec; seqNo:1104; 4061622.89 north; 594402.02 east 2021-10-10T19:49:21Z- AHRS_M2 msg: 1633895361.76 epoch sec; seqNo:1067 2021-10-10T19:49:21Z- AHRS_M2 msg: -0.44 phi; -0.11 theta; 0.82 psi 2021-10-10T19:49:21Z- handleDepth()-Depth_Keller msg: 1633895361761 epoch sec; seqNo:1105; depth 49.94 2021-10-10T19:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895361.80 epoch sec; seqNo:1105; 4061623.27 north; 594402.02 east 2021-10-10T19:49:22Z- AHRS_M2 msg: 1633895362.17 epoch sec; seqNo:1068 2021-10-10T19:49:22Z- AHRS_M2 msg: -0.45 phi; -0.11 theta; 0.79 psi 2021-10-10T19:49:22Z- handleDepth()-Depth_Keller msg: 1633895362175 epoch sec; seqNo:1106; depth 49.95 2021-10-10T19:49:22Z- handleDvl() - RDI_Pathfinder msg: 1633895362.21 epoch sec; seqNo:455 2021-10-10T19:49:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.48 , 44.30 , 33.74 , 43.96 2021-10-10T19:49:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-10T19:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895362.23 epoch sec; seqNo:1106; 4061623.27 north; 594402.02 east 2021-10-10T19:49:22Z- AHRS_M2 msg: 1633895362.57 epoch sec; seqNo:1069 2021-10-10T19:49:22Z- AHRS_M2 msg: -0.46 phi; -0.12 theta; 0.77 psi 2021-10-10T19:49:22Z- handleDepth()-Depth_Keller msg: 1633895362572 epoch sec; seqNo:1107; depth 50.00 2021-10-10T19:49:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:22Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:22Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:22Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:22Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:22Z- handleDvl() - RDI_Pathfinder msg: 1633895362.58 epoch sec; seqNo:456 2021-10-10T19:49:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-10T19:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895362.59 epoch sec; seqNo:1107; 4061623.65 north; 594402.01 east 2021-10-10T19:49:22Z- AHRS_M2 msg: 1633895362.97 epoch sec; seqNo:1070 2021-10-10T19:49:22Z- AHRS_M2 msg: -0.46 phi; -0.12 theta; 0.74 psi 2021-10-10T19:49:22Z- handleDepth()-Depth_Keller msg: 1633895362976 epoch sec; seqNo:1108; depth 50.05 2021-10-10T19:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895362.99 epoch sec; seqNo:1108; 4061623.65 north; 594402.01 east 2021-10-10T19:49:23Z- AHRS_M2 msg: 1633895363.37 epoch sec; seqNo:1071 2021-10-10T19:49:23Z- AHRS_M2 msg: -0.46 phi; -0.13 theta; 0.72 psi 2021-10-10T19:49:23Z- handleDepth()-Depth_Keller msg: 1633895363377 epoch sec; seqNo:1109; depth 50.06 2021-10-10T19:49:23Z- handleDvl() - RDI_Pathfinder msg: 1633895363.40 epoch sec; seqNo:457 2021-10-10T19:49:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.48 , 47.88 , 34.25 , 44.98 2021-10-10T19:49:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , 0.02 2021-10-10T19:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895363.43 epoch sec; seqNo:1109; 4061624.04 north; 594403.23 east 2021-10-10T19:49:23Z- AHRS_M2 msg: 1633895363.78 epoch sec; seqNo:1072 2021-10-10T19:49:23Z- AHRS_M2 msg: -0.46 phi; -0.13 theta; 0.69 psi 2021-10-10T19:49:23Z- handleDepth()-Depth_Keller msg: 1633895363785 epoch sec; seqNo:1110; depth 50.09 2021-10-10T19:49:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:23Z- handleDvl() - RDI_Pathfinder msg: 1633895363.79 epoch sec; seqNo:458 2021-10-10T19:49:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , 0.02 2021-10-10T19:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895363.82 epoch sec; seqNo:1110; 4061624.42 north; 594403.23 east 2021-10-10T19:49:24Z- AHRS_M2 msg: 1633895364.20 epoch sec; seqNo:1073 2021-10-10T19:49:24Z- AHRS_M2 msg: -0.46 phi; -0.14 theta; 0.67 psi 2021-10-10T19:49:24Z- handleDepth()-Depth_Keller msg: 1633895364203 epoch sec; seqNo:1111; depth 50.14 2021-10-10T19:49:24Z- handleDvl() - RDI_Pathfinder msg: 1633895364.24 epoch sec; seqNo:459 2021-10-10T19:49:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.24 , 47.04 , 33.92 , 44.98 2021-10-10T19:49:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.12 , 0.02 2021-10-10T19:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895364.26 epoch sec; seqNo:1111; 4061624.42 north; 594403.23 east 2021-10-10T19:49:24Z- AHRS_M2 msg: 1633895364.59 epoch sec; seqNo:1074 2021-10-10T19:49:24Z- AHRS_M2 msg: -0.45 phi; -0.14 theta; 0.64 psi 2021-10-10T19:49:24Z- handleDepth()-Depth_Keller msg: 1633895364590 epoch sec; seqNo:1112; depth 50.18 2021-10-10T19:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895364.61 epoch sec; seqNo:1112; 4061624.80 north; 594403.22 east 2021-10-10T19:49:24Z- AHRS_M2 msg: 1633895364.99 epoch sec; seqNo:1075 2021-10-10T19:49:24Z- AHRS_M2 msg: -0.45 phi; -0.14 theta; 0.62 psi 2021-10-10T19:49:24Z- handleDepth()-Depth_Keller msg: 1633895364994 epoch sec; seqNo:1113; depth 50.21 2021-10-10T19:49:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:25Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:25Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:25Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:25Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:25Z- handleDvl() - RDI_Pathfinder msg: 1633895365.00 epoch sec; seqNo:460 2021-10-10T19:49:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.12 , 0.02 2021-10-10T19:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895365.01 epoch sec; seqNo:1113; 4061625.18 north; 594403.22 east 2021-10-10T19:49:25Z- AHRS_M2 msg: 1633895365.39 epoch sec; seqNo:1076 2021-10-10T19:49:25Z- AHRS_M2 msg: -0.44 phi; -0.15 theta; 0.59 psi 2021-10-10T19:49:25Z- handleDepth()-Depth_Keller msg: 1633895365399 epoch sec; seqNo:1114; depth 50.27 2021-10-10T19:49:25Z- handleDvl() - RDI_Pathfinder msg: 1633895365.42 epoch sec; seqNo:461 2021-10-10T19:49:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.86 , 47.98 , 33.74 , 44.61 2021-10-10T19:49:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.12 , 0.03 2021-10-10T19:49:25Z- LcmTrn::handleMessages() - handling 46 messages took 0.88 ms and 128 calls... 2021-10-10T19:49:25Z- waiting for 1633895363.20, time is 1633895365.42 2021-10-10T19:49:25Z- LcmTrn::updateTrn() equating pose 1633895365.42 and meas times 1633895365.42 2021-10-10T19:49:25Z- LcmTrn::updateTrn() >>>> pose time 1633895365.42, meas time 1633895365.42 <<<< 2021-10-10T19:49:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895365.42 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:25Z- TerrainNav::motionUpdate() - currEstimate = (4061625, 594403.22, 50.27) 2021-10-10T19:49:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:25Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:25Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895365.42 sec.; No relevant navigation data available 2021-10-10T19:49:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:25Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:25Z- variances([0], [2], and psi_berg) = 4.924186 3.646740 0.000000 2021-10-10T19:49:25Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:25Z- LcmTrn::publishEstimates() - MLE : 4061599.68 594431.72 50.27 2021-10-10T19:49:25Z- LcmTrn::publishEstimates() - MMSE : 4061598.66 594432.95 47.26 2021-10-10T19:49:25Z- LcmTrn::publishEstimates() - COVAR: 4.92 3.65 0.98 0.00 2021-10-10T19:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895365.44 epoch sec; seqNo:1114; 4061625.18 north; 594403.22 east 2021-10-10T19:49:25Z- AHRS_M2 msg: 1633895365.80 epoch sec; seqNo:1077 2021-10-10T19:49:25Z- AHRS_M2 msg: -0.43 phi; -0.15 theta; 0.57 psi 2021-10-10T19:49:25Z- handleDepth()-Depth_Keller msg: 1633895365802 epoch sec; seqNo:1115; depth 50.30 2021-10-10T19:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895365.83 epoch sec; seqNo:1115; 4061625.55 north; 594403.21 east 2021-10-10T19:49:26Z- AHRS_M2 msg: 1633895366.22 epoch sec; seqNo:1078 2021-10-10T19:49:26Z- AHRS_M2 msg: -0.43 phi; -0.15 theta; 0.54 psi 2021-10-10T19:49:26Z- handleDepth()-Depth_Keller msg: 1633895366229 epoch sec; seqNo:1116; depth 50.35 2021-10-10T19:49:26Z- handleDvl() - RDI_Pathfinder msg: 1633895366.26 epoch sec; seqNo:462 2021-10-10T19:49:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.05 , 45.36 , 33.17 , 43.48 2021-10-10T19:49:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.12 , 0.04 2021-10-10T19:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895366.31 epoch sec; seqNo:1116; 4061625.93 north; 594403.21 east 2021-10-10T19:49:26Z- AHRS_M2 msg: 1633895366.61 epoch sec; seqNo:1079 2021-10-10T19:49:26Z- AHRS_M2 msg: -0.42 phi; -0.15 theta; 0.51 psi 2021-10-10T19:49:26Z- handleDepth()-Depth_Keller msg: 1633895366614 epoch sec; seqNo:1117; depth 50.41 2021-10-10T19:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895366.63 epoch sec; seqNo:1117; 4061625.93 north; 594403.21 east 2021-10-10T19:49:27Z- AHRS_M2 msg: 1633895367.01 epoch sec; seqNo:1080 2021-10-10T19:49:27Z- AHRS_M2 msg: -0.42 phi; -0.15 theta; 0.49 psi 2021-10-10T19:49:27Z- handleDepth()-Depth_Keller msg: 1633895367014 epoch sec; seqNo:1118; depth 50.46 2021-10-10T19:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895367.03 epoch sec; seqNo:1118; 4061626.33 north; 594404.42 east 2021-10-10T19:49:27Z- AHRS_M2 msg: 1633895367.41 epoch sec; seqNo:1081 2021-10-10T19:49:27Z- AHRS_M2 msg: -0.41 phi; -0.15 theta; 0.46 psi 2021-10-10T19:49:27Z- handleDepth()-Depth_Keller msg: 1633895367417 epoch sec; seqNo:1119; depth 50.51 2021-10-10T19:49:27Z- handleDvl() - RDI_Pathfinder msg: 1633895367.45 epoch sec; seqNo:463 2021-10-10T19:49:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.97 , 44.13 , 33.40 , 42.60 2021-10-10T19:49:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.12 , 0.03 2021-10-10T19:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895367.46 epoch sec; seqNo:1119; 4061626.70 north; 594404.42 east 2021-10-10T19:49:27Z- AHRS_M2 msg: 1633895367.82 epoch sec; seqNo:1082 2021-10-10T19:49:27Z- AHRS_M2 msg: -0.41 phi; -0.15 theta; 0.44 psi 2021-10-10T19:49:27Z- handleDepth()-Depth_Keller msg: 1633895367822 epoch sec; seqNo:1120; depth 50.55 2021-10-10T19:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895367.84 epoch sec; seqNo:1120; 4061626.70 north; 594404.42 east 2021-10-10T19:49:28Z- AHRS_M2 msg: 1633895368.25 epoch sec; seqNo:1083 2021-10-10T19:49:28Z- AHRS_M2 msg: -0.40 phi; -0.14 theta; 0.41 psi 2021-10-10T19:49:28Z- handleDepth()-Depth_Keller msg: 1633895368258 epoch sec; seqNo:1121; depth 50.59 2021-10-10T19:49:28Z- handleDvl() - RDI_Pathfinder msg: 1633895368.29 epoch sec; seqNo:464 2021-10-10T19:49:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.97 , 43.79 , 33.06 , 41.06 2021-10-10T19:49:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.10 , 0.03 2021-10-10T19:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895368.31 epoch sec; seqNo:1121; 4061627.08 north; 594404.42 east 2021-10-10T19:49:28Z- AHRS_M2 msg: 1633895368.62 epoch sec; seqNo:1084 2021-10-10T19:49:28Z- AHRS_M2 msg: -0.40 phi; -0.14 theta; 0.39 psi 2021-10-10T19:49:28Z- handleDepth()-Depth_Keller msg: 1633895368629 epoch sec; seqNo:1122; depth 50.65 2021-10-10T19:49:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:28Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:28Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:28Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:28Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:28Z- handleDvl() - RDI_Pathfinder msg: 1633895368.64 epoch sec; seqNo:465 2021-10-10T19:49:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.10 , 0.03 2021-10-10T19:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895368.66 epoch sec; seqNo:1122; 4061627.46 north; 594404.41 east 2021-10-10T19:49:29Z- AHRS_M2 msg: 1633895369.03 epoch sec; seqNo:1085 2021-10-10T19:49:29Z- AHRS_M2 msg: -0.39 phi; -0.14 theta; 0.36 psi 2021-10-10T19:49:29Z- handleDepth()-Depth_Keller msg: 1633895369034 epoch sec; seqNo:1123; depth 50.70 2021-10-10T19:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895369.05 epoch sec; seqNo:1123; 4061627.84 north; 594404.41 east 2021-10-10T19:49:29Z- AHRS_M2 msg: 1633895369.43 epoch sec; seqNo:1086 2021-10-10T19:49:29Z- AHRS_M2 msg: -0.38 phi; -0.13 theta; 0.34 psi 2021-10-10T19:49:29Z- handleDepth()-Depth_Keller msg: 1633895369438 epoch sec; seqNo:1124; depth 50.75 2021-10-10T19:49:29Z- handleDvl() - RDI_Pathfinder msg: 1633895369.48 epoch sec; seqNo:466 2021-10-10T19:49:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.63 , 43.28 , 32.89 , 39.36 2021-10-10T19:49:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.10 , 0.02 2021-10-10T19:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895369.49 epoch sec; seqNo:1124; 4061627.84 north; 594404.41 east 2021-10-10T19:49:29Z- AHRS_M2 msg: 1633895369.84 epoch sec; seqNo:1087 2021-10-10T19:49:29Z- AHRS_M2 msg: -0.38 phi; -0.13 theta; 0.32 psi 2021-10-10T19:49:29Z- handleDepth()-Depth_Keller msg: 1633895369842 epoch sec; seqNo:1125; depth 50.80 2021-10-10T19:49:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:29Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:29Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:29Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:29Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:29Z- handleDvl() - RDI_Pathfinder msg: 1633895369.85 epoch sec; seqNo:467 2021-10-10T19:49:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.10 , 0.02 2021-10-10T19:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895369.87 epoch sec; seqNo:1125; 4061628.22 north; 594404.40 east 2021-10-10T19:49:30Z- AHRS_M2 msg: 1633895370.28 epoch sec; seqNo:1088 2021-10-10T19:49:30Z- AHRS_M2 msg: -0.37 phi; -0.12 theta; 0.30 psi 2021-10-10T19:49:30Z- handleDepth()-Depth_Keller msg: 1633895370288 epoch sec; seqNo:1126; depth 50.85 2021-10-10T19:49:30Z- handleDvl() - RDI_Pathfinder msg: 1633895370.32 epoch sec; seqNo:468 2021-10-10T19:49:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.80 , 42.94 , 32.89 , 38.85 2021-10-10T19:49:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.10 , 0.01 2021-10-10T19:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895370.34 epoch sec; seqNo:1126; 4061628.60 north; 594404.40 east 2021-10-10T19:49:30Z- LcmTrn::handleMessages() - handling 44 messages took 0.76 ms and 128 calls... 2021-10-10T19:49:30Z- waiting for 1633895368.42, time is 1633895370.34 2021-10-10T19:49:30Z- LcmTrn::updateTrn() equating pose 1633895370.34 and meas times 1633895370.34 2021-10-10T19:49:30Z- LcmTrn::updateTrn() >>>> pose time 1633895370.34, meas time 1633895370.34 <<<< 2021-10-10T19:49:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895370.34 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:30Z- TerrainNav::motionUpdate() - currEstimate = (4061629, 594404.40, 50.85) 2021-10-10T19:49:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:30Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:30Z- TNavBF::Projecting Measurements 2021-10-10T19:49:30Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:49:30Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:49:30Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:49:30Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:49:30Z- TNavFilter::4 good beams. 2021-10-10T19:49:30Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:49:30Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:49:30Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:49:30Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:49:30Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:49:30Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:49:30Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:49:30Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:30Z- TerrainMapOctree: (vehN, vehE ) = (4061628.60, 594404.40). 2021-10-10T19:49:30Z- TerrainMapOctree: Min Distance = 196.41. 2021-10-10T19:49:30Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:49:30Z- Forcing Subcloud Comparison 2021-10-10T19:49:30Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:49:30Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:30Z- Filter 0 partialDeltaRmsComputation: 13.036947 terrainVariance: 0.029955 1-SumSquareWeights: 0.962385 2021-10-10T19:49:30Z- Filter 0 meanExpectedMeasDiff: 3.606521 delta_rms_squared: 0.020331 alpha: 0.504104 2021-10-10T19:49:30Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:30Z- Filter 0 partialDeltaRmsComputation: 64.247350 terrainVariance: 0.219260 1-SumSquareWeights: 0.962385 2021-10-10T19:49:30Z- Filter 0 meanExpectedMeasDiff: -8.001755 delta_rms_squared: 0.209636 alpha: 0.912906 2021-10-10T19:49:30Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:30Z- Filter 0 partialDeltaRmsComputation: 140.152816 terrainVariance: 1.152670 1-SumSquareWeights: 0.962385 2021-10-10T19:49:30Z- Filter 0 meanExpectedMeasDiff: -11.789832 delta_rms_squared: 1.143046 alpha: 0.982804 2021-10-10T19:49:30Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:30Z- Filter 0 partialDeltaRmsComputation: 109.924184 terrainVariance: 0.463340 1-SumSquareWeights: 0.962385 2021-10-10T19:49:30Z- Filter 0 meanExpectedMeasDiff: 10.462354 delta_rms_squared: 0.453717 alpha: 0.957781 2021-10-10T19:49:30Z- Filter 0 SubcloudNIS: 0.719201 2021-10-10T19:49:30Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:49:30Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-10T19:49:30Z- Filter 0 NorthBias: -31.2 EastBias: 8.4 DepthBias: -5.4 NorthVariance: 22.1 EastVariance: 20.9 DepthVariance: 1.4 this->DepthBiasCov: 0.5 2021-10-10T19:49:30Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895370.34 sec. 2021-10-10T19:49:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:30Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:30Z- variances([0], [2], and psi_berg) = 22.062987 20.913504 0.000000 2021-10-10T19:49:30Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:30Z- LcmTrn::publishEstimates() - MLE : 4061597.10 594408.90 50.85 2021-10-10T19:49:30Z- LcmTrn::publishEstimates() - MMSE : 4061597.39 594412.77 45.47 2021-10-10T19:49:30Z- LcmTrn::publishEstimates() - COVAR: 22.06 20.91 1.41 0.00 2021-10-10T19:49:30Z- AHRS_M2 msg: 1633895370.66 epoch sec; seqNo:1089 2021-10-10T19:49:30Z- AHRS_M2 msg: -0.37 phi; -0.12 theta; 0.28 psi 2021-10-10T19:49:30Z- handleDepth()-Depth_Keller msg: 1633895370667 epoch sec; seqNo:1127; depth 50.89 2021-10-10T19:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895370.68 epoch sec; seqNo:1127; 4061628.98 north; 594404.40 east 2021-10-10T19:49:31Z- AHRS_M2 msg: 1633895371.07 epoch sec; seqNo:1090 2021-10-10T19:49:31Z- AHRS_M2 msg: -0.36 phi; -0.11 theta; 0.25 psi 2021-10-10T19:49:31Z- handleDepth()-Depth_Keller msg: 1633895371070 epoch sec; seqNo:1128; depth 50.94 2021-10-10T19:49:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:31Z- handleDvl() - RDI_Pathfinder msg: 1633895371.07 epoch sec; seqNo:469 2021-10-10T19:49:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.10 , 0.01 2021-10-10T19:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895371.08 epoch sec; seqNo:1128; 4061628.98 north; 594404.40 east 2021-10-10T19:49:31Z- AHRS_M2 msg: 1633895371.47 epoch sec; seqNo:1091 2021-10-10T19:49:31Z- AHRS_M2 msg: -0.36 phi; -0.11 theta; 0.23 psi 2021-10-10T19:49:31Z- handleDepth()-Depth_Keller msg: 1633895371475 epoch sec; seqNo:1129; depth 50.99 2021-10-10T19:49:31Z- handleDvl() - RDI_Pathfinder msg: 1633895371.50 epoch sec; seqNo:470 2021-10-10T19:49:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.63 , 42.43 , 32.54 , 38.51 2021-10-10T19:49:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.11 , 0.01 2021-10-10T19:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895371.51 epoch sec; seqNo:1129; 4061629.36 north; 594404.39 east 2021-10-10T19:49:31Z- AHRS_M2 msg: 1633895371.87 epoch sec; seqNo:1092 2021-10-10T19:49:31Z- AHRS_M2 msg: -0.35 phi; -0.10 theta; 0.21 psi 2021-10-10T19:49:31Z- handleDepth()-Depth_Keller msg: 1633895371890 epoch sec; seqNo:1130; depth 51.03 2021-10-10T19:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895371.91 epoch sec; seqNo:1130; 4061629.73 north; 594404.39 east 2021-10-10T19:49:32Z- AHRS_M2 msg: 1633895372.31 epoch sec; seqNo:1093 2021-10-10T19:49:32Z- AHRS_M2 msg: -0.35 phi; -0.09 theta; 0.19 psi 2021-10-10T19:49:32Z- handleDepth()-Depth_Keller msg: 1633895372319 epoch sec; seqNo:1131; depth 51.08 2021-10-10T19:49:32Z- handleDvl() - RDI_Pathfinder msg: 1633895372.35 epoch sec; seqNo:471 2021-10-10T19:49:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.63 , 41.40 , 32.54 , 37.15 2021-10-10T19:49:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.12 , 0.01 2021-10-10T19:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895372.38 epoch sec; seqNo:1131; 4061630.11 north; 594404.38 east 2021-10-10T19:49:32Z- AHRS_M2 msg: 1633895372.68 epoch sec; seqNo:1094 2021-10-10T19:49:32Z- AHRS_M2 msg: -0.34 phi; -0.08 theta; 0.17 psi 2021-10-10T19:49:32Z- handleDepth()-Depth_Keller msg: 1633895372688 epoch sec; seqNo:1132; depth 51.13 2021-10-10T19:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895372.70 epoch sec; seqNo:1132; 4061630.11 north; 594404.38 east 2021-10-10T19:49:33Z- AHRS_M2 msg: 1633895373.09 epoch sec; seqNo:1095 2021-10-10T19:49:33Z- AHRS_M2 msg: -0.34 phi; -0.08 theta; 0.15 psi 2021-10-10T19:49:33Z- handleDepth()-Depth_Keller msg: 1633895373092 epoch sec; seqNo:1133; depth 51.16 2021-10-10T19:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895373.11 epoch sec; seqNo:1133; 4061630.49 north; 594404.38 east 2021-10-10T19:49:33Z- AHRS_M2 msg: 1633895373.49 epoch sec; seqNo:1096 2021-10-10T19:49:33Z- AHRS_M2 msg: -0.34 phi; -0.07 theta; 0.14 psi 2021-10-10T19:49:33Z- handleDepth()-Depth_Keller msg: 1633895373494 epoch sec; seqNo:1134; depth 51.20 2021-10-10T19:49:33Z- handleDvl() - RDI_Pathfinder msg: 1633895373.53 epoch sec; seqNo:472 2021-10-10T19:49:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.63 , 41.40 , 32.89 , 36.46 2021-10-10T19:49:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.13 , 0.03 2021-10-10T19:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895373.54 epoch sec; seqNo:1134; 4061630.87 north; 594404.37 east 2021-10-10T19:49:33Z- AHRS_M2 msg: 1633895373.89 epoch sec; seqNo:1097 2021-10-10T19:49:33Z- AHRS_M2 msg: -0.33 phi; -0.06 theta; 0.12 psi 2021-10-10T19:49:33Z- handleDepth()-Depth_Keller msg: 1633895373900 epoch sec; seqNo:1135; depth 51.23 2021-10-10T19:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895373.93 epoch sec; seqNo:1135; 4061630.87 north; 594404.37 east 2021-10-10T19:49:34Z- AHRS_M2 msg: 1633895374.34 epoch sec; seqNo:1098 2021-10-10T19:49:34Z- AHRS_M2 msg: -0.33 phi; -0.05 theta; 0.08 psi 2021-10-10T19:49:34Z- handleDepth()-Depth_Keller msg: 1633895374350 epoch sec; seqNo:1136; depth 51.27 2021-10-10T19:49:34Z- handleDvl() - RDI_Pathfinder msg: 1633895374.37 epoch sec; seqNo:473 2021-10-10T19:49:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.45 , 41.40 , 33.23 , 35.61 2021-10-10T19:49:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.14 , 0.03 2021-10-10T19:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895374.41 epoch sec; seqNo:1136; 4061631.25 north; 594404.37 east 2021-10-10T19:49:34Z- AHRS_M2 msg: 1633895374.71 epoch sec; seqNo:1099 2021-10-10T19:49:34Z- AHRS_M2 msg: -0.33 phi; -0.04 theta; 0.06 psi 2021-10-10T19:49:34Z- handleDepth()-Depth_Keller msg: 1633895374712 epoch sec; seqNo:1137; depth 51.31 2021-10-10T19:49:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:34Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:34Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:34Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:34Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:34Z- handleDvl() - RDI_Pathfinder msg: 1633895374.71 epoch sec; seqNo:474 2021-10-10T19:49:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.14 , 0.03 2021-10-10T19:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895374.73 epoch sec; seqNo:1137; 4061631.63 north; 594404.37 east 2021-10-10T19:49:35Z- AHRS_M2 msg: 1633895375.13 epoch sec; seqNo:1100 2021-10-10T19:49:35Z- AHRS_M2 msg: -0.33 phi; -0.04 theta; 0.04 psi 2021-10-10T19:49:35Z- handleDepth()-Depth_Keller msg: 1633895375133 epoch sec; seqNo:1138; depth 51.34 2021-10-10T19:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895375.14 epoch sec; seqNo:1138; 4061632.01 north; 594404.36 east 2021-10-10T19:49:35Z- AHRS_M2 msg: 1633895375.51 epoch sec; seqNo:1101 2021-10-10T19:49:35Z- AHRS_M2 msg: -0.33 phi; -0.03 theta; 0.02 psi 2021-10-10T19:49:35Z- handleDepth()-Depth_Keller msg: 1633895375514 epoch sec; seqNo:1139; depth 51.36 2021-10-10T19:49:35Z- handleDvl() - RDI_Pathfinder msg: 1633895375.53 epoch sec; seqNo:475 2021-10-10T19:49:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.45 , 41.92 , 33.74 , 34.93 2021-10-10T19:49:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.14 , 0.05 2021-10-10T19:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895375.56 epoch sec; seqNo:1139; 4061632.01 north; 594404.36 east 2021-10-10T19:49:35Z- LcmTrn::handleMessages() - handling 46 messages took 0.92 ms and 127 calls... 2021-10-10T19:49:35Z- waiting for 1633895373.34, time is 1633895375.56 2021-10-10T19:49:35Z- LcmTrn::updateTrn() equating pose 1633895375.56 and meas times 1633895375.56 2021-10-10T19:49:35Z- LcmTrn::updateTrn() >>>> pose time 1633895375.56, meas time 1633895375.56 <<<< 2021-10-10T19:49:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895375.56 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:35Z- TerrainNav::motionUpdate() - currEstimate = (4061632, 594404.36, 51.36) 2021-10-10T19:49:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:35Z- TerrainNav:: SubcloudNIS is 0.72, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:35Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895375.56 sec.; No relevant navigation data available 2021-10-10T19:49:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:35Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:35Z- variances([0], [2], and psi_berg) = 22.088460 20.945550 0.000000 2021-10-10T19:49:35Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:35Z- LcmTrn::publishEstimates() - MLE : 4061600.51 594408.86 51.36 2021-10-10T19:49:35Z- LcmTrn::publishEstimates() - MMSE : 4061600.80 594412.74 45.98 2021-10-10T19:49:35Z- LcmTrn::publishEstimates() - COVAR: 22.09 20.95 1.59 0.00 2021-10-10T19:49:35Z- AHRS_M2 msg: 1633895375.92 epoch sec; seqNo:1102 2021-10-10T19:49:35Z- AHRS_M2 msg: -0.33 phi; -0.03 theta; 0.00 psi 2021-10-10T19:49:35Z- handleDepth()-Depth_Keller msg: 1633895375928 epoch sec; seqNo:1140; depth 51.41 2021-10-10T19:49:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:35Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:35Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:35Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:35Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:35Z- handleDvl() - RDI_Pathfinder msg: 1633895375.93 epoch sec; seqNo:476 2021-10-10T19:49:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.14 , 0.05 2021-10-10T19:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895375.98 epoch sec; seqNo:1140; 4061632.39 north; 594404.36 east 2021-10-10T19:49:36Z- AHRS_M2 msg: 1633895376.36 epoch sec; seqNo:1103 2021-10-10T19:49:36Z- AHRS_M2 msg: -0.33 phi; -0.02 theta; 6.27 psi 2021-10-10T19:49:36Z- handleDepth()-Depth_Keller msg: 1633895376371 epoch sec; seqNo:1141; depth 51.42 2021-10-10T19:49:36Z- handleDvl() - RDI_Pathfinder msg: 1633895376.40 epoch sec; seqNo:477 2021-10-10T19:49:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.28 , 41.92 , 33.91 , 34.59 2021-10-10T19:49:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.14 , 0.05 2021-10-10T19:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895376.44 epoch sec; seqNo:1141; 4061632.77 north; 594404.35 east 2021-10-10T19:49:36Z- AHRS_M2 msg: 1633895376.72 epoch sec; seqNo:1104 2021-10-10T19:49:36Z- AHRS_M2 msg: -0.33 phi; -0.02 theta; 6.25 psi 2021-10-10T19:49:36Z- handleDepth()-Depth_Keller msg: 1633895376725 epoch sec; seqNo:1142; depth 51.46 2021-10-10T19:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895376.75 epoch sec; seqNo:1142; 4061633.14 north; 594404.35 east 2021-10-10T19:49:37Z- AHRS_M2 msg: 1633895377.13 epoch sec; seqNo:1105 2021-10-10T19:49:37Z- AHRS_M2 msg: -0.33 phi; -0.01 theta; 6.23 psi 2021-10-10T19:49:37Z- handleDepth()-Depth_Keller msg: 1633895377135 epoch sec; seqNo:1143; depth 51.47 2021-10-10T19:49:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:37Z- handleDvl() - RDI_Pathfinder msg: 1633895377.14 epoch sec; seqNo:478 2021-10-10T19:49:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.14 , 0.05 2021-10-10T19:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895377.15 epoch sec; seqNo:1143; 4061633.14 north; 594404.35 east 2021-10-10T19:49:37Z- AHRS_M2 msg: 1633895377.53 epoch sec; seqNo:1106 2021-10-10T19:49:37Z- AHRS_M2 msg: -0.33 phi; -0.01 theta; 6.22 psi 2021-10-10T19:49:37Z- handleDepth()-Depth_Keller msg: 1633895377536 epoch sec; seqNo:1144; depth 51.49 2021-10-10T19:49:37Z- handleDvl() - RDI_Pathfinder msg: 1633895377.56 epoch sec; seqNo:479 2021-10-10T19:49:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.28 , 41.06 , 34.42 , 34.25 2021-10-10T19:49:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.14 , 0.05 2021-10-10T19:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895377.59 epoch sec; seqNo:1144; 4061633.52 north; 594404.35 east 2021-10-10T19:49:37Z- AHRS_M2 msg: 1633895377.93 epoch sec; seqNo:1107 2021-10-10T19:49:37Z- AHRS_M2 msg: -0.33 phi; -0.00 theta; 6.20 psi 2021-10-10T19:49:37Z- handleDepth()-Depth_Keller msg: 1633895377942 epoch sec; seqNo:1145; depth 51.51 2021-10-10T19:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895377.96 epoch sec; seqNo:1145; 4061633.90 north; 594404.34 east 2021-10-10T19:49:38Z- AHRS_M2 msg: 1633895378.36 epoch sec; seqNo:1108 2021-10-10T19:49:38Z- AHRS_M2 msg: -0.33 phi; 0.00 theta; 6.18 psi 2021-10-10T19:49:38Z- handleDepth()-Depth_Keller msg: 1633895378374 epoch sec; seqNo:1146; depth 51.52 2021-10-10T19:49:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:38Z- handleDvl() - RDI_Pathfinder msg: 1633895378.38 epoch sec; seqNo:480 2021-10-10T19:49:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.14 , 0.05 2021-10-10T19:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895378.42 epoch sec; seqNo:1146; 4061634.28 north; 594404.34 east 2021-10-10T19:49:38Z- AHRS_M2 msg: 1633895378.74 epoch sec; seqNo:1109 2021-10-10T19:49:38Z- AHRS_M2 msg: -0.33 phi; 0.01 theta; 6.17 psi 2021-10-10T19:49:38Z- handleDepth()-Depth_Keller msg: 1633895378746 epoch sec; seqNo:1147; depth 51.54 2021-10-10T19:49:38Z- handleDvl() - RDI_Pathfinder msg: 1633895378.77 epoch sec; seqNo:481 2021-10-10T19:49:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.22 , 42.48 , 34.81 , 33.74 2021-10-10T19:49:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.12 , 0.03 2021-10-10T19:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895378.80 epoch sec; seqNo:1147; 4061634.66 north; 594404.33 east 2021-10-10T19:49:39Z- AHRS_M2 msg: 1633895379.15 epoch sec; seqNo:1110 2021-10-10T19:49:39Z- AHRS_M2 msg: -0.33 phi; 0.01 theta; 6.15 psi 2021-10-10T19:49:39Z- handleDepth()-Depth_Keller msg: 1633895379157 epoch sec; seqNo:1148; depth 51.56 2021-10-10T19:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895379.17 epoch sec; seqNo:1148; 4061634.66 north; 594404.33 east 2021-10-10T19:49:39Z- AHRS_M2 msg: 1633895379.55 epoch sec; seqNo:1111 2021-10-10T19:49:39Z- AHRS_M2 msg: -0.33 phi; 0.02 theta; 6.13 psi 2021-10-10T19:49:39Z- handleDepth()-Depth_Keller msg: 1633895379561 epoch sec; seqNo:1149; depth 51.57 2021-10-10T19:49:39Z- handleDvl() - RDI_Pathfinder msg: 1633895379.58 epoch sec; seqNo:482 2021-10-10T19:49:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.28 , 41.91 , 35.44 , 33.39 2021-10-10T19:49:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.13 , 0.03 2021-10-10T19:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895379.62 epoch sec; seqNo:1149; 4061635.03 north; 594403.11 east 2021-10-10T19:49:39Z- AHRS_M2 msg: 1633895379.96 epoch sec; seqNo:1112 2021-10-10T19:49:39Z- AHRS_M2 msg: -0.33 phi; 0.02 theta; 6.12 psi 2021-10-10T19:49:39Z- handleDepth()-Depth_Keller msg: 1633895379961 epoch sec; seqNo:1150; depth 51.58 2021-10-10T19:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895379.99 epoch sec; seqNo:1150; 4061635.40 north; 594403.10 east 2021-10-10T19:49:40Z- AHRS_M2 msg: 1633895380.36 epoch sec; seqNo:1113 2021-10-10T19:49:40Z- AHRS_M2 msg: -0.33 phi; 0.02 theta; 6.10 psi 2021-10-10T19:49:40Z- handleDepth()-Depth_Keller msg: 1633895380377 epoch sec; seqNo:1151; depth 51.58 2021-10-10T19:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895380.43 epoch sec; seqNo:1151; 4061635.78 north; 594403.10 east 2021-10-10T19:49:40Z- LcmTrn::handleMessages() - handling 43 messages took 0.83 ms and 126 calls... 2021-10-10T19:49:40Z- waiting for 1633895378.56, time is 1633895380.43 2021-10-10T19:49:40Z- LcmTrn::updateTrn() >>>> pose time 1633895380.43, meas time 1633895379.58 <<<< 2021-10-10T19:49:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895379.58 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:40Z- TerrainNav::motionUpdate() - currEstimate = (4061636, 594403.10, 51.58) 2021-10-10T19:49:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:40Z- TerrainNav:: SubcloudNIS is 0.72, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:40Z- TNavBF::Projecting Measurements 2021-10-10T19:49:40Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:49:40Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:49:40Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:49:40Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:49:40Z- TNavFilter::4 good beams. 2021-10-10T19:49:40Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:49:40Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:49:40Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:49:40Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:49:40Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:49:40Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:49:40Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:49:40Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:40Z- TerrainMapOctree: (vehN, vehE ) = (4061635.12, 594403.32). 2021-10-10T19:49:40Z- TerrainMapOctree: Min Distance = 191.58. 2021-10-10T19:49:40Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:49:40Z- Forcing Subcloud Comparison 2021-10-10T19:49:40Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:49:40Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:40Z- Filter 0 partialDeltaRmsComputation: 1.727627 terrainVariance: 0.465838 1-SumSquareWeights: 0.989315 2021-10-10T19:49:40Z- Filter 0 meanExpectedMeasDiff: -1.123294 delta_rms_squared: 0.455944 alpha: 0.957978 2021-10-10T19:49:40Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:40Z- Filter 0 partialDeltaRmsComputation: 28.879766 terrainVariance: 1.533342 1-SumSquareWeights: 0.989315 2021-10-10T19:49:40Z- Filter 0 meanExpectedMeasDiff: 5.229381 delta_rms_squared: 1.523449 alpha: 0.987042 2021-10-10T19:49:40Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:40Z- Filter 0 partialDeltaRmsComputation: 23.398154 terrainVariance: 0.620033 1-SumSquareWeights: 0.989315 2021-10-10T19:49:40Z- Filter 0 meanExpectedMeasDiff: -4.772643 delta_rms_squared: 0.610140 alpha: 0.968261 2021-10-10T19:49:40Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:40Z- Filter 0 partialDeltaRmsComputation: 52.135440 terrainVariance: 0.429687 1-SumSquareWeights: 0.989315 2021-10-10T19:49:40Z- Filter 0 meanExpectedMeasDiff: 7.190671 delta_rms_squared: 0.419794 alpha: 0.954524 2021-10-10T19:49:40Z- Filter 0 SubcloudNIS: 1.189527 2021-10-10T19:49:40Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:49:40Z- TNavBF:: Filter 0 sumWeights = 0.000010 2021-10-10T19:49:40Z- Filter 0 NorthBias: -28.4 EastBias: 12.0 DepthBias: -3.6 NorthVariance: 12.5 EastVariance: 19.9 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-10T19:49:40Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895379.58 sec. 2021-10-10T19:49:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:40Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:40Z- variances([0], [2], and psi_berg) = 12.532592 19.922614 0.000000 2021-10-10T19:49:40Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:40Z- LcmTrn::publishEstimates() - MLE : 4061607.28 594419.60 51.58 2021-10-10T19:49:40Z- LcmTrn::publishEstimates() - MMSE : 4061607.42 594415.13 48.02 2021-10-10T19:49:40Z- LcmTrn::publishEstimates() - COVAR: 12.53 19.92 0.80 0.00 2021-10-10T19:49:40Z- AHRS_M2 msg: 1633895380.77 epoch sec; seqNo:1114 2021-10-10T19:49:40Z- AHRS_M2 msg: -0.33 phi; 0.03 theta; 6.08 psi 2021-10-10T19:49:40Z- handleDepth()-Depth_Keller msg: 1633895380770 epoch sec; seqNo:1152; depth 51.58 2021-10-10T19:49:40Z- handleDvl() - RDI_Pathfinder msg: 1633895380.79 epoch sec; seqNo:483 2021-10-10T19:49:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.45 , 42.59 , 35.95 , 33.05 2021-10-10T19:49:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.14 , 0.01 2021-10-10T19:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895380.81 epoch sec; seqNo:1152; 4061635.78 north; 594403.10 east 2021-10-10T19:49:41Z- AHRS_M2 msg: 1633895381.16 epoch sec; seqNo:1115 2021-10-10T19:49:41Z- AHRS_M2 msg: -0.33 phi; 0.03 theta; 6.06 psi 2021-10-10T19:49:41Z- handleDepth()-Depth_Keller msg: 1633895381169 epoch sec; seqNo:1153; depth 51.58 2021-10-10T19:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895381.20 epoch sec; seqNo:1153; 4061636.16 north; 594403.10 east 2021-10-10T19:49:41Z- AHRS_M2 msg: 1633895381.57 epoch sec; seqNo:1116 2021-10-10T19:49:41Z- AHRS_M2 msg: -0.33 phi; 0.03 theta; 6.05 psi 2021-10-10T19:49:41Z- handleDepth()-Depth_Keller msg: 1633895381573 epoch sec; seqNo:1154; depth 51.59 2021-10-10T19:49:41Z- handleDvl() - RDI_Pathfinder msg: 1633895381.60 epoch sec; seqNo:484 2021-10-10T19:49:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.28 , 42.60 , 36.63 , 32.37 2021-10-10T19:49:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.14 , 0.00 2021-10-10T19:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895381.62 epoch sec; seqNo:1154; 4061636.54 north; 594403.09 east 2021-10-10T19:49:41Z- AHRS_M2 msg: 1633895381.98 epoch sec; seqNo:1117 2021-10-10T19:49:41Z- AHRS_M2 msg: -0.33 phi; 0.04 theta; 6.03 psi 2021-10-10T19:49:41Z- handleDepth()-Depth_Keller msg: 1633895381983 epoch sec; seqNo:1155; depth 51.59 2021-10-10T19:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895382.00 epoch sec; seqNo:1155; 4061636.92 north; 594403.09 east 2021-10-10T19:49:42Z- AHRS_M2 msg: 1633895382.38 epoch sec; seqNo:1118 2021-10-10T19:49:42Z- AHRS_M2 msg: -0.33 phi; 0.04 theta; 6.01 psi 2021-10-10T19:49:42Z- handleDepth()-Depth_Keller msg: 1633895382385 epoch sec; seqNo:1156; depth 51.60 2021-10-10T19:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895382.44 epoch sec; seqNo:1156; 4061636.92 north; 594403.09 east 2021-10-10T19:49:42Z- AHRS_M2 msg: 1633895382.78 epoch sec; seqNo:1119 2021-10-10T19:49:42Z- AHRS_M2 msg: -0.34 phi; 0.04 theta; 6.00 psi 2021-10-10T19:49:42Z- handleDepth()-Depth_Keller msg: 1633895382787 epoch sec; seqNo:1157; depth 51.58 2021-10-10T19:49:42Z- handleDvl() - RDI_Pathfinder msg: 1633895382.81 epoch sec; seqNo:485 2021-10-10T19:49:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.11 , 43.45 , 36.81 , 32.72 2021-10-10T19:49:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.14 , 0.00 2021-10-10T19:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895382.82 epoch sec; seqNo:1157; 4061637.30 north; 594403.08 east 2021-10-10T19:49:43Z- AHRS_M2 msg: 1633895383.19 epoch sec; seqNo:1120 2021-10-10T19:49:43Z- AHRS_M2 msg: -0.34 phi; 0.04 theta; 5.98 psi 2021-10-10T19:49:43Z- handleDepth()-Depth_Keller msg: 1633895383202 epoch sec; seqNo:1158; depth 51.59 2021-10-10T19:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895383.22 epoch sec; seqNo:1158; 4061637.68 north; 594403.08 east 2021-10-10T19:49:43Z- AHRS_M2 msg: 1633895383.59 epoch sec; seqNo:1121 2021-10-10T19:49:43Z- AHRS_M2 msg: -0.34 phi; 0.04 theta; 5.96 psi 2021-10-10T19:49:43Z- handleDepth()-Depth_Keller msg: 1633895383594 epoch sec; seqNo:1159; depth 51.58 2021-10-10T19:49:43Z- handleDvl() - RDI_Pathfinder msg: 1633895383.62 epoch sec; seqNo:486 2021-10-10T19:49:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.11 , 43.79 , 36.29 , 32.03 2021-10-10T19:49:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.16 , 0.01 2021-10-10T19:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895383.64 epoch sec; seqNo:1159; 4061638.04 north; 594401.85 east 2021-10-10T19:49:43Z- AHRS_M2 msg: 1633895383.99 epoch sec; seqNo:1122 2021-10-10T19:49:44Z- AHRS_M2 msg: -0.34 phi; 0.05 theta; 5.95 psi 2021-10-10T19:49:44Z- handleDepth()-Depth_Keller msg: 1633895383998 epoch sec; seqNo:1160; depth 51.59 2021-10-10T19:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895384.02 epoch sec; seqNo:1160; 4061638.04 north; 594401.85 east 2021-10-10T19:49:44Z- AHRS_M2 msg: 1633895384.40 epoch sec; seqNo:1123 2021-10-10T19:49:44Z- AHRS_M2 msg: -0.33 phi; 0.05 theta; 5.93 psi 2021-10-10T19:49:44Z- handleDepth()-Depth_Keller msg: 1633895384409 epoch sec; seqNo:1161; depth 51.58 2021-10-10T19:49:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:44Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:44Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:44Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:44Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:44Z- handleDvl() - RDI_Pathfinder msg: 1633895384.41 epoch sec; seqNo:487 2021-10-10T19:49:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.16 , 0.01 2021-10-10T19:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895384.43 epoch sec; seqNo:1161; 4061638.42 north; 594401.85 east 2021-10-10T19:49:44Z- AHRS_M2 msg: 1633895384.81 epoch sec; seqNo:1124 2021-10-10T19:49:44Z- AHRS_M2 msg: -0.33 phi; 0.05 theta; 5.92 psi 2021-10-10T19:49:44Z- handleDepth()-Depth_Keller msg: 1633895384816 epoch sec; seqNo:1162; depth 51.57 2021-10-10T19:49:44Z- handleDvl() - RDI_Pathfinder msg: 1633895384.84 epoch sec; seqNo:488 2021-10-10T19:49:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.11 , 44.47 , 35.95 , 32.03 2021-10-10T19:49:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.13 , 0.02 2021-10-10T19:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895384.85 epoch sec; seqNo:1162; 4061638.80 north; 594401.85 east 2021-10-10T19:49:45Z- AHRS_M2 msg: 1633895385.21 epoch sec; seqNo:1125 2021-10-10T19:49:45Z- AHRS_M2 msg: -0.33 phi; 0.05 theta; 5.90 psi 2021-10-10T19:49:45Z- handleDepth()-Depth_Keller msg: 1633895385211 epoch sec; seqNo:1163; depth 51.56 2021-10-10T19:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895385.24 epoch sec; seqNo:1163; 4061638.80 north; 594401.85 east 2021-10-10T19:49:45Z- AHRS_M2 msg: 1633895385.61 epoch sec; seqNo:1126 2021-10-10T19:49:45Z- AHRS_M2 msg: -0.32 phi; 0.06 theta; 5.89 psi 2021-10-10T19:49:45Z- handleDepth()-Depth_Keller msg: 1633895385613 epoch sec; seqNo:1164; depth 51.58 2021-10-10T19:49:45Z- handleDvl() - RDI_Pathfinder msg: 1633895385.63 epoch sec; seqNo:489 2021-10-10T19:49:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.28 , 44.47 , 36.63 , 31.69 2021-10-10T19:49:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.12 , 0.03 2021-10-10T19:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895385.66 epoch sec; seqNo:1164; 4061639.18 north; 594401.84 east 2021-10-10T19:49:45Z- LcmTrn::handleMessages() - handling 46 messages took 0.72 ms and 131 calls... 2021-10-10T19:49:45Z- waiting for 1633895383.43, time is 1633895385.66 2021-10-10T19:49:45Z- LcmTrn::updateTrn() equating pose 1633895385.66 and meas times 1633895385.66 2021-10-10T19:49:45Z- LcmTrn::updateTrn() >>>> pose time 1633895385.66, meas time 1633895385.66 <<<< 2021-10-10T19:49:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895385.66 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:45Z- TerrainNav::motionUpdate() - currEstimate = (4061639, 594401.84, 51.58) 2021-10-10T19:49:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:45Z- TerrainNav:: SubcloudNIS is 1.19, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:45Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895385.66 sec.; No relevant navigation data available 2021-10-10T19:49:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:45Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:45Z- variances([0], [2], and psi_berg) = 12.564419 19.955949 0.000000 2021-10-10T19:49:45Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:45Z- LcmTrn::publishEstimates() - MLE : 4061610.68 594418.34 51.58 2021-10-10T19:49:45Z- LcmTrn::publishEstimates() - MMSE : 4061610.81 594413.88 48.02 2021-10-10T19:49:45Z- LcmTrn::publishEstimates() - COVAR: 12.56 19.96 0.99 0.00 2021-10-10T19:49:46Z- AHRS_M2 msg: 1633895386.02 epoch sec; seqNo:1127 2021-10-10T19:49:46Z- AHRS_M2 msg: -0.32 phi; 0.06 theta; 5.88 psi 2021-10-10T19:49:46Z- handleDepth()-Depth_Keller msg: 1633895386024 epoch sec; seqNo:1165; depth 51.56 2021-10-10T19:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895386.04 epoch sec; seqNo:1165; 4061639.56 north; 594401.84 east 2021-10-10T19:49:46Z- AHRS_M2 msg: 1633895386.42 epoch sec; seqNo:1128 2021-10-10T19:49:46Z- AHRS_M2 msg: -0.32 phi; 0.06 theta; 5.87 psi 2021-10-10T19:49:46Z- handleDepth()-Depth_Keller msg: 1633895386432 epoch sec; seqNo:1166; depth 51.56 2021-10-10T19:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895386.45 epoch sec; seqNo:1166; 4061639.94 north; 594401.83 east 2021-10-10T19:49:46Z- AHRS_M2 msg: 1633895386.82 epoch sec; seqNo:1129 2021-10-10T19:49:46Z- AHRS_M2 msg: -0.31 phi; 0.06 theta; 5.85 psi 2021-10-10T19:49:46Z- handleDepth()-Depth_Keller msg: 1633895386829 epoch sec; seqNo:1167; depth 51.55 2021-10-10T19:49:46Z- handleDvl() - RDI_Pathfinder msg: 1633895386.86 epoch sec; seqNo:490 2021-10-10T19:49:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.94 , 43.79 , 36.12 , 31.69 2021-10-10T19:49:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.12 , 0.02 2021-10-10T19:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895386.88 epoch sec; seqNo:1167; 4061639.92 north; 594400.61 east 2021-10-10T19:49:47Z- AHRS_M2 msg: 1633895387.23 epoch sec; seqNo:1130 2021-10-10T19:49:47Z- AHRS_M2 msg: -0.31 phi; 0.07 theta; 5.84 psi 2021-10-10T19:49:47Z- handleDepth()-Depth_Keller msg: 1633895387238 epoch sec; seqNo:1168; depth 51.54 2021-10-10T19:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895387.27 epoch sec; seqNo:1168; 4061640.30 north; 594400.61 east 2021-10-10T19:49:47Z- AHRS_M2 msg: 1633895387.64 epoch sec; seqNo:1131 2021-10-10T19:49:47Z- AHRS_M2 msg: -0.30 phi; 0.07 theta; 5.83 psi 2021-10-10T19:49:47Z- handleDepth()-Depth_Keller msg: 1633895387641 epoch sec; seqNo:1169; depth 51.53 2021-10-10T19:49:47Z- handleDvl() - RDI_Pathfinder msg: 1633895387.66 epoch sec; seqNo:491 2021-10-10T19:49:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.77 , 43.45 , 36.29 , 31.52 2021-10-10T19:49:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , 0.01 2021-10-10T19:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895387.70 epoch sec; seqNo:1169; 4061640.68 north; 594400.61 east 2021-10-10T19:49:48Z- AHRS_M2 msg: 1633895388.03 epoch sec; seqNo:1132 2021-10-10T19:49:48Z- AHRS_M2 msg: -0.30 phi; 0.07 theta; 5.82 psi 2021-10-10T19:49:48Z- handleDepth()-Depth_Keller msg: 1633895388038 epoch sec; seqNo:1170; depth 51.52 2021-10-10T19:49:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:48Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:48Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:48Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:48Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:48Z- handleDvl() - RDI_Pathfinder msg: 1633895388.05 epoch sec; seqNo:492 2021-10-10T19:49:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , 0.01 2021-10-10T19:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895388.07 epoch sec; seqNo:1170; 4061640.68 north; 594400.61 east 2021-10-10T19:49:48Z- AHRS_M2 msg: 1633895388.44 epoch sec; seqNo:1133 2021-10-10T19:49:48Z- AHRS_M2 msg: -0.29 phi; 0.08 theta; 5.81 psi 2021-10-10T19:49:48Z- handleDepth()-Depth_Keller msg: 1633895388442 epoch sec; seqNo:1171; depth 51.52 2021-10-10T19:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895388.47 epoch sec; seqNo:1171; 4061641.06 north; 594400.60 east 2021-10-10T19:49:48Z- handleDepth()-Depth_Keller msg: 1633895388864 epoch sec; seqNo:1172; depth 51.51 2021-10-10T19:49:48Z- handleDvl() - RDI_Pathfinder msg: 1633895388.89 epoch sec; seqNo:493 2021-10-10T19:49:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.77 , 43.45 , 36.12 , 31.18 2021-10-10T19:49:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , 0.01 2021-10-10T19:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895388.90 epoch sec; seqNo:1172; 4061641.44 north; 594400.60 east 2021-10-10T19:49:49Z- AHRS_M2 msg: 1633895389.25 epoch sec; seqNo:1134 2021-10-10T19:49:49Z- AHRS_M2 msg: -0.28 phi; 0.09 theta; 5.80 psi 2021-10-10T19:49:49Z- handleDepth()-Depth_Keller msg: 1633895389253 epoch sec; seqNo:1173; depth 51.49 2021-10-10T19:49:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:49Z- handleDvl() - RDI_Pathfinder msg: 1633895389.26 epoch sec; seqNo:494 2021-10-10T19:49:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , 0.01 2021-10-10T19:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895389.28 epoch sec; seqNo:1173; 4061641.80 north; 594399.37 east 2021-10-10T19:49:49Z- AHRS_M2 msg: 1633895389.66 epoch sec; seqNo:1135 2021-10-10T19:49:49Z- AHRS_M2 msg: -0.28 phi; 0.09 theta; 5.79 psi 2021-10-10T19:49:49Z- handleDepth()-Depth_Keller msg: 1633895389667 epoch sec; seqNo:1174; depth 51.48 2021-10-10T19:49:49Z- handleDvl() - RDI_Pathfinder msg: 1633895389.69 epoch sec; seqNo:495 2021-10-10T19:49:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.77 , 42.94 , 36.63 , 31.01 2021-10-10T19:49:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.11 , 0.00 2021-10-10T19:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895389.71 epoch sec; seqNo:1174; 4061641.80 north; 594399.37 east 2021-10-10T19:49:50Z- AHRS_M2 msg: 1633895390.06 epoch sec; seqNo:1136 2021-10-10T19:49:50Z- AHRS_M2 msg: -0.28 phi; 0.09 theta; 5.78 psi 2021-10-10T19:49:50Z- handleDepth()-Depth_Keller msg: 1633895390061 epoch sec; seqNo:1175; depth 51.45 2021-10-10T19:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895390.10 epoch sec; seqNo:1175; 4061642.18 north; 594399.37 east 2021-10-10T19:49:50Z- AHRS_M2 msg: 1633895390.46 epoch sec; seqNo:1137 2021-10-10T19:49:50Z- AHRS_M2 msg: -0.27 phi; 0.10 theta; 5.77 psi 2021-10-10T19:49:50Z- handleDepth()-Depth_Keller msg: 1633895390461 epoch sec; seqNo:1176; depth 51.43 2021-10-10T19:49:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:50Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:50Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:50Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:50Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:50Z- handleDvl() - RDI_Pathfinder msg: 1633895390.46 epoch sec; seqNo:496 2021-10-10T19:49:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.11 , 0.00 2021-10-10T19:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895390.48 epoch sec; seqNo:1176; 4061642.56 north; 594399.36 east 2021-10-10T19:49:50Z- AHRS_M2 msg: 1633895390.86 epoch sec; seqNo:1138 2021-10-10T19:49:50Z- AHRS_M2 msg: -0.27 phi; 0.10 theta; 5.76 psi 2021-10-10T19:49:50Z- handleDepth()-Depth_Keller msg: 1633895390869 epoch sec; seqNo:1177; depth 51.42 2021-10-10T19:49:50Z- handleDvl() - RDI_Pathfinder msg: 1633895390.92 epoch sec; seqNo:497 2021-10-10T19:49:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.94 , 42.76 , 35.61 , 31.01 2021-10-10T19:49:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.11 , 0.01 2021-10-10T19:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895390.93 epoch sec; seqNo:1177; 4061642.94 north; 594399.36 east 2021-10-10T19:49:50Z- LcmTrn::handleMessages() - handling 46 messages took 0.80 ms and 130 calls... 2021-10-10T19:49:50Z- waiting for 1633895388.66, time is 1633895390.93 2021-10-10T19:49:50Z- LcmTrn::updateTrn() equating pose 1633895390.93 and meas times 1633895390.93 2021-10-10T19:49:50Z- LcmTrn::updateTrn() >>>> pose time 1633895390.93, meas time 1633895390.93 <<<< 2021-10-10T19:49:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895390.93 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:50Z- TerrainNav::motionUpdate() - currEstimate = (4061643, 594399.36, 51.42) 2021-10-10T19:49:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:50Z- TerrainNav:: SubcloudNIS is 1.19, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:50Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895390.93 sec.; No relevant navigation data available 2021-10-10T19:49:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:51Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:51Z- variances([0], [2], and psi_berg) = 12.599948 19.993142 0.000000 2021-10-10T19:49:51Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:51Z- LcmTrn::publishEstimates() - MLE : 4061614.44 594415.86 51.42 2021-10-10T19:49:51Z- LcmTrn::publishEstimates() - MMSE : 4061614.57 594411.39 47.86 2021-10-10T19:49:51Z- LcmTrn::publishEstimates() - COVAR: 12.60 19.99 1.22 0.00 2021-10-10T19:49:51Z- AHRS_M2 msg: 1633895391.27 epoch sec; seqNo:1139 2021-10-10T19:49:51Z- AHRS_M2 msg: -0.26 phi; 0.11 theta; 5.76 psi 2021-10-10T19:49:51Z- handleDepth()-Depth_Keller msg: 1633895391272 epoch sec; seqNo:1178; depth 51.40 2021-10-10T19:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895391.30 epoch sec; seqNo:1178; 4061642.94 north; 594399.36 east 2021-10-10T19:49:51Z- AHRS_M2 msg: 1633895391.67 epoch sec; seqNo:1140 2021-10-10T19:49:51Z- AHRS_M2 msg: -0.26 phi; 0.11 theta; 5.75 psi 2021-10-10T19:49:51Z- handleDepth()-Depth_Keller msg: 1633895391682 epoch sec; seqNo:1179; depth 51.39 2021-10-10T19:49:51Z- handleDvl() - RDI_Pathfinder msg: 1633895391.71 epoch sec; seqNo:498 2021-10-10T19:49:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 42.47 , 34.96 , 30.67 2021-10-10T19:49:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , 0.01 2021-10-10T19:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895391.74 epoch sec; seqNo:1179; 4061643.31 north; 594398.14 east 2021-10-10T19:49:52Z- AHRS_M2 msg: 1633895392.08 epoch sec; seqNo:1141 2021-10-10T19:49:52Z- AHRS_M2 msg: -0.25 phi; 0.12 theta; 5.74 psi 2021-10-10T19:49:52Z- handleDepth()-Depth_Keller msg: 1633895392095 epoch sec; seqNo:1180; depth 51.36 2021-10-10T19:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895392.11 epoch sec; seqNo:1180; 4061643.69 north; 594398.13 east 2021-10-10T19:49:52Z- AHRS_M2 msg: 1633895392.48 epoch sec; seqNo:1142 2021-10-10T19:49:52Z- AHRS_M2 msg: -0.25 phi; 0.12 theta; 5.73 psi 2021-10-10T19:49:52Z- handleDepth()-Depth_Keller msg: 1633895392485 epoch sec; seqNo:1181; depth 51.35 2021-10-10T19:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895392.49 epoch sec; seqNo:1181; 4061643.69 north; 594398.13 east 2021-10-10T19:49:52Z- AHRS_M2 msg: 1633895392.88 epoch sec; seqNo:1143 2021-10-10T19:49:52Z- AHRS_M2 msg: -0.25 phi; 0.13 theta; 5.73 psi 2021-10-10T19:49:52Z- handleDepth()-Depth_Keller msg: 1633895392887 epoch sec; seqNo:1182; depth 51.31 2021-10-10T19:49:52Z- handleDvl() - RDI_Pathfinder msg: 1633895392.91 epoch sec; seqNo:499 2021-10-10T19:49:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 42.01 , 35.42 , 30.82 2021-10-10T19:49:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.11 , 0.01 2021-10-10T19:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895392.93 epoch sec; seqNo:1182; 4061644.06 north; 594398.13 east 2021-10-10T19:49:53Z- AHRS_M2 msg: 1633895393.29 epoch sec; seqNo:1144 2021-10-10T19:49:53Z- AHRS_M2 msg: -0.24 phi; 0.13 theta; 5.72 psi 2021-10-10T19:49:53Z- handleDepth()-Depth_Keller msg: 1633895393306 epoch sec; seqNo:1183; depth 51.29 2021-10-10T19:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895393.32 epoch sec; seqNo:1183; 4061644.44 north; 594398.12 east 2021-10-10T19:49:53Z- AHRS_M2 msg: 1633895393.69 epoch sec; seqNo:1145 2021-10-10T19:49:53Z- AHRS_M2 msg: -0.24 phi; 0.13 theta; 5.72 psi 2021-10-10T19:49:53Z- handleDepth()-Depth_Keller msg: 1633895393700 epoch sec; seqNo:1184; depth 51.24 2021-10-10T19:49:53Z- handleDvl() - RDI_Pathfinder msg: 1633895393.74 epoch sec; seqNo:500 2021-10-10T19:49:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 42.32 , 35.27 , 30.82 2021-10-10T19:49:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.10 , -0.00 2021-10-10T19:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895393.75 epoch sec; seqNo:1184; 4061644.82 north; 594398.12 east 2021-10-10T19:49:54Z- AHRS_M2 msg: 1633895394.09 epoch sec; seqNo:1146 2021-10-10T19:49:54Z- AHRS_M2 msg: -0.24 phi; 0.14 theta; 5.72 psi 2021-10-10T19:49:54Z- handleDepth()-Depth_Keller msg: 1633895394099 epoch sec; seqNo:1185; depth 51.22 2021-10-10T19:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895394.12 epoch sec; seqNo:1185; 4061644.81 north; 594396.90 east 2021-10-10T19:49:54Z- AHRS_M2 msg: 1633895394.50 epoch sec; seqNo:1147 2021-10-10T19:49:54Z- AHRS_M2 msg: -0.23 phi; 0.14 theta; 5.72 psi 2021-10-10T19:49:54Z- handleDepth()-Depth_Keller msg: 1633895394507 epoch sec; seqNo:1186; depth 51.19 2021-10-10T19:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895394.52 epoch sec; seqNo:1186; 4061645.19 north; 594396.89 east 2021-10-10T19:49:54Z- AHRS_M2 msg: 1633895394.90 epoch sec; seqNo:1148 2021-10-10T19:49:54Z- AHRS_M2 msg: -0.23 phi; 0.15 theta; 5.71 psi 2021-10-10T19:49:54Z- handleDepth()-Depth_Keller msg: 1633895394905 epoch sec; seqNo:1187; depth 51.15 2021-10-10T19:49:54Z- handleDvl() - RDI_Pathfinder msg: 1633895394.93 epoch sec; seqNo:501 2021-10-10T19:49:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 42.01 , 35.57 , 30.82 2021-10-10T19:49:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.11 , -0.02 2021-10-10T19:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895394.95 epoch sec; seqNo:1187; 4061645.57 north; 594396.89 east 2021-10-10T19:49:55Z- AHRS_M2 msg: 1633895395.31 epoch sec; seqNo:1149 2021-10-10T19:49:55Z- AHRS_M2 msg: -0.22 phi; 0.15 theta; 5.71 psi 2021-10-10T19:49:55Z- handleDepth()-Depth_Keller msg: 1633895395316 epoch sec; seqNo:1188; depth 51.10 2021-10-10T19:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895395.33 epoch sec; seqNo:1188; 4061645.57 north; 594396.89 east 2021-10-10T19:49:55Z- AHRS_M2 msg: 1633895395.71 epoch sec; seqNo:1150 2021-10-10T19:49:55Z- AHRS_M2 msg: -0.22 phi; 0.15 theta; 5.71 psi 2021-10-10T19:49:55Z- handleDepth()-Depth_Keller msg: 1633895395726 epoch sec; seqNo:1189; depth 51.07 2021-10-10T19:49:55Z- handleDvl() - RDI_Pathfinder msg: 1633895395.75 epoch sec; seqNo:502 2021-10-10T19:49:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 41.86 , 35.11 , 30.67 2021-10-10T19:49:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.13 , -0.03 2021-10-10T19:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895395.77 epoch sec; seqNo:1189; 4061645.94 north; 594396.89 east 2021-10-10T19:49:56Z- LcmTrn::handleMessages() - handling 41 messages took 0.79 ms and 125 calls... 2021-10-10T19:49:56Z- waiting for 1633895393.93, time is 1633895395.77 2021-10-10T19:49:56Z- LcmTrn::updateTrn() equating pose 1633895395.77 and meas times 1633895395.77 2021-10-10T19:49:56Z- LcmTrn::updateTrn() >>>> pose time 1633895395.77, meas time 1633895395.77 <<<< 2021-10-10T19:49:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895395.77 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:49:56Z- TerrainNav::motionUpdate() - currEstimate = (4061646, 594396.89, 51.07) 2021-10-10T19:49:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:49:56Z- TerrainNav:: SubcloudNIS is 1.19, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:49:56Z- TNavBF::Projecting Measurements 2021-10-10T19:49:56Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:49:56Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:49:56Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:49:56Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:49:56Z- TNavFilter::4 good beams. 2021-10-10T19:49:56Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:49:56Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:49:56Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:49:56Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:49:56Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:49:56Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:49:56Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:49:56Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:56Z- TerrainMapOctree: (vehN, vehE ) = (4061645.94, 594396.89). 2021-10-10T19:49:56Z- TerrainMapOctree: Min Distance = 180.01. 2021-10-10T19:49:56Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:49:56Z- Forcing Subcloud Comparison 2021-10-10T19:49:56Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:49:56Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:56Z- Filter 0 partialDeltaRmsComputation: 24.060252 terrainVariance: 0.158665 1-SumSquareWeights: 0.981224 2021-10-10T19:49:56Z- Filter 0 meanExpectedMeasDiff: -4.888925 delta_rms_squared: 0.148853 alpha: 0.881554 2021-10-10T19:49:56Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:56Z- Filter 0 partialDeltaRmsComputation: 87.307136 terrainVariance: 0.711352 1-SumSquareWeights: 0.981224 2021-10-10T19:49:56Z- Filter 0 meanExpectedMeasDiff: 9.305686 delta_rms_squared: 0.701539 alpha: 0.972281 2021-10-10T19:49:56Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:56Z- Filter 0 partialDeltaRmsComputation: 37.266206 terrainVariance: 0.251326 1-SumSquareWeights: 0.981224 2021-10-10T19:49:56Z- Filter 0 meanExpectedMeasDiff: -6.083985 delta_rms_squared: 0.241514 alpha: 0.923522 2021-10-10T19:49:56Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:49:56Z- Filter 0 partialDeltaRmsComputation: 13.852864 terrainVariance: 0.887299 1-SumSquareWeights: 0.981224 2021-10-10T19:49:56Z- Filter 0 meanExpectedMeasDiff: 3.600773 delta_rms_squared: 0.877487 alpha: 0.977716 2021-10-10T19:49:56Z- Filter 0 SubcloudNIS: 1.122551 2021-10-10T19:49:56Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:49:56Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-10T19:49:56Z- Filter 0 NorthBias: -28.5 EastBias: 9.6 DepthBias: -3.9 NorthVariance: 14.3 EastVariance: 28.6 DepthVariance: 0.7 this->DepthBiasCov: 0.5 2021-10-10T19:49:56Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895395.77 sec. 2021-10-10T19:49:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:49:56Z- TNavBF::mmse selected from filter -1 2021-10-10T19:49:56Z- variances([0], [2], and psi_berg) = 14.303791 28.647590 0.000000 2021-10-10T19:49:56Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:49:56Z- LcmTrn::publishEstimates() - MLE : 4061617.44 594404.39 51.07 2021-10-10T19:49:56Z- LcmTrn::publishEstimates() - MMSE : 4061617.49 594406.52 47.17 2021-10-10T19:49:56Z- LcmTrn::publishEstimates() - COVAR: 14.30 28.65 0.65 0.00 2021-10-10T19:49:56Z- AHRS_M2 msg: 1633895396.11 epoch sec; seqNo:1151 2021-10-10T19:49:56Z- AHRS_M2 msg: -0.22 phi; 0.15 theta; 5.71 psi 2021-10-10T19:49:56Z- handleDepth()-Depth_Keller msg: 1633895396117 epoch sec; seqNo:1190; depth 51.04 2021-10-10T19:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895396.14 epoch sec; seqNo:1190; 4061646.31 north; 594395.66 east 2021-10-10T19:49:56Z- AHRS_M2 msg: 1633895396.53 epoch sec; seqNo:1152 2021-10-10T19:49:56Z- AHRS_M2 msg: -0.22 phi; 0.16 theta; 5.70 psi 2021-10-10T19:49:56Z- handleDepth()-Depth_Keller msg: 1633895396534 epoch sec; seqNo:1191; depth 51.00 2021-10-10T19:49:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:49:56Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:49:56Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:49:56Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:49:56Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:49:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:49:56Z- handleDvl() - RDI_Pathfinder msg: 1633895396.54 epoch sec; seqNo:503 2021-10-10T19:49:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:49:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.13 , -0.03 2021-10-10T19:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895396.56 epoch sec; seqNo:1191; 4061646.31 north; 594395.66 east 2021-10-10T19:49:56Z- AHRS_M2 msg: 1633895396.92 epoch sec; seqNo:1153 2021-10-10T19:49:56Z- AHRS_M2 msg: -0.23 phi; 0.16 theta; 5.70 psi 2021-10-10T19:49:56Z- handleDepth()-Depth_Keller msg: 1633895396927 epoch sec; seqNo:1192; depth 50.95 2021-10-10T19:49:56Z- handleDvl() - RDI_Pathfinder msg: 1633895396.95 epoch sec; seqNo:504 2021-10-10T19:49:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 41.71 , 35.42 , 30.82 2021-10-10T19:49:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.15 , -0.04 2021-10-10T19:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895396.96 epoch sec; seqNo:1192; 4061646.69 north; 594395.66 east 2021-10-10T19:49:57Z- AHRS_M2 msg: 1633895397.33 epoch sec; seqNo:1154 2021-10-10T19:49:57Z- AHRS_M2 msg: -0.23 phi; 0.16 theta; 5.70 psi 2021-10-10T19:49:57Z- handleDepth()-Depth_Keller msg: 1633895397329 epoch sec; seqNo:1193; depth 50.91 2021-10-10T19:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895397.35 epoch sec; seqNo:1193; 4061647.07 north; 594395.65 east 2021-10-10T19:49:57Z- AHRS_M2 msg: 1633895397.73 epoch sec; seqNo:1155 2021-10-10T19:49:57Z- AHRS_M2 msg: -0.23 phi; 0.16 theta; 5.70 psi 2021-10-10T19:49:57Z- handleDepth()-Depth_Keller msg: 1633895397735 epoch sec; seqNo:1194; depth 50.86 2021-10-10T19:49:57Z- handleDvl() - RDI_Pathfinder msg: 1633895397.77 epoch sec; seqNo:505 2021-10-10T19:49:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 42.01 , 35.88 , 30.67 2021-10-10T19:49:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.15 , -0.03 2021-10-10T19:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895397.79 epoch sec; seqNo:1194; 4061647.07 north; 594395.65 east 2021-10-10T19:49:58Z- AHRS_M2 msg: 1633895398.14 epoch sec; seqNo:1156 2021-10-10T19:49:58Z- AHRS_M2 msg: -0.23 phi; 0.16 theta; 5.69 psi 2021-10-10T19:49:58Z- handleDepth()-Depth_Keller msg: 1633895398143 epoch sec; seqNo:1195; depth 50.83 2021-10-10T19:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895398.16 epoch sec; seqNo:1195; 4061647.43 north; 594394.43 east 2021-10-10T19:49:58Z- AHRS_M2 msg: 1633895398.54 epoch sec; seqNo:1157 2021-10-10T19:49:58Z- AHRS_M2 msg: -0.22 phi; 0.16 theta; 5.69 psi 2021-10-10T19:49:58Z- handleDepth()-Depth_Keller msg: 1633895398541 epoch sec; seqNo:1196; depth 50.79 2021-10-10T19:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895398.56 epoch sec; seqNo:1196; 4061647.81 north; 594394.42 east 2021-10-10T19:49:58Z- AHRS_M2 msg: 1633895398.94 epoch sec; seqNo:1158 2021-10-10T19:49:58Z- AHRS_M2 msg: -0.22 phi; 0.16 theta; 5.69 psi 2021-10-10T19:49:58Z- handleDepth()-Depth_Keller msg: 1633895398945 epoch sec; seqNo:1197; depth 50.74 2021-10-10T19:49:58Z- handleDvl() - RDI_Pathfinder msg: 1633895398.98 epoch sec; seqNo:506 2021-10-10T19:49:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 42.17 , 34.96 , 30.82 2021-10-10T19:49:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.16 , -0.01 2021-10-10T19:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895398.99 epoch sec; seqNo:1197; 4061648.19 north; 594394.42 east 2021-10-10T19:49:59Z- AHRS_M2 msg: 1633895399.35 epoch sec; seqNo:1159 2021-10-10T19:49:59Z- AHRS_M2 msg: -0.22 phi; 0.16 theta; 5.69 psi 2021-10-10T19:49:59Z- handleDepth()-Depth_Keller msg: 1633895399350 epoch sec; seqNo:1198; depth 50.70 2021-10-10T19:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895399.37 epoch sec; seqNo:1198; 4061648.19 north; 594394.42 east 2021-10-10T19:49:59Z- AHRS_M2 msg: 1633895399.75 epoch sec; seqNo:1160 2021-10-10T19:49:59Z- AHRS_M2 msg: -0.22 phi; 0.16 theta; 5.69 psi 2021-10-10T19:49:59Z- handleDepth()-Depth_Keller msg: 1633895399758 epoch sec; seqNo:1199; depth 50.66 2021-10-10T19:49:59Z- handleDvl() - RDI_Pathfinder msg: 1633895399.78 epoch sec; seqNo:507 2021-10-10T19:49:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 42.01 , 35.88 , 31.13 2021-10-10T19:49:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.13 , 0.01 2021-10-10T19:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895399.79 epoch sec; seqNo:1199; 4061648.57 north; 594394.42 east 2021-10-10T19:50:00Z- AHRS_M2 msg: 1633895400.15 epoch sec; seqNo:1161 2021-10-10T19:50:00Z- AHRS_M2 msg: -0.21 phi; 0.16 theta; 5.69 psi 2021-10-10T19:50:00Z- handleDepth()-Depth_Keller msg: 1633895400157 epoch sec; seqNo:1200; depth 50.63 2021-10-10T19:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895400.18 epoch sec; seqNo:1200; 4061648.94 north; 594393.19 east 2021-10-10T19:50:00Z- AHRS_M2 msg: 1633895400.56 epoch sec; seqNo:1162 2021-10-10T19:50:00Z- AHRS_M2 msg: -0.21 phi; 0.16 theta; 5.69 psi 2021-10-10T19:50:00Z- handleDepth()-Depth_Keller msg: 1633895400561 epoch sec; seqNo:1201; depth 50.58 2021-10-10T19:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895400.57 epoch sec; seqNo:1201; 4061648.94 north; 594393.19 east 2021-10-10T19:50:00Z- AHRS_M2 msg: 1633895400.98 epoch sec; seqNo:1163 2021-10-10T19:50:00Z- AHRS_M2 msg: -0.21 phi; 0.16 theta; 5.69 psi 2021-10-10T19:50:00Z- handleDepth()-Depth_Keller msg: 1633895400990 epoch sec; seqNo:1202; depth 50.55 2021-10-10T19:50:01Z- handleDvl() - RDI_Pathfinder msg: 1633895401.03 epoch sec; seqNo:508 2021-10-10T19:50:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 42.01 , 35.73 , 31.43 2021-10-10T19:50:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.13 , 0.03 2021-10-10T19:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895401.05 epoch sec; seqNo:1202; 4061649.31 north; 594393.19 east 2021-10-10T19:50:01Z- LcmTrn::handleMessages() - handling 45 messages took 0.81 ms and 128 calls... 2021-10-10T19:50:01Z- waiting for 1633895398.77, time is 1633895401.05 2021-10-10T19:50:01Z- LcmTrn::updateTrn() equating pose 1633895401.05 and meas times 1633895401.05 2021-10-10T19:50:01Z- LcmTrn::updateTrn() >>>> pose time 1633895401.05, meas time 1633895401.05 <<<< 2021-10-10T19:50:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895401.05 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:01Z- TerrainNav::motionUpdate() - currEstimate = (4061649, 594393.19, 50.55) 2021-10-10T19:50:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:01Z- TerrainNav:: SubcloudNIS is 1.12, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:01Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895401.05 sec.; No relevant navigation data available 2021-10-10T19:50:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:01Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:01Z- variances([0], [2], and psi_berg) = 14.338653 28.684477 0.000000 2021-10-10T19:50:01Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:01Z- LcmTrn::publishEstimates() - MLE : 4061620.81 594400.69 50.55 2021-10-10T19:50:01Z- LcmTrn::publishEstimates() - MMSE : 4061620.86 594402.83 46.64 2021-10-10T19:50:01Z- LcmTrn::publishEstimates() - COVAR: 14.34 28.68 0.91 0.00 2021-10-10T19:50:01Z- AHRS_M2 msg: 1633895401.37 epoch sec; seqNo:1164 2021-10-10T19:50:01Z- AHRS_M2 msg: -0.20 phi; 0.16 theta; 5.69 psi 2021-10-10T19:50:01Z- handleDepth()-Depth_Keller msg: 1633895401371 epoch sec; seqNo:1203; depth 50.50 2021-10-10T19:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895401.39 epoch sec; seqNo:1203; 4061649.69 north; 594393.18 east 2021-10-10T19:50:01Z- AHRS_M2 msg: 1633895401.77 epoch sec; seqNo:1165 2021-10-10T19:50:01Z- AHRS_M2 msg: -0.20 phi; 0.16 theta; 5.69 psi 2021-10-10T19:50:01Z- handleDepth()-Depth_Keller msg: 1633895401776 epoch sec; seqNo:1204; depth 50.47 2021-10-10T19:50:01Z- handleDvl() - RDI_Pathfinder msg: 1633895401.81 epoch sec; seqNo:509 2021-10-10T19:50:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.37 , 41.71 , 36.65 , 31.43 2021-10-10T19:50:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.04 2021-10-10T19:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895401.82 epoch sec; seqNo:1204; 4061650.07 north; 594393.18 east 2021-10-10T19:50:02Z- AHRS_M2 msg: 1633895402.18 epoch sec; seqNo:1166 2021-10-10T19:50:02Z- AHRS_M2 msg: -0.20 phi; 0.16 theta; 5.70 psi 2021-10-10T19:50:02Z- handleDepth()-Depth_Keller msg: 1633895402184 epoch sec; seqNo:1205; depth 50.43 2021-10-10T19:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895402.21 epoch sec; seqNo:1205; 4061650.06 north; 594391.96 east 2021-10-10T19:50:02Z- AHRS_M2 msg: 1633895402.58 epoch sec; seqNo:1167 2021-10-10T19:50:02Z- AHRS_M2 msg: -0.20 phi; 0.16 theta; 5.70 psi 2021-10-10T19:50:02Z- handleDepth()-Depth_Keller msg: 1633895402584 epoch sec; seqNo:1206; depth 50.40 2021-10-10T19:50:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:02Z- handleDvl() - RDI_Pathfinder msg: 1633895402.59 epoch sec; seqNo:510 2021-10-10T19:50:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.04 2021-10-10T19:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895402.60 epoch sec; seqNo:1206; 4061650.44 north; 594391.95 east 2021-10-10T19:50:02Z- AHRS_M2 msg: 1633895402.98 epoch sec; seqNo:1168 2021-10-10T19:50:02Z- AHRS_M2 msg: -0.19 phi; 0.16 theta; 5.70 psi 2021-10-10T19:50:02Z- handleDepth()-Depth_Keller msg: 1633895402985 epoch sec; seqNo:1207; depth 50.35 2021-10-10T19:50:03Z- handleDvl() - RDI_Pathfinder msg: 1633895403.01 epoch sec; seqNo:511 2021-10-10T19:50:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.96 , 40.89 , 36.46 , 31.35 2021-10-10T19:50:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.10 , 0.03 2021-10-10T19:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895403.03 epoch sec; seqNo:1207; 4061650.82 north; 594391.95 east 2021-10-10T19:50:03Z- AHRS_M2 msg: 1633895403.38 epoch sec; seqNo:1169 2021-10-10T19:50:03Z- AHRS_M2 msg: -0.19 phi; 0.16 theta; 5.70 psi 2021-10-10T19:50:03Z- handleDepth()-Depth_Keller msg: 1633895403390 epoch sec; seqNo:1208; depth 50.31 2021-10-10T19:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895403.40 epoch sec; seqNo:1208; 4061650.82 north; 594391.95 east 2021-10-10T19:50:03Z- AHRS_M2 msg: 1633895403.80 epoch sec; seqNo:1170 2021-10-10T19:50:03Z- AHRS_M2 msg: -0.19 phi; 0.16 theta; 5.71 psi 2021-10-10T19:50:03Z- handleDepth()-Depth_Keller msg: 1633895403808 epoch sec; seqNo:1209; depth 50.25 2021-10-10T19:50:03Z- handleDvl() - RDI_Pathfinder msg: 1633895403.83 epoch sec; seqNo:512 2021-10-10T19:50:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 41.40 , 36.49 , 31.43 2021-10-10T19:50:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.10 , 0.01 2021-10-10T19:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895403.86 epoch sec; seqNo:1209; 4061651.19 north; 594391.95 east 2021-10-10T19:50:04Z- AHRS_M2 msg: 1633895404.19 epoch sec; seqNo:1171 2021-10-10T19:50:04Z- AHRS_M2 msg: -0.19 phi; 0.16 theta; 5.71 psi 2021-10-10T19:50:04Z- handleDepth()-Depth_Keller msg: 1633895404200 epoch sec; seqNo:1210; depth 50.21 2021-10-10T19:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895404.23 epoch sec; seqNo:1210; 4061651.57 north; 594391.94 east 2021-10-10T19:50:04Z- AHRS_M2 msg: 1633895404.60 epoch sec; seqNo:1172 2021-10-10T19:50:04Z- AHRS_M2 msg: -0.19 phi; 0.15 theta; 5.71 psi 2021-10-10T19:50:04Z- handleDepth()-Depth_Keller msg: 1633895404604 epoch sec; seqNo:1211; depth 50.16 2021-10-10T19:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895404.62 epoch sec; seqNo:1211; 4061651.94 north; 594390.72 east 2021-10-10T19:50:05Z- AHRS_M2 msg: 1633895405.00 epoch sec; seqNo:1173 2021-10-10T19:50:05Z- AHRS_M2 msg: -0.19 phi; 0.15 theta; 5.72 psi 2021-10-10T19:50:05Z- handleDepth()-Depth_Keller msg: 1633895405012 epoch sec; seqNo:1212; depth 50.12 2021-10-10T19:50:05Z- handleDvl() - RDI_Pathfinder msg: 1633895405.03 epoch sec; seqNo:513 2021-10-10T19:50:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.82 , 41.91 , 36.63 , 31.86 2021-10-10T19:50:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.08 , -0.02 2021-10-10T19:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895405.07 epoch sec; seqNo:1212; 4061651.94 north; 594390.72 east 2021-10-10T19:50:05Z- AHRS_M2 msg: 1633895405.40 epoch sec; seqNo:1174 2021-10-10T19:50:05Z- AHRS_M2 msg: -0.19 phi; 0.15 theta; 5.72 psi 2021-10-10T19:50:05Z- handleDepth()-Depth_Keller msg: 1633895405412 epoch sec; seqNo:1213; depth 50.07 2021-10-10T19:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895405.44 epoch sec; seqNo:1213; 4061652.32 north; 594390.71 east 2021-10-10T19:50:05Z- AHRS_M2 msg: 1633895405.83 epoch sec; seqNo:1175 2021-10-10T19:50:05Z- AHRS_M2 msg: -0.19 phi; 0.15 theta; 5.72 psi 2021-10-10T19:50:05Z- handleDepth()-Depth_Keller msg: 1633895405838 epoch sec; seqNo:1214; depth 50.02 2021-10-10T19:50:05Z- handleDvl() - RDI_Pathfinder msg: 1633895405.86 epoch sec; seqNo:514 2021-10-10T19:50:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.99 , 7.00 , 36.80 , 32.03 2021-10-10T19:50:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.10 , -0.03 2021-10-10T19:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895405.88 epoch sec; seqNo:1214; 4061652.70 north; 594390.71 east 2021-10-10T19:50:06Z- AHRS_M2 msg: 1633895406.21 epoch sec; seqNo:1176 2021-10-10T19:50:06Z- AHRS_M2 msg: -0.19 phi; 0.14 theta; 5.73 psi 2021-10-10T19:50:06Z- handleDepth()-Depth_Keller msg: 1633895406224 epoch sec; seqNo:1215; depth 49.98 2021-10-10T19:50:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:06Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:06Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:06Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:06Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:06Z- handleDvl() - RDI_Pathfinder msg: 1633895406.23 epoch sec; seqNo:515 2021-10-10T19:50:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.10 , -0.03 2021-10-10T19:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895406.25 epoch sec; seqNo:1215; 4061653.08 north; 594390.70 east 2021-10-10T19:50:06Z- LcmTrn::handleMessages() - handling 46 messages took 0.86 ms and 129 calls... 2021-10-10T19:50:06Z- waiting for 1633895404.05, time is 1633895406.25 2021-10-10T19:50:06Z- LcmTrn::updateTrn() equating pose 1633895406.25 and meas times 1633895406.25 2021-10-10T19:50:06Z- LcmTrn::updateTrn() >>>> pose time 1633895406.25, meas time 1633895406.25 <<<< 2021-10-10T19:50:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895406.25, ping # 0. 2021-10-10T19:50:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895406.25 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:06Z- TerrainNav::motionUpdate() - currEstimate = (4061653, 594390.70, 49.98) 2021-10-10T19:50:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:06Z- TerrainNav:: SubcloudNIS is 1.12, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:06Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:50:06Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:50:06Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895406.25 sec.; No relevant navigation data available 2021-10-10T19:50:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:06Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:06Z- variances([0], [2], and psi_berg) = 14.371869 28.719599 0.000000 2021-10-10T19:50:06Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:06Z- LcmTrn::publishEstimates() - MLE : 4061624.58 594398.20 49.98 2021-10-10T19:50:06Z- LcmTrn::publishEstimates() - MMSE : 4061624.62 594400.34 46.07 2021-10-10T19:50:06Z- LcmTrn::publishEstimates() - COVAR: 14.37 28.72 1.14 0.00 2021-10-10T19:50:06Z- AHRS_M2 msg: 1633895406.62 epoch sec; seqNo:1177 2021-10-10T19:50:06Z- AHRS_M2 msg: -0.19 phi; 0.14 theta; 5.73 psi 2021-10-10T19:50:06Z- handleDepth()-Depth_Keller msg: 1633895406621 epoch sec; seqNo:1216; depth 49.93 2021-10-10T19:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895406.64 epoch sec; seqNo:1216; 4061653.06 north; 594389.48 east 2021-10-10T19:50:07Z- AHRS_M2 msg: 1633895407.02 epoch sec; seqNo:1178 2021-10-10T19:50:07Z- AHRS_M2 msg: -0.19 phi; 0.14 theta; 5.73 psi 2021-10-10T19:50:07Z- handleDepth()-Depth_Keller msg: 1633895407025 epoch sec; seqNo:1217; depth 49.88 2021-10-10T19:50:07Z- handleDvl() - RDI_Pathfinder msg: 1633895407.05 epoch sec; seqNo:516 2021-10-10T19:50:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.05 , 41.71 , 36.49 , 32.20 2021-10-10T19:50:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.13 , -0.04 2021-10-10T19:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895407.07 epoch sec; seqNo:1217; 4061653.44 north; 594389.48 east 2021-10-10T19:50:07Z- AHRS_M2 msg: 1633895407.42 epoch sec; seqNo:1179 2021-10-10T19:50:07Z- AHRS_M2 msg: -0.19 phi; 0.14 theta; 5.73 psi 2021-10-10T19:50:07Z- handleDepth()-Depth_Keller msg: 1633895407435 epoch sec; seqNo:1218; depth 49.83 2021-10-10T19:50:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:07Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:07Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:07Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:07Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:07Z- handleDvl() - RDI_Pathfinder msg: 1633895407.44 epoch sec; seqNo:517 2021-10-10T19:50:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.13 , -0.04 2021-10-10T19:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895407.45 epoch sec; seqNo:1218; 4061653.82 north; 594389.48 east 2021-10-10T19:50:07Z- AHRS_M2 msg: 1633895407.83 epoch sec; seqNo:1180 2021-10-10T19:50:07Z- AHRS_M2 msg: -0.19 phi; 0.13 theta; 5.73 psi 2021-10-10T19:50:07Z- handleDepth()-Depth_Keller msg: 1633895407844 epoch sec; seqNo:1219; depth 49.80 2021-10-10T19:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895407.87 epoch sec; seqNo:1219; 4061654.20 north; 594389.47 east 2021-10-10T19:50:08Z- AHRS_M2 msg: 1633895408.23 epoch sec; seqNo:1181 2021-10-10T19:50:08Z- AHRS_M2 msg: -0.20 phi; 0.13 theta; 5.73 psi 2021-10-10T19:50:08Z- handleDepth()-Depth_Keller msg: 1633895408238 epoch sec; seqNo:1220; depth 49.73 2021-10-10T19:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895408.27 epoch sec; seqNo:1220; 4061654.20 north; 594389.47 east 2021-10-10T19:50:08Z- AHRS_M2 msg: 1633895408.64 epoch sec; seqNo:1182 2021-10-10T19:50:08Z- AHRS_M2 msg: -0.19 phi; 0.13 theta; 5.73 psi 2021-10-10T19:50:08Z- handleDepth()-Depth_Keller msg: 1633895408642 epoch sec; seqNo:1221; depth 49.71 2021-10-10T19:50:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:08Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:08Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:08Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:08Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:08Z- handleDvl() - RDI_Pathfinder msg: 1633895408.64 epoch sec; seqNo:518 2021-10-10T19:50:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.13 , -0.04 2021-10-10T19:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895408.66 epoch sec; seqNo:1221; 4061654.56 north; 594388.25 east 2021-10-10T19:50:09Z- AHRS_M2 msg: 1633895409.05 epoch sec; seqNo:1183 2021-10-10T19:50:09Z- AHRS_M2 msg: -0.19 phi; 0.12 theta; 5.74 psi 2021-10-10T19:50:09Z- handleDepth()-Depth_Keller msg: 1633895409056 epoch sec; seqNo:1222; depth 49.67 2021-10-10T19:50:09Z- handleDvl() - RDI_Pathfinder msg: 1633895409.08 epoch sec; seqNo:519 2021-10-10T19:50:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.82 , 41.91 , 36.12 , 32.37 2021-10-10T19:50:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.13 , -0.01 2021-10-10T19:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895409.11 epoch sec; seqNo:1222; 4061654.94 north; 594388.24 east 2021-10-10T19:50:09Z- AHRS_M2 msg: 1633895409.45 epoch sec; seqNo:1184 2021-10-10T19:50:09Z- AHRS_M2 msg: -0.19 phi; 0.12 theta; 5.74 psi 2021-10-10T19:50:09Z- handleDepth()-Depth_Keller msg: 1633895409458 epoch sec; seqNo:1223; depth 49.61 2021-10-10T19:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895409.47 epoch sec; seqNo:1223; 4061655.32 north; 594388.24 east 2021-10-10T19:50:09Z- AHRS_M2 msg: 1633895409.86 epoch sec; seqNo:1185 2021-10-10T19:50:09Z- AHRS_M2 msg: -0.19 phi; 0.12 theta; 5.74 psi 2021-10-10T19:50:09Z- handleDepth()-Depth_Keller msg: 1633895409865 epoch sec; seqNo:1224; depth 49.56 2021-10-10T19:50:09Z- handleDvl() - RDI_Pathfinder msg: 1633895409.90 epoch sec; seqNo:520 2021-10-10T19:50:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.99 , 41.06 , 36.29 , 32.54 2021-10-10T19:50:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.14 , 0.01 2021-10-10T19:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895409.92 epoch sec; seqNo:1224; 4061655.32 north; 594388.24 east 2021-10-10T19:50:10Z- AHRS_M2 msg: 1633895410.26 epoch sec; seqNo:1186 2021-10-10T19:50:10Z- AHRS_M2 msg: -0.19 phi; 0.11 theta; 5.75 psi 2021-10-10T19:50:10Z- handleDepth()-Depth_Keller msg: 1633895410270 epoch sec; seqNo:1225; depth 49.54 2021-10-10T19:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895410.31 epoch sec; seqNo:1225; 4061655.70 north; 594388.23 east 2021-10-10T19:50:10Z- AHRS_M2 msg: 1633895410.66 epoch sec; seqNo:1187 2021-10-10T19:50:10Z- AHRS_M2 msg: -0.19 phi; 0.11 theta; 5.75 psi 2021-10-10T19:50:10Z- handleDepth()-Depth_Keller msg: 1633895410668 epoch sec; seqNo:1226; depth 49.50 2021-10-10T19:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895410.68 epoch sec; seqNo:1226; 4061656.07 north; 594387.01 east 2021-10-10T19:50:11Z- AHRS_M2 msg: 1633895411.06 epoch sec; seqNo:1188 2021-10-10T19:50:11Z- AHRS_M2 msg: -0.19 phi; 0.11 theta; 5.75 psi 2021-10-10T19:50:11Z- handleDepth()-Depth_Keller msg: 1633895411066 epoch sec; seqNo:1227; depth 49.46 2021-10-10T19:50:11Z- handleDvl() - RDI_Pathfinder msg: 1633895411.10 epoch sec; seqNo:521 2021-10-10T19:50:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.99 , 41.40 , 35.95 , 32.88 2021-10-10T19:50:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.13 , 0.02 2021-10-10T19:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895411.11 epoch sec; seqNo:1227; 4061656.44 north; 594387.01 east 2021-10-10T19:50:11Z- LcmTrn::handleMessages() - handling 42 messages took 0.86 ms and 125 calls... 2021-10-10T19:50:11Z- waiting for 1633895409.25, time is 1633895411.11 2021-10-10T19:50:11Z- LcmTrn::updateTrn() equating pose 1633895411.11 and meas times 1633895411.11 2021-10-10T19:50:11Z- LcmTrn::updateTrn() >>>> pose time 1633895411.11, meas time 1633895411.11 <<<< 2021-10-10T19:50:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895411.11 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:11Z- TerrainNav::motionUpdate() - currEstimate = (4061656, 594387.01, 49.46) 2021-10-10T19:50:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:11Z- TerrainNav:: SubcloudNIS is 1.12, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:11Z- TNavBF::Projecting Measurements 2021-10-10T19:50:11Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:50:11Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:50:11Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:50:11Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:50:11Z- TNavFilter::4 good beams. 2021-10-10T19:50:11Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:11Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:11Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:50:11Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:50:11Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:50:11Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:11Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:11Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:11Z- TerrainMapOctree: (vehN, vehE ) = (4061656.44, 594387.01). 2021-10-10T19:50:11Z- TerrainMapOctree: Min Distance = 165.90. 2021-10-10T19:50:11Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:50:11Z- Forcing Subcloud Comparison 2021-10-10T19:50:11Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:50:11Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:11Z- Filter 0 partialDeltaRmsComputation: 14.070480 terrainVariance: 0.065021 1-SumSquareWeights: 0.974645 2021-10-10T19:50:11Z- Filter 0 meanExpectedMeasDiff: -3.742387 delta_rms_squared: 0.055274 alpha: 0.734304 2021-10-10T19:50:11Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:11Z- Filter 0 partialDeltaRmsComputation: 46.706296 terrainVariance: 0.391883 1-SumSquareWeights: 0.974645 2021-10-10T19:50:11Z- Filter 0 meanExpectedMeasDiff: 6.805469 delta_rms_squared: 0.382137 alpha: 0.950266 2021-10-10T19:50:11Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:11Z- Filter 0 partialDeltaRmsComputation: 24.474793 terrainVariance: 0.535098 1-SumSquareWeights: 0.974645 2021-10-10T19:50:11Z- Filter 0 meanExpectedMeasDiff: -4.892821 delta_rms_squared: 0.525352 alpha: 0.963326 2021-10-10T19:50:11Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:11Z- Filter 0 partialDeltaRmsComputation: 5.342910 terrainVariance: 0.301675 1-SumSquareWeights: 0.974645 2021-10-10T19:50:11Z- Filter 0 meanExpectedMeasDiff: 2.245270 delta_rms_squared: 0.291929 alpha: 0.935883 2021-10-10T19:50:11Z- Filter 0 SubcloudNIS: 1.227984 2021-10-10T19:50:11Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:50:11Z- TNavBF:: Filter 0 sumWeights = 0.000191 2021-10-10T19:50:11Z- Filter 0 NorthBias: -26.5 EastBias: 5.7 DepthBias: -4.4 NorthVariance: 58.6 EastVariance: 56.2 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-10T19:50:11Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895411.11 sec. 2021-10-10T19:50:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:11Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:11Z- variances([0], [2], and psi_berg) = 58.592401 56.195148 0.000000 2021-10-10T19:50:11Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:11Z- LcmTrn::publishEstimates() - MLE : 4061627.94 594393.51 49.46 2021-10-10T19:50:11Z- LcmTrn::publishEstimates() - MMSE : 4061629.97 594392.70 45.08 2021-10-10T19:50:11Z- LcmTrn::publishEstimates() - COVAR: 58.59 56.20 0.57 0.00 2021-10-10T19:50:11Z- AHRS_M2 msg: 1633895411.46 epoch sec; seqNo:1189 2021-10-10T19:50:11Z- AHRS_M2 msg: -0.19 phi; 0.10 theta; 5.76 psi 2021-10-10T19:50:11Z- handleDepth()-Depth_Keller msg: 1633895411472 epoch sec; seqNo:1228; depth 49.41 2021-10-10T19:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895411.49 epoch sec; seqNo:1228; 4061656.44 north; 594387.01 east 2021-10-10T19:50:11Z- AHRS_M2 msg: 1633895411.87 epoch sec; seqNo:1190 2021-10-10T19:50:11Z- AHRS_M2 msg: -0.19 phi; 0.10 theta; 5.76 psi 2021-10-10T19:50:11Z- handleDepth()-Depth_Keller msg: 1633895411875 epoch sec; seqNo:1229; depth 49.38 2021-10-10T19:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895411.88 epoch sec; seqNo:1229; 4061656.82 north; 594387.00 east 2021-10-10T19:50:12Z- AHRS_M2 msg: 1633895412.29 epoch sec; seqNo:1191 2021-10-10T19:50:12Z- AHRS_M2 msg: -0.19 phi; 0.10 theta; 5.76 psi 2021-10-10T19:50:12Z- handleDepth()-Depth_Keller msg: 1633895412296 epoch sec; seqNo:1230; depth 49.35 2021-10-10T19:50:12Z- handleDvl() - RDI_Pathfinder msg: 1633895412.33 epoch sec; seqNo:522 2021-10-10T19:50:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.16 , 41.91 , 35.78 , 32.88 2021-10-10T19:50:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.13 , 0.01 2021-10-10T19:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895412.36 epoch sec; seqNo:1230; 4061657.20 north; 594387.00 east 2021-10-10T19:50:12Z- AHRS_M2 msg: 1633895412.68 epoch sec; seqNo:1192 2021-10-10T19:50:12Z- AHRS_M2 msg: -0.19 phi; 0.09 theta; 5.77 psi 2021-10-10T19:50:12Z- handleDepth()-Depth_Keller msg: 1633895412688 epoch sec; seqNo:1231; depth 49.31 2021-10-10T19:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895412.71 epoch sec; seqNo:1231; 4061657.58 north; 594386.99 east 2021-10-10T19:50:13Z- AHRS_M2 msg: 1633895413.08 epoch sec; seqNo:1193 2021-10-10T19:50:13Z- AHRS_M2 msg: -0.20 phi; 0.09 theta; 5.77 psi 2021-10-10T19:50:13Z- handleDepth()-Depth_Keller msg: 1633895413091 epoch sec; seqNo:1232; depth 49.26 2021-10-10T19:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895413.10 epoch sec; seqNo:1232; 4061657.57 north; 594385.77 east 2021-10-10T19:50:13Z- AHRS_M2 msg: 1633895413.48 epoch sec; seqNo:1194 2021-10-10T19:50:13Z- AHRS_M2 msg: -0.20 phi; 0.09 theta; 5.77 psi 2021-10-10T19:50:13Z- handleDepth()-Depth_Keller msg: 1633895413502 epoch sec; seqNo:1233; depth 49.24 2021-10-10T19:50:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:13Z- handleDvl() - RDI_Pathfinder msg: 1633895413.51 epoch sec; seqNo:523 2021-10-10T19:50:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.13 , 0.01 2021-10-10T19:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895413.52 epoch sec; seqNo:1233; 4061657.95 north; 594385.77 east 2021-10-10T19:50:13Z- AHRS_M2 msg: 1633895413.89 epoch sec; seqNo:1195 2021-10-10T19:50:13Z- AHRS_M2 msg: -0.20 phi; 0.08 theta; 5.77 psi 2021-10-10T19:50:13Z- handleDepth()-Depth_Keller msg: 1633895413899 epoch sec; seqNo:1234; depth 49.20 2021-10-10T19:50:13Z- handleDvl() - RDI_Pathfinder msg: 1633895413.93 epoch sec; seqNo:524 2021-10-10T19:50:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.99 , 42.08 , 35.27 , 33.39 2021-10-10T19:50:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.14 , -0.01 2021-10-10T19:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895413.94 epoch sec; seqNo:1234; 4061658.33 north; 594385.76 east 2021-10-10T19:50:14Z- AHRS_M2 msg: 1633895414.31 epoch sec; seqNo:1196 2021-10-10T19:50:14Z- AHRS_M2 msg: -0.20 phi; 0.08 theta; 5.78 psi 2021-10-10T19:50:14Z- handleDepth()-Depth_Keller msg: 1633895414313 epoch sec; seqNo:1235; depth 49.17 2021-10-10T19:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895414.33 epoch sec; seqNo:1235; 4061658.70 north; 594385.76 east 2021-10-10T19:50:14Z- AHRS_M2 msg: 1633895414.70 epoch sec; seqNo:1197 2021-10-10T19:50:14Z- AHRS_M2 msg: -0.20 phi; 0.08 theta; 5.78 psi 2021-10-10T19:50:14Z- handleDepth()-Depth_Keller msg: 1633895414708 epoch sec; seqNo:1236; depth 49.14 2021-10-10T19:50:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:14Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:14Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:14Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:14Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:14Z- handleDvl() - RDI_Pathfinder msg: 1633895414.71 epoch sec; seqNo:525 2021-10-10T19:50:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.14 , -0.01 2021-10-10T19:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895414.72 epoch sec; seqNo:1236; 4061658.70 north; 594385.76 east 2021-10-10T19:50:15Z- AHRS_M2 msg: 1633895415.10 epoch sec; seqNo:1198 2021-10-10T19:50:15Z- AHRS_M2 msg: -0.20 phi; 0.08 theta; 5.78 psi 2021-10-10T19:50:15Z- handleDepth()-Depth_Keller msg: 1633895415108 epoch sec; seqNo:1237; depth 49.11 2021-10-10T19:50:15Z- handleDvl() - RDI_Pathfinder msg: 1633895415.14 epoch sec; seqNo:526 2021-10-10T19:50:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 41.91 , 35.09 , 33.39 2021-10-10T19:50:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.14 , -0.01 2021-10-10T19:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895415.15 epoch sec; seqNo:1237; 4061659.07 north; 594384.54 east 2021-10-10T19:50:15Z- AHRS_M2 msg: 1633895415.51 epoch sec; seqNo:1199 2021-10-10T19:50:15Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 5.78 psi 2021-10-10T19:50:15Z- handleDepth()-Depth_Keller msg: 1633895415510 epoch sec; seqNo:1238; depth 49.08 2021-10-10T19:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895415.53 epoch sec; seqNo:1238; 4061659.45 north; 594384.53 east 2021-10-10T19:50:15Z- AHRS_M2 msg: 1633895415.92 epoch sec; seqNo:1200 2021-10-10T19:50:15Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 5.79 psi 2021-10-10T19:50:15Z- handleDepth()-Depth_Keller msg: 1633895415928 epoch sec; seqNo:1239; depth 49.07 2021-10-10T19:50:15Z- handleDvl() - RDI_Pathfinder msg: 1633895415.95 epoch sec; seqNo:527 2021-10-10T19:50:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 41.91 , 35.09 , 33.56 2021-10-10T19:50:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.16 , 0.00 2021-10-10T19:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895416.02 epoch sec; seqNo:1239; 4061659.83 north; 594384.53 east 2021-10-10T19:50:16Z- AHRS_M2 msg: 1633895416.32 epoch sec; seqNo:1201 2021-10-10T19:50:16Z- AHRS_M2 msg: -0.20 phi; 0.07 theta; 5.79 psi 2021-10-10T19:50:16Z- handleDepth()-Depth_Keller msg: 1633895416322 epoch sec; seqNo:1240; depth 49.05 2021-10-10T19:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895416.36 epoch sec; seqNo:1240; 4061660.21 north; 594384.52 east 2021-10-10T19:50:16Z- LcmTrn::handleMessages() - handling 45 messages took 0.72 ms and 130 calls... 2021-10-10T19:50:16Z- waiting for 1633895414.11, time is 1633895416.36 2021-10-10T19:50:16Z- LcmTrn::updateTrn() >>>> pose time 1633895416.36, meas time 1633895415.95 <<<< 2021-10-10T19:50:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895415.95 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:16Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594384.52, 49.05) 2021-10-10T19:50:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:16Z- TerrainNav:: SubcloudNIS is 1.23, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:16Z- TNavBF::Projecting Measurements 2021-10-10T19:50:16Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:50:16Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:50:16Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:50:16Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:50:16Z- TNavFilter::4 good beams. 2021-10-10T19:50:16Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:16Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:16Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:50:16Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:50:16Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:50:16Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:16Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:16Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:16Z- TerrainMapOctree: (vehN, vehE ) = (4061659.91, 594384.72). 2021-10-10T19:50:16Z- TerrainMapOctree: Min Distance = 162.06. 2021-10-10T19:50:16Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:50:16Z- Forcing Subcloud Comparison 2021-10-10T19:50:16Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:50:16Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:16Z- Filter 0 partialDeltaRmsComputation: 8.916713 terrainVariance: 0.105220 1-SumSquareWeights: 0.966836 2021-10-10T19:50:16Z- Filter 0 meanExpectedMeasDiff: -2.968416 delta_rms_squared: 0.095551 alpha: 0.826917 2021-10-10T19:50:16Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:16Z- Filter 0 partialDeltaRmsComputation: 31.753490 terrainVariance: 0.340822 1-SumSquareWeights: 0.966836 2021-10-10T19:50:16Z- Filter 0 meanExpectedMeasDiff: 5.604701 delta_rms_squared: 0.331154 alpha: 0.943045 2021-10-10T19:50:16Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:16Z- Filter 0 partialDeltaRmsComputation: 26.044167 terrainVariance: 0.323237 1-SumSquareWeights: 0.966836 2021-10-10T19:50:16Z- Filter 0 meanExpectedMeasDiff: -5.071581 delta_rms_squared: 0.313569 alpha: 0.940042 2021-10-10T19:50:16Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:16Z- Filter 0 partialDeltaRmsComputation: 6.383672 terrainVariance: 0.083294 1-SumSquareWeights: 0.966836 2021-10-10T19:50:16Z- Filter 0 meanExpectedMeasDiff: 2.510055 delta_rms_squared: 0.073626 alpha: 0.786384 2021-10-10T19:50:16Z- Filter 0 SubcloudNIS: 1.216593 2021-10-10T19:50:16Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:50:16Z- TNavBF:: Filter 0 sumWeights = 0.001189 2021-10-10T19:50:16Z- Filter 0 NorthBias: -7.7 EastBias: -15.0 DepthBias: -4.2 NorthVariance: 525.3 EastVariance: 364.6 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-10T19:50:16Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895415.95 sec. 2021-10-10T19:50:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:16Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:16Z- variances([0], [2], and psi_berg) = 524.511116 365.096052 0.000000 2021-10-10T19:50:16Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:16Z- LcmTrn::publishEstimates() - MLE : 4061632.71 594389.02 49.05 2021-10-10T19:50:16Z- LcmTrn::publishEstimates() - MMSE : 4061652.46 594369.56 44.89 2021-10-10T19:50:16Z- LcmTrn::publishEstimates() - COVAR: 524.51 365.10 0.84 0.00 2021-10-10T19:50:16Z- AHRS_M2 msg: 1633895416.72 epoch sec; seqNo:1202 2021-10-10T19:50:16Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.79 psi 2021-10-10T19:50:16Z- handleDepth()-Depth_Keller msg: 1633895416724 epoch sec; seqNo:1241; depth 49.02 2021-10-10T19:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895416.73 epoch sec; seqNo:1241; 4061660.21 north; 594384.52 east 2021-10-10T19:50:17Z- AHRS_M2 msg: 1633895417.13 epoch sec; seqNo:1203 2021-10-10T19:50:17Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.79 psi 2021-10-10T19:50:17Z- handleDepth()-Depth_Keller msg: 1633895417138 epoch sec; seqNo:1242; depth 49.01 2021-10-10T19:50:17Z- handleDvl() - RDI_Pathfinder msg: 1633895417.16 epoch sec; seqNo:528 2021-10-10T19:50:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.99 , 41.91 , 35.10 , 33.56 2021-10-10T19:50:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.16 , 0.01 2021-10-10T19:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895417.17 epoch sec; seqNo:1242; 4061660.59 north; 594384.52 east 2021-10-10T19:50:17Z- AHRS_M2 msg: 1633895417.53 epoch sec; seqNo:1204 2021-10-10T19:50:17Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.79 psi 2021-10-10T19:50:17Z- handleDepth()-Depth_Keller msg: 1633895417530 epoch sec; seqNo:1243; depth 48.99 2021-10-10T19:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895417.56 epoch sec; seqNo:1243; 4061660.95 north; 594383.29 east 2021-10-10T19:50:17Z- AHRS_M2 msg: 1633895417.93 epoch sec; seqNo:1205 2021-10-10T19:50:17Z- AHRS_M2 msg: -0.20 phi; 0.06 theta; 5.79 psi 2021-10-10T19:50:17Z- handleDepth()-Depth_Keller msg: 1633895417938 epoch sec; seqNo:1244; depth 48.99 2021-10-10T19:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895417.96 epoch sec; seqNo:1244; 4061661.33 north; 594383.29 east 2021-10-10T19:50:18Z- AHRS_M2 msg: 1633895418.34 epoch sec; seqNo:1206 2021-10-10T19:50:18Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.80 psi 2021-10-10T19:50:18Z- handleDepth()-Depth_Keller msg: 1633895418351 epoch sec; seqNo:1245; depth 48.96 2021-10-10T19:50:18Z- handleDvl() - RDI_Pathfinder msg: 1633895418.38 epoch sec; seqNo:529 2021-10-10T19:50:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.16 , 42.08 , 34.76 , 33.56 2021-10-10T19:50:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.15 , 0.04 2021-10-10T19:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895418.40 epoch sec; seqNo:1245; 4061661.71 north; 594383.29 east 2021-10-10T19:50:18Z- AHRS_M2 msg: 1633895418.74 epoch sec; seqNo:1207 2021-10-10T19:50:18Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 5.80 psi 2021-10-10T19:50:18Z- handleDepth()-Depth_Keller msg: 1633895418742 epoch sec; seqNo:1246; depth 48.95 2021-10-10T19:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895418.77 epoch sec; seqNo:1246; 4061661.71 north; 594383.29 east 2021-10-10T19:50:19Z- AHRS_M2 msg: 1633895419.14 epoch sec; seqNo:1208 2021-10-10T19:50:19Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 5.80 psi 2021-10-10T19:50:19Z- handleDepth()-Depth_Keller msg: 1633895419149 epoch sec; seqNo:1247; depth 48.93 2021-10-10T19:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895419.17 epoch sec; seqNo:1247; 4061662.09 north; 594383.28 east 2021-10-10T19:50:19Z- AHRS_M2 msg: 1633895419.55 epoch sec; seqNo:1209 2021-10-10T19:50:19Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 5.80 psi 2021-10-10T19:50:19Z- handleDepth()-Depth_Keller msg: 1633895419550 epoch sec; seqNo:1248; depth 48.93 2021-10-10T19:50:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:19Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:19Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:19Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:19Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:19Z- handleDvl() - RDI_Pathfinder msg: 1633895419.55 epoch sec; seqNo:530 2021-10-10T19:50:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.15 , 0.04 2021-10-10T19:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895419.57 epoch sec; seqNo:1248; 4061662.45 north; 594382.06 east 2021-10-10T19:50:19Z- AHRS_M2 msg: 1633895419.95 epoch sec; seqNo:1210 2021-10-10T19:50:19Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 5.81 psi 2021-10-10T19:50:19Z- handleDepth()-Depth_Keller msg: 1633895419956 epoch sec; seqNo:1249; depth 48.92 2021-10-10T19:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895419.97 epoch sec; seqNo:1249; 4061662.83 north; 594382.05 east 2021-10-10T19:50:20Z- AHRS_M2 msg: 1633895420.35 epoch sec; seqNo:1211 2021-10-10T19:50:20Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 5.81 psi 2021-10-10T19:50:20Z- handleDepth()-Depth_Keller msg: 1633895420371 epoch sec; seqNo:1250; depth 48.91 2021-10-10T19:50:20Z- handleDvl() - RDI_Pathfinder msg: 1633895420.39 epoch sec; seqNo:531 2021-10-10T19:50:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.16 , 41.74 , 34.76 , 33.73 2021-10-10T19:50:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.13 , 0.04 2021-10-10T19:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895420.42 epoch sec; seqNo:1250; 4061663.21 north; 594382.05 east 2021-10-10T19:50:20Z- AHRS_M2 msg: 1633895420.76 epoch sec; seqNo:1212 2021-10-10T19:50:20Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 5.81 psi 2021-10-10T19:50:20Z- handleDepth()-Depth_Keller msg: 1633895420761 epoch sec; seqNo:1251; depth 48.90 2021-10-10T19:50:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:20Z- handleDvl() - RDI_Pathfinder msg: 1633895420.77 epoch sec; seqNo:532 2021-10-10T19:50:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.13 , 0.04 2021-10-10T19:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895420.79 epoch sec; seqNo:1251; 4061663.59 north; 594382.05 east 2021-10-10T19:50:21Z- AHRS_M2 msg: 1633895421.16 epoch sec; seqNo:1213 2021-10-10T19:50:21Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 5.82 psi 2021-10-10T19:50:21Z- handleDepth()-Depth_Keller msg: 1633895421165 epoch sec; seqNo:1252; depth 48.89 2021-10-10T19:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895421.18 epoch sec; seqNo:1252; 4061663.59 north; 594382.05 east 2021-10-10T19:50:21Z- AHRS_M2 msg: 1633895421.57 epoch sec; seqNo:1214 2021-10-10T19:50:21Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.82 psi 2021-10-10T19:50:21Z- handleDepth()-Depth_Keller msg: 1633895421576 epoch sec; seqNo:1253; depth 48.87 2021-10-10T19:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895421.59 epoch sec; seqNo:1253; 4061663.97 north; 594382.04 east 2021-10-10T19:50:21Z- LcmTrn::handleMessages() - handling 44 messages took 0.74 ms and 129 calls... 2021-10-10T19:50:21Z- waiting for 1633895419.36, time is 1633895421.59 2021-10-10T19:50:21Z- LcmTrn::updateTrn() >>>> pose time 1633895421.59, meas time 1633895420.77 <<<< 2021-10-10T19:50:21Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895420.77, ping # 0. 2021-10-10T19:50:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895420.77 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:21Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594382.04, 48.87) 2021-10-10T19:50:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:21Z- TerrainNav:: SubcloudNIS is 1.22, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:21Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:50:21Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:50:21Z- TNavBF::Projecting Measurements 2021-10-10T19:50:21Z- TNavFilter::Measurement from time = 1633895420.77 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:50:21Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:21Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:21Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:50:21Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:50:21Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:50:21Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:21Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:21Z- Filter 0 NorthBias: -7.8 EastBias: -14.9 DepthBias: -4.2 NorthVariance: 522.0 EastVariance: 366.5 DepthVariance: 1.1 this->DepthBiasCov: 0.6 2021-10-10T19:50:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:21Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:21Z- variances([0], [2], and psi_berg) = 520.918706 367.116177 0.000000 2021-10-10T19:50:21Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:21Z- LcmTrn::publishEstimates() - MLE : 4061636.47 594386.54 48.87 2021-10-10T19:50:21Z- LcmTrn::publishEstimates() - MMSE : 4061656.15 594367.22 44.71 2021-10-10T19:50:21Z- LcmTrn::publishEstimates() - COVAR: 520.92 367.12 1.10 0.00 2021-10-10T19:50:21Z- AHRS_M2 msg: 1633895421.97 epoch sec; seqNo:1215 2021-10-10T19:50:21Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.82 psi 2021-10-10T19:50:21Z- handleDepth()-Depth_Keller msg: 1633895421976 epoch sec; seqNo:1254; depth 48.86 2021-10-10T19:50:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:21Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:21Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:21Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:21Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:21Z- handleDvl() - RDI_Pathfinder msg: 1633895421.98 epoch sec; seqNo:533 2021-10-10T19:50:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.13 , 0.04 2021-10-10T19:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895421.99 epoch sec; seqNo:1254; 4061664.33 north; 594380.82 east 2021-10-10T19:50:22Z- AHRS_M2 msg: 1633895422.37 epoch sec; seqNo:1216 2021-10-10T19:50:22Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 5.83 psi 2021-10-10T19:50:22Z- handleDepth()-Depth_Keller msg: 1633895422377 epoch sec; seqNo:1255; depth 48.86 2021-10-10T19:50:22Z- handleDvl() - RDI_Pathfinder msg: 1633895422.41 epoch sec; seqNo:534 2021-10-10T19:50:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.15 , 41.74 , 34.41 , 34.07 2021-10-10T19:50:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.12 , 0.01 2021-10-10T19:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895422.42 epoch sec; seqNo:1255; 4061664.71 north; 594380.81 east 2021-10-10T19:50:22Z- AHRS_M2 msg: 1633895422.78 epoch sec; seqNo:1217 2021-10-10T19:50:22Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 5.83 psi 2021-10-10T19:50:22Z- handleDepth()-Depth_Keller msg: 1633895422782 epoch sec; seqNo:1256; depth 48.85 2021-10-10T19:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895422.80 epoch sec; seqNo:1256; 4061665.09 north; 594380.81 east 2021-10-10T19:50:23Z- AHRS_M2 msg: 1633895423.18 epoch sec; seqNo:1218 2021-10-10T19:50:23Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 5.83 psi 2021-10-10T19:50:23Z- handleDepth()-Depth_Keller msg: 1633895423190 epoch sec; seqNo:1257; depth 48.84 2021-10-10T19:50:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:23Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:23Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:23Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:23Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:23Z- handleDvl() - RDI_Pathfinder msg: 1633895423.19 epoch sec; seqNo:535 2021-10-10T19:50:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.12 , 0.01 2021-10-10T19:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895423.20 epoch sec; seqNo:1257; 4061665.09 north; 594380.81 east 2021-10-10T19:50:23Z- AHRS_M2 msg: 1633895423.60 epoch sec; seqNo:1219 2021-10-10T19:50:23Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 5.83 psi 2021-10-10T19:50:23Z- handleDepth()-Depth_Keller msg: 1633895423602 epoch sec; seqNo:1258; depth 48.83 2021-10-10T19:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895423.61 epoch sec; seqNo:1258; 4061665.47 north; 594380.80 east 2021-10-10T19:50:23Z- AHRS_M2 msg: 1633895423.99 epoch sec; seqNo:1220 2021-10-10T19:50:23Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.84 psi 2021-10-10T19:50:24Z- handleDepth()-Depth_Keller msg: 1633895423999 epoch sec; seqNo:1259; depth 48.81 2021-10-10T19:50:24Z- handleDvl() - RDI_Pathfinder msg: 1633895424.03 epoch sec; seqNo:536 2021-10-10T19:50:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 41.57 , 34.24 , 34.41 2021-10-10T19:50:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.12 , -0.00 2021-10-10T19:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895424.05 epoch sec; seqNo:1259; 4061665.85 north; 594380.80 east 2021-10-10T19:50:24Z- AHRS_M2 msg: 1633895424.39 epoch sec; seqNo:1221 2021-10-10T19:50:24Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.84 psi 2021-10-10T19:50:24Z- handleDepth()-Depth_Keller msg: 1633895424398 epoch sec; seqNo:1260; depth 48.82 2021-10-10T19:50:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:24Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:24Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:24Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:24Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:24Z- handleDvl() - RDI_Pathfinder msg: 1633895424.40 epoch sec; seqNo:537 2021-10-10T19:50:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.12 , -0.00 2021-10-10T19:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895424.42 epoch sec; seqNo:1260; 4061666.21 north; 594379.58 east 2021-10-10T19:50:24Z- AHRS_M2 msg: 1633895424.80 epoch sec; seqNo:1222 2021-10-10T19:50:24Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 5.84 psi 2021-10-10T19:50:24Z- handleDepth()-Depth_Keller msg: 1633895424805 epoch sec; seqNo:1261; depth 48.79 2021-10-10T19:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895424.82 epoch sec; seqNo:1261; 4061666.59 north; 594379.57 east 2021-10-10T19:50:25Z- AHRS_M2 msg: 1633895425.20 epoch sec; seqNo:1223 2021-10-10T19:50:25Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.84 psi 2021-10-10T19:50:25Z- handleDepth()-Depth_Keller msg: 1633895425205 epoch sec; seqNo:1262; depth 48.80 2021-10-10T19:50:25Z- handleDvl() - RDI_Pathfinder msg: 1633895425.24 epoch sec; seqNo:538 2021-10-10T19:50:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.99 , 41.57 , 34.25 , 34.42 2021-10-10T19:50:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.12 , -0.00 2021-10-10T19:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895425.26 epoch sec; seqNo:1262; 4061666.97 north; 594379.57 east 2021-10-10T19:50:25Z- AHRS_M2 msg: 1633895425.61 epoch sec; seqNo:1224 2021-10-10T19:50:25Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.85 psi 2021-10-10T19:50:25Z- handleDepth()-Depth_Keller msg: 1633895425609 epoch sec; seqNo:1263; depth 48.80 2021-10-10T19:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895425.64 epoch sec; seqNo:1263; 4061666.97 north; 594379.57 east 2021-10-10T19:50:26Z- AHRS_M2 msg: 1633895426.03 epoch sec; seqNo:1225 2021-10-10T19:50:26Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.85 psi 2021-10-10T19:50:26Z- handleDepth()-Depth_Keller msg: 1633895426036 epoch sec; seqNo:1264; depth 48.79 2021-10-10T19:50:26Z- handleDvl() - RDI_Pathfinder msg: 1633895426.06 epoch sec; seqNo:539 2021-10-10T19:50:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.99 , 41.74 , 34.08 , 34.42 2021-10-10T19:50:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.12 , 0.00 2021-10-10T19:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895426.08 epoch sec; seqNo:1264; 4061667.35 north; 594379.56 east 2021-10-10T19:50:26Z- AHRS_M2 msg: 1633895426.42 epoch sec; seqNo:1226 2021-10-10T19:50:26Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.86 psi 2021-10-10T19:50:26Z- handleDepth()-Depth_Keller msg: 1633895426421 epoch sec; seqNo:1265; depth 48.79 2021-10-10T19:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895426.44 epoch sec; seqNo:1265; 4061667.73 north; 594379.56 east 2021-10-10T19:50:26Z- AHRS_M2 msg: 1633895426.82 epoch sec; seqNo:1227 2021-10-10T19:50:26Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.86 psi 2021-10-10T19:50:26Z- LcmTrn::handleMessages() - handling 44 messages took 0.81 ms and 127 calls... 2021-10-10T19:50:26Z- waiting for 1633895424.59, time is 1633895426.82 2021-10-10T19:50:26Z- LcmTrn::updateTrn() >>>> pose time 1633895426.82, meas time 1633895426.06 <<<< 2021-10-10T19:50:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895426.06 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:26Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594379.56, 48.79) 2021-10-10T19:50:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:26Z- TerrainNav:: SubcloudNIS is 1.22, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:26Z- TNavBF::Projecting Measurements 2021-10-10T19:50:26Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:50:26Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:50:26Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:50:26Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:50:26Z- TNavFilter::4 good beams. 2021-10-10T19:50:26Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:26Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:26Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:50:26Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:50:26Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:50:26Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:26Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:26Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:26Z- TerrainMapOctree: (vehN, vehE ) = (4061667.19, 594379.92). 2021-10-10T19:50:26Z- TerrainMapOctree: Min Distance = 154.07. 2021-10-10T19:50:26Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:50:26Z- Forcing Subcloud Comparison 2021-10-10T19:50:26Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:50:26Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:26Z- Filter 0 partialDeltaRmsComputation: 2.151050 terrainVariance: 0.478372 1-SumSquareWeights: 0.986512 2021-10-10T19:50:26Z- Filter 0 meanExpectedMeasDiff: -1.293321 delta_rms_squared: 0.468507 alpha: 0.959059 2021-10-10T19:50:26Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:26Z- Filter 0 partialDeltaRmsComputation: 8.569129 terrainVariance: 0.693089 1-SumSquareWeights: 0.986512 2021-10-10T19:50:26Z- Filter 0 meanExpectedMeasDiff: 2.806428 delta_rms_squared: 0.683224 alpha: 0.971560 2021-10-10T19:50:26Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:26Z- Filter 0 partialDeltaRmsComputation: 16.758202 terrainVariance: 1.642010 1-SumSquareWeights: 0.986512 2021-10-10T19:50:26Z- Filter 0 meanExpectedMeasDiff: -3.887955 delta_rms_squared: 1.632145 alpha: 0.987895 2021-10-10T19:50:26Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:27Z- Filter 0 partialDeltaRmsComputation: 5.779765 terrainVariance: 0.418114 1-SumSquareWeights: 0.986512 2021-10-10T19:50:27Z- Filter 0 meanExpectedMeasDiff: 2.315524 delta_rms_squared: 0.408249 alpha: 0.953298 2021-10-10T19:50:27Z- Filter 0 SubcloudNIS: 1.003021 2021-10-10T19:50:27Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:50:27Z- TNavBF:: Filter 0 sumWeights = 0.060793 2021-10-10T19:50:27Z- Filter 0 NorthBias: 10.4 EastBias: -30.7 DepthBias: -4.0 NorthVariance: 644.5 EastVariance: 157.5 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-10T19:50:27Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895426.06 sec. 2021-10-10T19:50:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:27Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:27Z- variances([0], [2], and psi_berg) = 643.347136 163.267960 0.000000 2021-10-10T19:50:27Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:27Z- LcmTrn::publishEstimates() - MLE : 4061717.23 594330.06 48.79 2021-10-10T19:50:27Z- LcmTrn::publishEstimates() - MMSE : 4061678.11 594348.96 44.84 2021-10-10T19:50:27Z- LcmTrn::publishEstimates() - COVAR: 643.35 163.27 0.82 0.00 2021-10-10T19:50:27Z- handleDepth()-Depth_Keller msg: 1633895426825 epoch sec; seqNo:1266; depth 48.80 2021-10-10T19:50:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:27Z- handleDvl() - RDI_Pathfinder msg: 1633895426.83 epoch sec; seqNo:540 2021-10-10T19:50:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.12 , 0.00 2021-10-10T19:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895426.86 epoch sec; seqNo:1266; 4061668.09 north; 594378.33 east 2021-10-10T19:50:27Z- AHRS_M2 msg: 1633895427.22 epoch sec; seqNo:1228 2021-10-10T19:50:27Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.86 psi 2021-10-10T19:50:27Z- handleDepth()-Depth_Keller msg: 1633895427228 epoch sec; seqNo:1267; depth 48.80 2021-10-10T19:50:27Z- handleDvl() - RDI_Pathfinder msg: 1633895427.26 epoch sec; seqNo:541 2021-10-10T19:50:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 41.06 , 33.73 , 34.58 2021-10-10T19:50:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , 0.00 2021-10-10T19:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895427.28 epoch sec; seqNo:1267; 4061668.47 north; 594378.33 east 2021-10-10T19:50:27Z- AHRS_M2 msg: 1633895427.62 epoch sec; seqNo:1229 2021-10-10T19:50:27Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.87 psi 2021-10-10T19:50:27Z- handleDepth()-Depth_Keller msg: 1633895427630 epoch sec; seqNo:1268; depth 48.78 2021-10-10T19:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895427.64 epoch sec; seqNo:1268; 4061668.47 north; 594378.33 east 2021-10-10T19:50:28Z- handleDepth()-Depth_Keller msg: 1633895428048 epoch sec; seqNo:1269; depth 48.80 2021-10-10T19:50:28Z- handleDvl() - RDI_Pathfinder msg: 1633895428.07 epoch sec; seqNo:542 2021-10-10T19:50:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 40.72 , 33.56 , 34.58 2021-10-10T19:50:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.12 , 0.01 2021-10-10T19:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895428.11 epoch sec; seqNo:1269; 4061668.85 north; 594378.33 east 2021-10-10T19:50:28Z- AHRS_M2 msg: 1633895428.43 epoch sec; seqNo:1230 2021-10-10T19:50:28Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 5.87 psi 2021-10-10T19:50:28Z- handleDepth()-Depth_Keller msg: 1633895428450 epoch sec; seqNo:1270; depth 48.81 2021-10-10T19:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895428.47 epoch sec; seqNo:1270; 4061669.23 north; 594378.32 east 2021-10-10T19:50:28Z- AHRS_M2 msg: 1633895428.84 epoch sec; seqNo:1231 2021-10-10T19:50:28Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 5.88 psi 2021-10-10T19:50:28Z- handleDepth()-Depth_Keller msg: 1633895428842 epoch sec; seqNo:1271; depth 48.80 2021-10-10T19:50:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895428.85 epoch sec; seqNo:1271; 4061669.61 north; 594378.32 east 2021-10-10T19:50:29Z- AHRS_M2 msg: 1633895429.24 epoch sec; seqNo:1232 2021-10-10T19:50:29Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.88 psi 2021-10-10T19:50:29Z- handleDepth()-Depth_Keller msg: 1633895429248 epoch sec; seqNo:1272; depth 48.81 2021-10-10T19:50:29Z- handleDvl() - RDI_Pathfinder msg: 1633895429.27 epoch sec; seqNo:543 2021-10-10T19:50:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.81 , 40.89 , 33.39 , 34.92 2021-10-10T19:50:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.12 , 0.01 2021-10-10T19:50:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895429.31 epoch sec; seqNo:1272; 4061669.98 north; 594377.09 east 2021-10-10T19:50:29Z- AHRS_M2 msg: 1633895429.65 epoch sec; seqNo:1233 2021-10-10T19:50:29Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.88 psi 2021-10-10T19:50:29Z- handleDepth()-Depth_Keller msg: 1633895429651 epoch sec; seqNo:1273; depth 48.81 2021-10-10T19:50:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895429.67 epoch sec; seqNo:1273; 4061669.98 north; 594377.09 east 2021-10-10T19:50:30Z- AHRS_M2 msg: 1633895430.05 epoch sec; seqNo:1234 2021-10-10T19:50:30Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.89 psi 2021-10-10T19:50:30Z- handleDepth()-Depth_Keller msg: 1633895430062 epoch sec; seqNo:1274; depth 48.82 2021-10-10T19:50:30Z- handleDvl() - RDI_Pathfinder msg: 1633895430.09 epoch sec; seqNo:544 2021-10-10T19:50:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 41.91 , 33.22 , 34.92 2021-10-10T19:50:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.15 , 0.01 2021-10-10T19:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895430.11 epoch sec; seqNo:1274; 4061670.35 north; 594377.09 east 2021-10-10T19:50:30Z- AHRS_M2 msg: 1633895430.45 epoch sec; seqNo:1235 2021-10-10T19:50:30Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.89 psi 2021-10-10T19:50:30Z- handleDepth()-Depth_Keller msg: 1633895430458 epoch sec; seqNo:1275; depth 48.83 2021-10-10T19:50:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:30Z- handleDvl() - RDI_Pathfinder msg: 1633895430.46 epoch sec; seqNo:545 2021-10-10T19:50:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.15 , 0.01 2021-10-10T19:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895430.48 epoch sec; seqNo:1275; 4061670.73 north; 594377.08 east 2021-10-10T19:50:30Z- AHRS_M2 msg: 1633895430.86 epoch sec; seqNo:1236 2021-10-10T19:50:30Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.89 psi 2021-10-10T19:50:30Z- handleDepth()-Depth_Keller msg: 1633895430866 epoch sec; seqNo:1276; depth 48.85 2021-10-10T19:50:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895430.88 epoch sec; seqNo:1276; 4061671.11 north; 594377.08 east 2021-10-10T19:50:31Z- AHRS_M2 msg: 1633895431.26 epoch sec; seqNo:1237 2021-10-10T19:50:31Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.89 psi 2021-10-10T19:50:31Z- handleDepth()-Depth_Keller msg: 1633895431267 epoch sec; seqNo:1277; depth 48.85 2021-10-10T19:50:31Z- handleDvl() - RDI_Pathfinder msg: 1633895431.30 epoch sec; seqNo:546 2021-10-10T19:50:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 42.08 , 33.56 , 35.09 2021-10-10T19:50:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.17 , 0.01 2021-10-10T19:50:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895431.32 epoch sec; seqNo:1277; 4061671.49 north; 594377.08 east 2021-10-10T19:50:31Z- AHRS_M2 msg: 1633895431.66 epoch sec; seqNo:1238 2021-10-10T19:50:31Z- AHRS_M2 msg: -0.20 phi; -0.04 theta; 5.90 psi 2021-10-10T19:50:31Z- handleDepth()-Depth_Keller msg: 1633895431676 epoch sec; seqNo:1278; depth 48.85 2021-10-10T19:50:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:31Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:31Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:31Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:31Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:31Z- handleDvl() - RDI_Pathfinder msg: 1633895431.68 epoch sec; seqNo:547 2021-10-10T19:50:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.17 , 0.01 2021-10-10T19:50:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895431.70 epoch sec; seqNo:1278; 4061671.49 north; 594377.08 east 2021-10-10T19:50:32Z- LcmTrn::handleMessages() - handling 45 messages took 0.86 ms and 127 calls... 2021-10-10T19:50:32Z- waiting for 1633895429.82, time is 1633895431.70 2021-10-10T19:50:32Z- LcmTrn::updateTrn() equating pose 1633895431.70 and meas times 1633895431.70 2021-10-10T19:50:32Z- LcmTrn::updateTrn() >>>> pose time 1633895431.70, meas time 1633895431.70 <<<< 2021-10-10T19:50:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895431.70, ping # 0. 2021-10-10T19:50:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895431.70 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:32Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594377.08, 48.85) 2021-10-10T19:50:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:32Z- TerrainNav:: SubcloudNIS is 1.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:32Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:50:32Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:50:32Z- TNavBF::Projecting Measurements 2021-10-10T19:50:32Z- TNavFilter::Measurement from time = 1633895431.70 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:50:32Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:32Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:32Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:50:32Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:50:32Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:50:32Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:32Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:32Z- Filter 0 NorthBias: 10.3 EastBias: -30.3 DepthBias: -4.0 NorthVariance: 640.3 EastVariance: 178.0 DepthVariance: 1.1 this->DepthBiasCov: 0.7 2021-10-10T19:50:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:32Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:32Z- variances([0], [2], and psi_berg) = 640.289032 178.031498 0.000000 2021-10-10T19:50:32Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:32Z- LcmTrn::publishEstimates() - MLE : 4061720.99 594327.58 48.85 2021-10-10T19:50:32Z- LcmTrn::publishEstimates() - MMSE : 4061681.75 594346.79 44.88 2021-10-10T19:50:32Z- LcmTrn::publishEstimates() - COVAR: 640.29 178.03 1.13 0.00 2021-10-10T19:50:32Z- AHRS_M2 msg: 1633895432.08 epoch sec; seqNo:1239 2021-10-10T19:50:32Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 5.90 psi 2021-10-10T19:50:32Z- handleDepth()-Depth_Keller msg: 1633895432085 epoch sec; seqNo:1279; depth 48.88 2021-10-10T19:50:32Z- handleDvl() - RDI_Pathfinder msg: 1633895432.11 epoch sec; seqNo:548 2021-10-10T19:50:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.81 , 42.25 , 34.07 , 35.09 2021-10-10T19:50:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.17 , 0.03 2021-10-10T19:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895432.13 epoch sec; seqNo:1279; 4061671.86 north; 594375.85 east 2021-10-10T19:50:32Z- AHRS_M2 msg: 1633895432.47 epoch sec; seqNo:1240 2021-10-10T19:50:32Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 5.90 psi 2021-10-10T19:50:32Z- handleDepth()-Depth_Keller msg: 1633895432484 epoch sec; seqNo:1280; depth 48.88 2021-10-10T19:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895432.51 epoch sec; seqNo:1280; 4061672.24 north; 594375.85 east 2021-10-10T19:50:32Z- AHRS_M2 msg: 1633895432.88 epoch sec; seqNo:1241 2021-10-10T19:50:32Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 5.90 psi 2021-10-10T19:50:32Z- handleDepth()-Depth_Keller msg: 1633895432883 epoch sec; seqNo:1281; depth 48.92 2021-10-10T19:50:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:32Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:32Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:32Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:32Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:32Z- handleDvl() - RDI_Pathfinder msg: 1633895432.88 epoch sec; seqNo:549 2021-10-10T19:50:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.17 , 0.03 2021-10-10T19:50:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895432.91 epoch sec; seqNo:1281; 4061672.61 north; 594375.84 east 2021-10-10T19:50:33Z- AHRS_M2 msg: 1633895433.29 epoch sec; seqNo:1242 2021-10-10T19:50:33Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.90 psi 2021-10-10T19:50:33Z- handleDepth()-Depth_Keller msg: 1633895433295 epoch sec; seqNo:1282; depth 48.94 2021-10-10T19:50:33Z- handleDvl() - RDI_Pathfinder msg: 1633895433.33 epoch sec; seqNo:550 2021-10-10T19:50:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.64 , 42.59 , 34.24 , 34.92 2021-10-10T19:50:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.18 , 0.05 2021-10-10T19:50:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895433.35 epoch sec; seqNo:1282; 4061672.99 north; 594375.84 east 2021-10-10T19:50:33Z- AHRS_M2 msg: 1633895433.69 epoch sec; seqNo:1243 2021-10-10T19:50:33Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.90 psi 2021-10-10T19:50:33Z- handleDepth()-Depth_Keller msg: 1633895433692 epoch sec; seqNo:1283; depth 48.96 2021-10-10T19:50:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895433.71 epoch sec; seqNo:1283; 4061673.37 north; 594375.84 east 2021-10-10T19:50:34Z- AHRS_M2 msg: 1633895434.11 epoch sec; seqNo:1244 2021-10-10T19:50:34Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.90 psi 2021-10-10T19:50:34Z- handleDepth()-Depth_Keller msg: 1633895434112 epoch sec; seqNo:1284; depth 48.99 2021-10-10T19:50:34Z- handleDvl() - RDI_Pathfinder msg: 1633895434.13 epoch sec; seqNo:551 2021-10-10T19:50:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.47 , 42.25 , 33.90 , 34.92 2021-10-10T19:50:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.17 , 0.06 2021-10-10T19:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895434.17 epoch sec; seqNo:1284; 4061673.75 north; 594375.83 east 2021-10-10T19:50:34Z- AHRS_M2 msg: 1633895434.49 epoch sec; seqNo:1245 2021-10-10T19:50:34Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.91 psi 2021-10-10T19:50:34Z- handleDepth()-Depth_Keller msg: 1633895434503 epoch sec; seqNo:1285; depth 49.00 2021-10-10T19:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895434.53 epoch sec; seqNo:1285; 4061673.74 north; 594374.61 east 2021-10-10T19:50:34Z- AHRS_M2 msg: 1633895434.90 epoch sec; seqNo:1246 2021-10-10T19:50:34Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.91 psi 2021-10-10T19:50:34Z- handleDepth()-Depth_Keller msg: 1633895434902 epoch sec; seqNo:1286; depth 49.03 2021-10-10T19:50:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895434.91 epoch sec; seqNo:1286; 4061674.12 north; 594374.61 east 2021-10-10T19:50:35Z- AHRS_M2 msg: 1633895435.31 epoch sec; seqNo:1247 2021-10-10T19:50:35Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.91 psi 2021-10-10T19:50:35Z- handleDepth()-Depth_Keller msg: 1633895435313 epoch sec; seqNo:1287; depth 49.05 2021-10-10T19:50:35Z- handleDvl() - RDI_Pathfinder msg: 1633895435.34 epoch sec; seqNo:552 2021-10-10T19:50:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.81 , 42.25 , 34.07 , 35.26 2021-10-10T19:50:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.16 , 0.07 2021-10-10T19:50:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895435.39 epoch sec; seqNo:1287; 4061674.49 north; 594374.60 east 2021-10-10T19:50:35Z- AHRS_M2 msg: 1633895435.70 epoch sec; seqNo:1248 2021-10-10T19:50:35Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.91 psi 2021-10-10T19:50:35Z- handleDepth()-Depth_Keller msg: 1633895435709 epoch sec; seqNo:1288; depth 49.08 2021-10-10T19:50:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895435.73 epoch sec; seqNo:1288; 4061674.87 north; 594374.60 east 2021-10-10T19:50:36Z- AHRS_M2 msg: 1633895436.13 epoch sec; seqNo:1249 2021-10-10T19:50:36Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.92 psi 2021-10-10T19:50:36Z- handleDepth()-Depth_Keller msg: 1633895436138 epoch sec; seqNo:1289; depth 49.10 2021-10-10T19:50:36Z- handleDvl() - RDI_Pathfinder msg: 1633895436.16 epoch sec; seqNo:553 2021-10-10T19:50:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.64 , 41.74 , 33.56 , 35.09 2021-10-10T19:50:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.14 , 0.05 2021-10-10T19:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895436.17 epoch sec; seqNo:1289; 4061675.25 north; 594374.59 east 2021-10-10T19:50:36Z- AHRS_M2 msg: 1633895436.51 epoch sec; seqNo:1250 2021-10-10T19:50:36Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.92 psi 2021-10-10T19:50:36Z- handleDepth()-Depth_Keller msg: 1633895436518 epoch sec; seqNo:1290; depth 49.12 2021-10-10T19:50:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:36Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:36Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:36Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:36Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:36Z- handleDvl() - RDI_Pathfinder msg: 1633895436.52 epoch sec; seqNo:554 2021-10-10T19:50:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.14 , 0.05 2021-10-10T19:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895436.54 epoch sec; seqNo:1290; 4061675.25 north; 594374.59 east 2021-10-10T19:50:36Z- AHRS_M2 msg: 1633895436.92 epoch sec; seqNo:1251 2021-10-10T19:50:36Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.92 psi 2021-10-10T19:50:36Z- handleDepth()-Depth_Keller msg: 1633895436932 epoch sec; seqNo:1291; depth 49.16 2021-10-10T19:50:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895436.94 epoch sec; seqNo:1291; 4061675.63 north; 594374.59 east 2021-10-10T19:50:37Z- LcmTrn::handleMessages() - handling 46 messages took 0.92 ms and 127 calls... 2021-10-10T19:50:37Z- waiting for 1633895434.70, time is 1633895436.94 2021-10-10T19:50:37Z- LcmTrn::updateTrn() >>>> pose time 1633895436.94, meas time 1633895436.52 <<<< 2021-10-10T19:50:37Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895436.52, ping # 0. 2021-10-10T19:50:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895436.52 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:37Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594374.59, 49.16) 2021-10-10T19:50:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:37Z- TerrainNav:: SubcloudNIS is 1.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:37Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:50:37Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:50:37Z- TNavBF::Projecting Measurements 2021-10-10T19:50:37Z- TNavFilter::Measurement from time = 1633895436.52 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-10T19:50:37Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:37Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:37Z- TNavBF:: beamIndex[1] = 0 2021-10-10T19:50:37Z- TNavBF:: beamIndex[2] = 0 2021-10-10T19:50:37Z- TNavBF:: beamIndex[3] = 0 2021-10-10T19:50:37Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:37Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:37Z- Filter 0 NorthBias: 10.1 EastBias: -30.0 DepthBias: -4.0 NorthVariance: 637.3 EastVariance: 191.7 DepthVariance: 1.4 this->DepthBiasCov: 0.9 2021-10-10T19:50:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:37Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:37Z- variances([0], [2], and psi_berg) = 636.471404 195.429157 0.000000 2021-10-10T19:50:37Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:37Z- LcmTrn::publishEstimates() - MLE : 4061725.13 594325.09 49.16 2021-10-10T19:50:37Z- LcmTrn::publishEstimates() - MMSE : 4061685.74 594344.68 45.17 2021-10-10T19:50:37Z- LcmTrn::publishEstimates() - COVAR: 636.47 195.43 1.47 0.00 2021-10-10T19:50:37Z- AHRS_M2 msg: 1633895437.32 epoch sec; seqNo:1252 2021-10-10T19:50:37Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.92 psi 2021-10-10T19:50:37Z- handleDepth()-Depth_Keller msg: 1633895437332 epoch sec; seqNo:1292; depth 49.19 2021-10-10T19:50:37Z- handleDvl() - RDI_Pathfinder msg: 1633895437.37 epoch sec; seqNo:555 2021-10-10T19:50:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.64 , 41.91 , 33.73 , 35.09 2021-10-10T19:50:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.14 , 0.03 2021-10-10T19:50:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895437.38 epoch sec; seqNo:1292; 4061676.00 north; 594373.37 east 2021-10-10T19:50:37Z- AHRS_M2 msg: 1633895437.73 epoch sec; seqNo:1253 2021-10-10T19:50:37Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.93 psi 2021-10-10T19:50:37Z- handleDepth()-Depth_Keller msg: 1633895437732 epoch sec; seqNo:1293; depth 49.20 2021-10-10T19:50:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:37Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:37Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:37Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:37Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:37Z- handleDvl() - RDI_Pathfinder msg: 1633895437.73 epoch sec; seqNo:556 2021-10-10T19:50:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.14 , 0.03 2021-10-10T19:50:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895437.75 epoch sec; seqNo:1293; 4061676.38 north; 594373.36 east 2021-10-10T19:50:38Z- AHRS_M2 msg: 1633895438.16 epoch sec; seqNo:1254 2021-10-10T19:50:38Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.93 psi 2021-10-10T19:50:38Z- handleDepth()-Depth_Keller msg: 1633895438168 epoch sec; seqNo:1294; depth 49.22 2021-10-10T19:50:38Z- handleDvl() - RDI_Pathfinder msg: 1633895438.20 epoch sec; seqNo:557 2021-10-10T19:50:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.64 , 41.91 , 33.73 , 34.92 2021-10-10T19:50:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.15 , 0.02 2021-10-10T19:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895438.21 epoch sec; seqNo:1294; 4061676.75 north; 594373.36 east 2021-10-10T19:50:38Z- AHRS_M2 msg: 1633895438.53 epoch sec; seqNo:1255 2021-10-10T19:50:38Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.93 psi 2021-10-10T19:50:38Z- handleDepth()-Depth_Keller msg: 1633895438540 epoch sec; seqNo:1295; depth 49.25 2021-10-10T19:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895438.57 epoch sec; seqNo:1295; 4061677.13 north; 594373.35 east 2021-10-10T19:50:38Z- AHRS_M2 msg: 1633895438.94 epoch sec; seqNo:1256 2021-10-10T19:50:38Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.93 psi 2021-10-10T19:50:38Z- handleDepth()-Depth_Keller msg: 1633895438942 epoch sec; seqNo:1296; depth 49.26 2021-10-10T19:50:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:38Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:38Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:38Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:38Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:38Z- handleDvl() - RDI_Pathfinder msg: 1633895438.94 epoch sec; seqNo:558 2021-10-10T19:50:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.15 , 0.02 2021-10-10T19:50:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895438.96 epoch sec; seqNo:1296; 4061677.13 north; 594373.35 east 2021-10-10T19:50:39Z- AHRS_M2 msg: 1633895439.34 epoch sec; seqNo:1257 2021-10-10T19:50:39Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.94 psi 2021-10-10T19:50:39Z- handleDepth()-Depth_Keller msg: 1633895439347 epoch sec; seqNo:1297; depth 49.29 2021-10-10T19:50:39Z- handleDvl() - RDI_Pathfinder msg: 1633895439.40 epoch sec; seqNo:559 2021-10-10T19:50:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.47 , 41.74 , 33.56 , 34.75 2021-10-10T19:50:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.14 , 0.01 2021-10-10T19:50:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895439.43 epoch sec; seqNo:1297; 4061677.51 north; 594373.35 east 2021-10-10T19:50:39Z- AHRS_M2 msg: 1633895439.74 epoch sec; seqNo:1258 2021-10-10T19:50:39Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.94 psi 2021-10-10T19:50:39Z- handleDepth()-Depth_Keller msg: 1633895439749 epoch sec; seqNo:1298; depth 49.33 2021-10-10T19:50:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895439.77 epoch sec; seqNo:1298; 4061677.89 north; 594373.34 east 2021-10-10T19:50:40Z- AHRS_M2 msg: 1633895440.19 epoch sec; seqNo:1259 2021-10-10T19:50:40Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.94 psi 2021-10-10T19:50:40Z- handleDepth()-Depth_Keller msg: 1633895440194 epoch sec; seqNo:1299; depth 49.33 2021-10-10T19:50:40Z- handleDvl() - RDI_Pathfinder msg: 1633895440.22 epoch sec; seqNo:560 2021-10-10T19:50:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.30 , 41.57 , 33.56 , 34.92 2021-10-10T19:50:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.13 , 0.01 2021-10-10T19:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895440.24 epoch sec; seqNo:1299; 4061678.26 north; 594372.12 east 2021-10-10T19:50:40Z- AHRS_M2 msg: 1633895440.55 epoch sec; seqNo:1260 2021-10-10T19:50:40Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.94 psi 2021-10-10T19:50:40Z- handleDepth()-Depth_Keller msg: 1633895440557 epoch sec; seqNo:1300; depth 49.35 2021-10-10T19:50:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895440.58 epoch sec; seqNo:1300; 4061678.64 north; 594372.12 east 2021-10-10T19:50:40Z- AHRS_M2 msg: 1633895440.96 epoch sec; seqNo:1261 2021-10-10T19:50:40Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.95 psi 2021-10-10T19:50:40Z- handleDepth()-Depth_Keller msg: 1633895440961 epoch sec; seqNo:1301; depth 49.38 2021-10-10T19:50:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895440.99 epoch sec; seqNo:1301; 4061679.01 north; 594372.11 east 2021-10-10T19:50:41Z- AHRS_M2 msg: 1633895441.36 epoch sec; seqNo:1262 2021-10-10T19:50:41Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.95 psi 2021-10-10T19:50:41Z- handleDepth()-Depth_Keller msg: 1633895441365 epoch sec; seqNo:1302; depth 49.39 2021-10-10T19:50:41Z- handleDvl() - RDI_Pathfinder msg: 1633895441.38 epoch sec; seqNo:561 2021-10-10T19:50:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.30 , 41.57 , 33.39 , 34.92 2021-10-10T19:50:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.14 , 0.02 2021-10-10T19:50:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895441.44 epoch sec; seqNo:1302; 4061679.39 north; 594372.11 east 2021-10-10T19:50:41Z- AHRS_M2 msg: 1633895441.77 epoch sec; seqNo:1263 2021-10-10T19:50:41Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.95 psi 2021-10-10T19:50:41Z- handleDepth()-Depth_Keller msg: 1633895441772 epoch sec; seqNo:1303; depth 49.42 2021-10-10T19:50:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895441.79 epoch sec; seqNo:1303; 4061679.39 north; 594372.11 east 2021-10-10T19:50:42Z- LcmTrn::handleMessages() - handling 43 messages took 0.69 ms and 129 calls... 2021-10-10T19:50:42Z- waiting for 1633895439.94, time is 1633895441.79 2021-10-10T19:50:42Z- LcmTrn::updateTrn() >>>> pose time 1633895441.79, meas time 1633895441.38 <<<< 2021-10-10T19:50:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895441.38 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:42Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594372.11, 49.42) 2021-10-10T19:50:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:42Z- TerrainNav:: SubcloudNIS is 1.00, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:42Z- TNavBF::Projecting Measurements 2021-10-10T19:50:42Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:50:42Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:50:42Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:50:42Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:50:42Z- TNavFilter::4 good beams. 2021-10-10T19:50:42Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:42Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:42Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:50:42Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:50:42Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:50:42Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:42Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:42Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:42Z- TerrainMapOctree: (vehN, vehE ) = (4061679.08, 594372.31). 2021-10-10T19:50:42Z- TerrainMapOctree: Min Distance = 141.39. 2021-10-10T19:50:42Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:50:42Z- Forcing Subcloud Comparison 2021-10-10T19:50:42Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:50:42Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:42Z- Filter 0 partialDeltaRmsComputation: 7.370908 terrainVariance: 1.486302 1-SumSquareWeights: 0.975262 2021-10-10T19:50:42Z- Filter 0 meanExpectedMeasDiff: -2.425821 delta_rms_squared: 1.476549 alpha: 0.986636 2021-10-10T19:50:42Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:42Z- Filter 0 partialDeltaRmsComputation: 5.727003 terrainVariance: 0.355720 1-SumSquareWeights: 0.975262 2021-10-10T19:50:42Z- Filter 0 meanExpectedMeasDiff: 2.317603 delta_rms_squared: 0.345967 alpha: 0.945350 2021-10-10T19:50:42Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:42Z- Filter 0 partialDeltaRmsComputation: 4.100333 terrainVariance: 1.157136 1-SumSquareWeights: 0.975262 2021-10-10T19:50:42Z- Filter 0 meanExpectedMeasDiff: -1.715575 delta_rms_squared: 1.147384 alpha: 0.982868 2021-10-10T19:50:42Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:42Z- Filter 0 partialDeltaRmsComputation: 6.915271 terrainVariance: 0.256599 1-SumSquareWeights: 0.975262 2021-10-10T19:50:42Z- Filter 0 meanExpectedMeasDiff: 2.580440 delta_rms_squared: 0.246847 alpha: 0.925051 2021-10-10T19:50:42Z- Filter 0 SubcloudNIS: 0.832033 2021-10-10T19:50:42Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:50:42Z- TNavBF:: Filter 0 sumWeights = 0.074049 2021-10-10T19:50:42Z- Filter 0 NorthBias: 5.5 EastBias: -29.0 DepthBias: -4.1 NorthVariance: 728.3 EastVariance: 159.5 DepthVariance: 1.0 this->DepthBiasCov: 0.5 2021-10-10T19:50:42Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895441.38 sec. 2021-10-10T19:50:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:42Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:42Z- variances([0], [2], and psi_berg) = 727.340454 161.841381 0.000000 2021-10-10T19:50:42Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:42Z- LcmTrn::publishEstimates() - MLE : 4061728.89 594322.61 49.42 2021-10-10T19:50:42Z- LcmTrn::publishEstimates() - MMSE : 4061684.84 594343.13 45.30 2021-10-10T19:50:42Z- LcmTrn::publishEstimates() - COVAR: 727.34 161.84 0.99 0.00 2021-10-10T19:50:42Z- AHRS_M2 msg: 1633895442.21 epoch sec; seqNo:1264 2021-10-10T19:50:42Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.96 psi 2021-10-10T19:50:42Z- handleDepth()-Depth_Keller msg: 1633895442223 epoch sec; seqNo:1304; depth 49.44 2021-10-10T19:50:42Z- handleDvl() - RDI_Pathfinder msg: 1633895442.25 epoch sec; seqNo:562 2021-10-10T19:50:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.13 , 41.06 , 33.56 , 34.92 2021-10-10T19:50:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.15 , 0.01 2021-10-10T19:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895442.27 epoch sec; seqNo:1304; 4061679.77 north; 594372.10 east 2021-10-10T19:50:42Z- handleDepth()-Depth_Keller msg: 1633895442591 epoch sec; seqNo:1305; depth 49.48 2021-10-10T19:50:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:42Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:42Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:42Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:42Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:42Z- handleDvl() - RDI_Pathfinder msg: 1633895442.60 epoch sec; seqNo:563 2021-10-10T19:50:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.15 , 0.01 2021-10-10T19:50:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895442.62 epoch sec; seqNo:1305; 4061680.15 north; 594372.10 east 2021-10-10T19:50:42Z- AHRS_M2 msg: 1633895442.98 epoch sec; seqNo:1265 2021-10-10T19:50:42Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.96 psi 2021-10-10T19:50:42Z- handleDepth()-Depth_Keller msg: 1633895442993 epoch sec; seqNo:1306; depth 49.49 2021-10-10T19:50:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895443.00 epoch sec; seqNo:1306; 4061680.52 north; 594370.87 east 2021-10-10T19:50:43Z- AHRS_M2 msg: 1633895443.39 epoch sec; seqNo:1266 2021-10-10T19:50:43Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.96 psi 2021-10-10T19:50:43Z- handleDepth()-Depth_Keller msg: 1633895443409 epoch sec; seqNo:1307; depth 49.52 2021-10-10T19:50:43Z- handleDvl() - RDI_Pathfinder msg: 1633895443.44 epoch sec; seqNo:564 2021-10-10T19:50:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.13 , 41.57 , 33.56 , 34.92 2021-10-10T19:50:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.16 , 0.01 2021-10-10T19:50:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895443.46 epoch sec; seqNo:1307; 4061680.89 north; 594370.87 east 2021-10-10T19:50:43Z- AHRS_M2 msg: 1633895443.79 epoch sec; seqNo:1267 2021-10-10T19:50:43Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.96 psi 2021-10-10T19:50:43Z- handleDepth()-Depth_Keller msg: 1633895443798 epoch sec; seqNo:1308; depth 49.55 2021-10-10T19:50:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:43Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:43Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:43Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:43Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:43Z- handleDvl() - RDI_Pathfinder msg: 1633895443.80 epoch sec; seqNo:565 2021-10-10T19:50:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.16 , 0.01 2021-10-10T19:50:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895443.82 epoch sec; seqNo:1308; 4061680.89 north; 594370.87 east 2021-10-10T19:50:44Z- AHRS_M2 msg: 1633895444.23 epoch sec; seqNo:1268 2021-10-10T19:50:44Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.97 psi 2021-10-10T19:50:44Z- handleDepth()-Depth_Keller msg: 1633895444246 epoch sec; seqNo:1309; depth 49.56 2021-10-10T19:50:44Z- handleDvl() - RDI_Pathfinder msg: 1633895444.28 epoch sec; seqNo:566 2021-10-10T19:50:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.96 , 41.74 , 33.73 , 34.75 2021-10-10T19:50:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.16 , 0.02 2021-10-10T19:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895444.30 epoch sec; seqNo:1309; 4061681.27 north; 594370.87 east 2021-10-10T19:50:44Z- AHRS_M2 msg: 1633895444.59 epoch sec; seqNo:1269 2021-10-10T19:50:44Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.97 psi 2021-10-10T19:50:44Z- handleDepth()-Depth_Keller msg: 1633895444598 epoch sec; seqNo:1310; depth 49.62 2021-10-10T19:50:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895444.61 epoch sec; seqNo:1310; 4061681.65 north; 594370.86 east 2021-10-10T19:50:45Z- AHRS_M2 msg: 1633895445.01 epoch sec; seqNo:1270 2021-10-10T19:50:45Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.97 psi 2021-10-10T19:50:45Z- handleDepth()-Depth_Keller msg: 1633895445016 epoch sec; seqNo:1311; depth 49.63 2021-10-10T19:50:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895445.03 epoch sec; seqNo:1311; 4061682.03 north; 594370.86 east 2021-10-10T19:50:45Z- AHRS_M2 msg: 1633895445.41 epoch sec; seqNo:1271 2021-10-10T19:50:45Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.97 psi 2021-10-10T19:50:45Z- handleDepth()-Depth_Keller msg: 1633895445431 epoch sec; seqNo:1312; depth 49.66 2021-10-10T19:50:45Z- handleDvl() - RDI_Pathfinder msg: 1633895445.45 epoch sec; seqNo:567 2021-10-10T19:50:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.79 , 40.89 , 33.22 , 34.58 2021-10-10T19:50:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.18 , 0.03 2021-10-10T19:50:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895445.48 epoch sec; seqNo:1312; 4061682.41 north; 594370.85 east 2021-10-10T19:50:45Z- AHRS_M2 msg: 1633895445.81 epoch sec; seqNo:1272 2021-10-10T19:50:45Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.97 psi 2021-10-10T19:50:45Z- handleDepth()-Depth_Keller msg: 1633895445812 epoch sec; seqNo:1313; depth 49.69 2021-10-10T19:50:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895445.83 epoch sec; seqNo:1313; 4061682.78 north; 594369.63 east 2021-10-10T19:50:46Z- AHRS_M2 msg: 1633895446.22 epoch sec; seqNo:1273 2021-10-10T19:50:46Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.97 psi 2021-10-10T19:50:46Z- handleDepth()-Depth_Keller msg: 1633895446234 epoch sec; seqNo:1314; depth 49.73 2021-10-10T19:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895446.29 epoch sec; seqNo:1314; 4061683.15 north; 594369.62 east 2021-10-10T19:50:46Z- AHRS_M2 msg: 1633895446.61 epoch sec; seqNo:1274 2021-10-10T19:50:46Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.98 psi 2021-10-10T19:50:46Z- handleDepth()-Depth_Keller msg: 1633895446618 epoch sec; seqNo:1315; depth 49.74 2021-10-10T19:50:46Z- handleDvl() - RDI_Pathfinder msg: 1633895446.65 epoch sec; seqNo:568 2021-10-10T19:50:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.83 , 40.78 , 33.12 , 34.50 2021-10-10T19:50:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.16 , 0.04 2021-10-10T19:50:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895446.66 epoch sec; seqNo:1315; 4061683.15 north; 594369.62 east 2021-10-10T19:50:47Z- AHRS_M2 msg: 1633895447.02 epoch sec; seqNo:1275 2021-10-10T19:50:47Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.98 psi 2021-10-10T19:50:47Z- handleDepth()-Depth_Keller msg: 1633895447022 epoch sec; seqNo:1316; depth 49.77 2021-10-10T19:50:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895447.05 epoch sec; seqNo:1316; 4061683.53 north; 594369.62 east 2021-10-10T19:50:47Z- LcmTrn::handleMessages() - handling 45 messages took 0.83 ms and 128 calls... 2021-10-10T19:50:47Z- waiting for 1633895444.79, time is 1633895447.05 2021-10-10T19:50:47Z- LcmTrn::updateTrn() >>>> pose time 1633895447.05, meas time 1633895446.65 <<<< 2021-10-10T19:50:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895446.65 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:47Z- TerrainNav::motionUpdate() - currEstimate = (4061684, 594369.62, 49.77) 2021-10-10T19:50:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:47Z- TerrainNav:: SubcloudNIS is 0.83, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:47Z- TNavBF::Projecting Measurements 2021-10-10T19:50:47Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:50:47Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:50:47Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:50:47Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:50:47Z- TNavFilter::4 good beams. 2021-10-10T19:50:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:47Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:47Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:50:47Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:50:47Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:50:47Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:47Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:47Z- TerrainMapOctree: (vehN, vehE ) = (4061683.22, 594369.81). 2021-10-10T19:50:47Z- TerrainMapOctree: Min Distance = 137.16. 2021-10-10T19:50:47Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:50:47Z- Forcing Subcloud Comparison 2021-10-10T19:50:47Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:50:47Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:47Z- Filter 0 partialDeltaRmsComputation: 10.935241 terrainVariance: 1.846554 1-SumSquareWeights: 0.978476 2021-10-10T19:50:47Z- Filter 0 meanExpectedMeasDiff: -3.014745 delta_rms_squared: 1.836769 alpha: 0.989229 2021-10-10T19:50:47Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:47Z- Filter 0 partialDeltaRmsComputation: 8.449724 terrainVariance: 0.581815 1-SumSquareWeights: 0.978476 2021-10-10T19:50:47Z- Filter 0 meanExpectedMeasDiff: 2.804979 delta_rms_squared: 0.572031 alpha: 0.966218 2021-10-10T19:50:47Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:47Z- Filter 0 partialDeltaRmsComputation: 2.139246 terrainVariance: 0.643680 1-SumSquareWeights: 0.978476 2021-10-10T19:50:47Z- Filter 0 meanExpectedMeasDiff: -1.222934 delta_rms_squared: 0.633895 alpha: 0.969414 2021-10-10T19:50:47Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:47Z- Filter 0 partialDeltaRmsComputation: 5.944584 terrainVariance: 0.335835 1-SumSquareWeights: 0.978476 2021-10-10T19:50:47Z- Filter 0 meanExpectedMeasDiff: 2.368280 delta_rms_squared: 0.326051 alpha: 0.942205 2021-10-10T19:50:47Z- Filter 0 SubcloudNIS: 0.976175 2021-10-10T19:50:47Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:50:47Z- TNavBF:: Filter 0 sumWeights = 0.078567 2021-10-10T19:50:47Z- Filter 0 NorthBias: -16.2 EastBias: -21.8 DepthBias: -4.3 NorthVariance: 309.6 EastVariance: 54.5 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-10T19:50:47Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895446.65 sec. 2021-10-10T19:50:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:47Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:47Z- variances([0], [2], and psi_berg) = 309.445985 54.497518 0.000000 2021-10-10T19:50:47Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:47Z- LcmTrn::publishEstimates() - MLE : 4061654.03 594349.12 49.77 2021-10-10T19:50:47Z- LcmTrn::publishEstimates() - MMSE : 4061667.31 594347.84 45.46 2021-10-10T19:50:47Z- LcmTrn::publishEstimates() - COVAR: 309.45 54.50 0.82 0.00 2021-10-10T19:50:47Z- AHRS_M2 msg: 1633895447.42 epoch sec; seqNo:1276 2021-10-10T19:50:47Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.98 psi 2021-10-10T19:50:47Z- handleDepth()-Depth_Keller msg: 1633895447429 epoch sec; seqNo:1317; depth 49.80 2021-10-10T19:50:47Z- handleDvl() - RDI_Pathfinder msg: 1633895447.47 epoch sec; seqNo:569 2021-10-10T19:50:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.67 , 40.63 , 33.12 , 34.34 2021-10-10T19:50:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.16 , 0.05 2021-10-10T19:50:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895447.48 epoch sec; seqNo:1317; 4061683.91 north; 594369.62 east 2021-10-10T19:50:47Z- AHRS_M2 msg: 1633895447.83 epoch sec; seqNo:1277 2021-10-10T19:50:47Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.98 psi 2021-10-10T19:50:47Z- handleDepth()-Depth_Keller msg: 1633895447830 epoch sec; seqNo:1318; depth 49.82 2021-10-10T19:50:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895447.85 epoch sec; seqNo:1318; 4061684.29 north; 594369.61 east 2021-10-10T19:50:48Z- AHRS_M2 msg: 1633895448.23 epoch sec; seqNo:1278 2021-10-10T19:50:48Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.99 psi 2021-10-10T19:50:48Z- handleDepth()-Depth_Keller msg: 1633895448242 epoch sec; seqNo:1319; depth 49.86 2021-10-10T19:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895448.30 epoch sec; seqNo:1319; 4061684.67 north; 594369.61 east 2021-10-10T19:50:48Z- AHRS_M2 msg: 1633895448.63 epoch sec; seqNo:1279 2021-10-10T19:50:48Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.99 psi 2021-10-10T19:50:48Z- handleDepth()-Depth_Keller msg: 1633895448640 epoch sec; seqNo:1320; depth 49.89 2021-10-10T19:50:48Z- handleDvl() - RDI_Pathfinder msg: 1633895448.67 epoch sec; seqNo:570 2021-10-10T19:50:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.52 , 40.17 , 32.97 , 34.34 2021-10-10T19:50:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.14 , 0.05 2021-10-10T19:50:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895448.69 epoch sec; seqNo:1320; 4061685.04 north; 594368.38 east 2021-10-10T19:50:49Z- AHRS_M2 msg: 1633895449.04 epoch sec; seqNo:1280 2021-10-10T19:50:49Z- AHRS_M2 msg: -0.18 phi; -0.06 theta; 5.99 psi 2021-10-10T19:50:49Z- handleDepth()-Depth_Keller msg: 1633895449043 epoch sec; seqNo:1321; depth 49.91 2021-10-10T19:50:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895449.06 epoch sec; seqNo:1321; 4061685.41 north; 594368.38 east 2021-10-10T19:50:49Z- AHRS_M2 msg: 1633895449.45 epoch sec; seqNo:1281 2021-10-10T19:50:49Z- AHRS_M2 msg: -0.18 phi; -0.06 theta; 5.99 psi 2021-10-10T19:50:49Z- handleDepth()-Depth_Keller msg: 1633895449454 epoch sec; seqNo:1322; depth 49.95 2021-10-10T19:50:49Z- handleDvl() - RDI_Pathfinder msg: 1633895449.47 epoch sec; seqNo:571 2021-10-10T19:50:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 40.17 , 32.97 , 34.19 2021-10-10T19:50:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.12 , 0.04 2021-10-10T19:50:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895449.51 epoch sec; seqNo:1322; 4061685.41 north; 594368.38 east 2021-10-10T19:50:49Z- AHRS_M2 msg: 1633895449.84 epoch sec; seqNo:1282 2021-10-10T19:50:49Z- AHRS_M2 msg: -0.18 phi; -0.06 theta; 6.00 psi 2021-10-10T19:50:49Z- handleDepth()-Depth_Keller msg: 1633895449858 epoch sec; seqNo:1323; depth 49.97 2021-10-10T19:50:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:49Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:49Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:49Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:49Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:49Z- handleDvl() - RDI_Pathfinder msg: 1633895449.86 epoch sec; seqNo:572 2021-10-10T19:50:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.12 , 0.04 2021-10-10T19:50:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895449.88 epoch sec; seqNo:1323; 4061685.79 north; 594368.38 east 2021-10-10T19:50:50Z- AHRS_M2 msg: 1633895450.25 epoch sec; seqNo:1283 2021-10-10T19:50:50Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 6.00 psi 2021-10-10T19:50:50Z- handleDepth()-Depth_Keller msg: 1633895450258 epoch sec; seqNo:1324; depth 50.00 2021-10-10T19:50:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895450.33 epoch sec; seqNo:1324; 4061686.17 north; 594368.37 east 2021-10-10T19:50:50Z- AHRS_M2 msg: 1633895450.66 epoch sec; seqNo:1284 2021-10-10T19:50:50Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 6.00 psi 2021-10-10T19:50:50Z- handleDepth()-Depth_Keller msg: 1633895450665 epoch sec; seqNo:1325; depth 50.01 2021-10-10T19:50:50Z- handleDvl() - RDI_Pathfinder msg: 1633895450.69 epoch sec; seqNo:573 2021-10-10T19:50:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 40.32 , 32.97 , 34.34 2021-10-10T19:50:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.12 , 0.03 2021-10-10T19:50:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895450.71 epoch sec; seqNo:1325; 4061686.55 north; 594368.37 east 2021-10-10T19:50:51Z- AHRS_M2 msg: 1633895451.06 epoch sec; seqNo:1285 2021-10-10T19:50:51Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 6.01 psi 2021-10-10T19:50:51Z- handleDepth()-Depth_Keller msg: 1633895451080 epoch sec; seqNo:1326; depth 50.04 2021-10-10T19:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895451.10 epoch sec; seqNo:1326; 4061686.93 north; 594368.36 east 2021-10-10T19:50:51Z- AHRS_M2 msg: 1633895451.46 epoch sec; seqNo:1286 2021-10-10T19:50:51Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 6.01 psi 2021-10-10T19:50:51Z- handleDepth()-Depth_Keller msg: 1633895451466 epoch sec; seqNo:1327; depth 50.06 2021-10-10T19:50:51Z- handleDvl() - RDI_Pathfinder msg: 1633895451.50 epoch sec; seqNo:574 2021-10-10T19:50:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.67 , 40.32 , 32.81 , 33.88 2021-10-10T19:50:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.13 , 0.01 2021-10-10T19:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895451.52 epoch sec; seqNo:1327; 4061687.31 north; 594368.36 east 2021-10-10T19:50:51Z- AHRS_M2 msg: 1633895451.87 epoch sec; seqNo:1287 2021-10-10T19:50:51Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 6.01 psi 2021-10-10T19:50:51Z- handleDepth()-Depth_Keller msg: 1633895451869 epoch sec; seqNo:1328; depth 50.07 2021-10-10T19:50:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895451.88 epoch sec; seqNo:1328; 4061687.31 north; 594368.36 east 2021-10-10T19:50:52Z- AHRS_M2 msg: 1633895452.27 epoch sec; seqNo:1288 2021-10-10T19:50:52Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 6.02 psi 2021-10-10T19:50:52Z- handleDepth()-Depth_Keller msg: 1633895452278 epoch sec; seqNo:1329; depth 50.09 2021-10-10T19:50:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-10T19:50:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-10T19:50:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-10T19:50:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-10T19:50:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-10T19:50:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-10T19:50:52Z- handleDvl() - RDI_Pathfinder msg: 1633895452.29 epoch sec; seqNo:575 2021-10-10T19:50:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-10T19:50:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.13 , 0.01 2021-10-10T19:50:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895452.33 epoch sec; seqNo:1329; 4061687.67 north; 594367.13 east 2021-10-10T19:50:52Z- LcmTrn::handleMessages() - handling 46 messages took 0.81 ms and 129 calls... 2021-10-10T19:50:52Z- waiting for 1633895450.05, time is 1633895452.33 2021-10-10T19:50:52Z- LcmTrn::updateTrn() equating pose 1633895452.33 and meas times 1633895452.33 2021-10-10T19:50:52Z- LcmTrn::updateTrn() >>>> pose time 1633895452.33, meas time 1633895452.33 <<<< 2021-10-10T19:50:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633895452.33, ping # 0. 2021-10-10T19:50:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895452.33 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:52Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594367.13, 50.09) 2021-10-10T19:50:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:52Z- TerrainNav:: SubcloudNIS is 0.98, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:52Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-10T19:50:52Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-10T19:50:52Z- TerrainNav::Measurement type 1 not incorporated from time = 1633895452.33 sec.; No relevant navigation data available 2021-10-10T19:50:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:52Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:52Z- variances([0], [2], and psi_berg) = 308.858383 54.596473 0.000000 2021-10-10T19:50:52Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:52Z- LcmTrn::publishEstimates() - MLE : 4061658.17 594346.63 50.09 2021-10-10T19:50:52Z- LcmTrn::publishEstimates() - MMSE : 4061671.44 594345.36 45.78 2021-10-10T19:50:52Z- LcmTrn::publishEstimates() - COVAR: 308.86 54.60 1.07 0.00 2021-10-10T19:50:52Z- AHRS_M2 msg: 1633895452.68 epoch sec; seqNo:1289 2021-10-10T19:50:52Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 6.02 psi 2021-10-10T19:50:52Z- handleDepth()-Depth_Keller msg: 1633895452681 epoch sec; seqNo:1330; depth 50.12 2021-10-10T19:50:52Z- handleDvl() - RDI_Pathfinder msg: 1633895452.70 epoch sec; seqNo:576 2021-10-10T19:50:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 40.32 , 32.81 , 33.58 2021-10-10T19:50:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.14 , 0.00 2021-10-10T19:50:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895452.72 epoch sec; seqNo:1330; 4061688.05 north; 594367.13 east 2021-10-10T19:50:53Z- AHRS_M2 msg: 1633895453.08 epoch sec; seqNo:1290 2021-10-10T19:50:53Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 6.02 psi 2021-10-10T19:50:53Z- handleDepth()-Depth_Keller msg: 1633895453085 epoch sec; seqNo:1331; depth 50.13 2021-10-10T19:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895453.11 epoch sec; seqNo:1331; 4061688.43 north; 594367.13 east 2021-10-10T19:50:53Z- AHRS_M2 msg: 1633895453.49 epoch sec; seqNo:1291 2021-10-10T19:50:53Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 6.02 psi 2021-10-10T19:50:53Z- handleDepth()-Depth_Keller msg: 1633895453494 epoch sec; seqNo:1332; depth 50.14 2021-10-10T19:50:53Z- handleDvl() - RDI_Pathfinder msg: 1633895453.53 epoch sec; seqNo:577 2021-10-10T19:50:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 40.48 , 32.51 , 33.58 2021-10-10T19:50:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.15 , -0.00 2021-10-10T19:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895453.54 epoch sec; seqNo:1332; 4061688.81 north; 594367.12 east 2021-10-10T19:50:53Z- AHRS_M2 msg: 1633895453.89 epoch sec; seqNo:1292 2021-10-10T19:50:53Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 6.03 psi 2021-10-10T19:50:53Z- handleDepth()-Depth_Keller msg: 1633895453891 epoch sec; seqNo:1333; depth 50.19 2021-10-10T19:50:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895453.91 epoch sec; seqNo:1333; 4061689.19 north; 594367.12 east 2021-10-10T19:50:54Z- AHRS_M2 msg: 1633895454.29 epoch sec; seqNo:1293 2021-10-10T19:50:54Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 6.03 psi 2021-10-10T19:50:54Z- handleDepth()-Depth_Keller msg: 1633895454299 epoch sec; seqNo:1334; depth 50.20 2021-10-10T19:50:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895454.32 epoch sec; seqNo:1334; 4061689.57 north; 594367.11 east 2021-10-10T19:50:54Z- AHRS_M2 msg: 1633895454.69 epoch sec; seqNo:1294 2021-10-10T19:50:54Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 6.03 psi 2021-10-10T19:50:54Z- handleDepth()-Depth_Keller msg: 1633895454704 epoch sec; seqNo:1335; depth 50.21 2021-10-10T19:50:54Z- handleDvl() - RDI_Pathfinder msg: 1633895454.74 epoch sec; seqNo:578 2021-10-10T19:50:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 40.32 , 32.20 , 32.81 2021-10-10T19:50:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.16 , 0.01 2021-10-10T19:50:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895454.75 epoch sec; seqNo:1335; 4061689.57 north; 594367.11 east 2021-10-10T19:50:55Z- AHRS_M2 msg: 1633895455.10 epoch sec; seqNo:1295 2021-10-10T19:50:55Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 6.03 psi 2021-10-10T19:50:55Z- handleDepth()-Depth_Keller msg: 1633895455108 epoch sec; seqNo:1336; depth 50.24 2021-10-10T19:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895455.12 epoch sec; seqNo:1336; 4061689.95 north; 594367.11 east 2021-10-10T19:50:55Z- AHRS_M2 msg: 1633895455.51 epoch sec; seqNo:1296 2021-10-10T19:50:55Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 6.04 psi 2021-10-10T19:50:55Z- handleDepth()-Depth_Keller msg: 1633895455519 epoch sec; seqNo:1337; depth 50.26 2021-10-10T19:50:55Z- handleDvl() - RDI_Pathfinder msg: 1633895455.54 epoch sec; seqNo:579 2021-10-10T19:50:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 40.02 , 31.89 , 32.66 2021-10-10T19:50:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.16 , 0.01 2021-10-10T19:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895455.57 epoch sec; seqNo:1337; 4061690.31 north; 594365.88 east 2021-10-10T19:50:55Z- AHRS_M2 msg: 1633895455.90 epoch sec; seqNo:1297 2021-10-10T19:50:55Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 6.04 psi 2021-10-10T19:50:55Z- handleDepth()-Depth_Keller msg: 1633895455909 epoch sec; seqNo:1338; depth 50.27 2021-10-10T19:50:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895455.93 epoch sec; seqNo:1338; 4061690.69 north; 594365.88 east 2021-10-10T19:50:56Z- AHRS_M2 msg: 1633895456.31 epoch sec; seqNo:1298 2021-10-10T19:50:56Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 6.04 psi 2021-10-10T19:50:56Z- handleDepth()-Depth_Keller msg: 1633895456324 epoch sec; seqNo:1339; depth 50.29 2021-10-10T19:50:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895456.34 epoch sec; seqNo:1339; 4061691.07 north; 594365.88 east 2021-10-10T19:50:56Z- AHRS_M2 msg: 1633895456.71 epoch sec; seqNo:1299 2021-10-10T19:50:56Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 6.04 psi 2021-10-10T19:50:56Z- handleDepth()-Depth_Keller msg: 1633895456724 epoch sec; seqNo:1340; depth 50.29 2021-10-10T19:50:56Z- handleDvl() - RDI_Pathfinder msg: 1633895456.75 epoch sec; seqNo:580 2021-10-10T19:50:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 40.17 , 31.58 , 32.35 2021-10-10T19:50:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.16 , 0.02 2021-10-10T19:50:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895456.77 epoch sec; seqNo:1340; 4061691.45 north; 594365.87 east 2021-10-10T19:50:57Z- AHRS_M2 msg: 1633895457.12 epoch sec; seqNo:1300 2021-10-10T19:50:57Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 6.04 psi 2021-10-10T19:50:57Z- handleDepth()-Depth_Keller msg: 1633895457122 epoch sec; seqNo:1341; depth 50.33 2021-10-10T19:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895457.14 epoch sec; seqNo:1341; 4061691.83 north; 594365.87 east 2021-10-10T19:50:57Z- AHRS_M2 msg: 1633895457.53 epoch sec; seqNo:1301 2021-10-10T19:50:57Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 6.05 psi 2021-10-10T19:50:57Z- LcmTrn::handleMessages() - handling 42 messages took 0.81 ms and 125 calls... 2021-10-10T19:50:57Z- waiting for 1633895455.33, time is 1633895457.53 2021-10-10T19:50:57Z- LcmTrn::updateTrn() >>>> pose time 1633895457.53, meas time 1633895456.75 <<<< 2021-10-10T19:50:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895456.75 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:50:57Z- TerrainNav::motionUpdate() - currEstimate = (4061692, 594365.87, 50.33) 2021-10-10T19:50:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:50:57Z- TerrainNav:: SubcloudNIS is 0.98, in allowable region under 1.40. Keep on Trucking. 2021-10-10T19:50:57Z- TNavBF::Projecting Measurements 2021-10-10T19:50:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-10T19:50:57Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-10T19:50:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-10T19:50:57Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-10T19:50:57Z- TNavFilter::4 good beams. 2021-10-10T19:50:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-10T19:50:57Z- TNavBF:: beamIndex[0] = 0 2021-10-10T19:50:57Z- TNavBF:: beamIndex[1] = 1 2021-10-10T19:50:57Z- TNavBF:: beamIndex[2] = 2 2021-10-10T19:50:57Z- TNavBF:: beamIndex[3] = 3 2021-10-10T19:50:57Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-10T19:50:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-10T19:50:57Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:57Z- TerrainMapOctree: (vehN, vehE ) = (4061691.21, 594366.06). 2021-10-10T19:50:57Z- TerrainMapOctree: Min Distance = 130.10. 2021-10-10T19:50:57Z- TerrainMapOctree: Using tile 4. 2021-10-10T19:50:57Z- Forcing Subcloud Comparison 2021-10-10T19:50:57Z- Filter 0 deapthBias would have been set to Nan. indexP: 9119 indexM: 0 2021-10-10T19:50:57Z- Old Depth Bias: -2.47 DepthBiasCov: 0.86 K: 0.223 ExpectedMeasDiff: nan currMeas.covariance: 1.27 2021-10-10T19:50:57Z- Filter 0 Weighting particles with subcloud comparison 2021-10-10T19:50:57Z- Filter 0 beam number: 0 num in subcloud: 9997 num not in subcloud: 3 2021-10-10T19:50:57Z- Filter 0 partialDeltaRmsComputation: 4.907501 terrainVariance: 0.777899 1-SumSquareWeights: 0.980839 2021-10-10T19:50:57Z- Filter 0 meanExpectedMeasDiff: -2.032142 delta_rms_squared: 0.768090 alpha: 0.974622 2021-10-10T19:50:57Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:57Z- Filter 0 partialDeltaRmsComputation: 20.654592 terrainVariance: 0.826456 1-SumSquareWeights: 0.980839 2021-10-10T19:50:57Z- Filter 0 meanExpectedMeasDiff: 4.452880 delta_rms_squared: 0.816648 alpha: 0.976095 2021-10-10T19:50:57Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:57Z- Filter 0 partialDeltaRmsComputation: 12.191363 terrainVariance: 2.112677 1-SumSquareWeights: 0.980839 2021-10-10T19:50:57Z- Filter 0 meanExpectedMeasDiff: -3.174695 delta_rms_squared: 2.102868 alpha: 0.990579 2021-10-10T19:50:57Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-10T19:50:57Z- Filter 0 partialDeltaRmsComputation: 2.361578 terrainVariance: 0.804822 1-SumSquareWeights: 0.980839 2021-10-10T19:50:57Z- Filter 0 meanExpectedMeasDiff: 1.247701 delta_rms_squared: 0.795013 alpha: 0.975461 2021-10-10T19:50:57Z- Filter 0 SubcloudNIS: 1.400647 2021-10-10T19:50:57Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-10T19:50:57Z- TNavBF:: Filter 0 sumWeights = 0.023057 2021-10-10T19:50:57Z- Filter 0 NorthBias: -26.5 EastBias: -18.1 DepthBias: -4.6 NorthVariance: 100.0 EastVariance: 46.7 DepthVariance: 0.7 this->DepthBiasCov: 0.4 2021-10-10T19:50:57Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633895456.75 sec. 2021-10-10T19:50:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-10T19:50:57Z- TNavBF::mmse selected from filter -1 2021-10-10T19:50:57Z- variances([0], [2], and psi_berg) = 100.035103 46.636921 0.000000 2021-10-10T19:50:57Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-10T19:50:57Z- LcmTrn::publishEstimates() - MLE : 4061662.33 594345.37 50.33 2021-10-10T19:50:57Z- LcmTrn::publishEstimates() - MMSE : 4061665.28 594347.78 45.77 2021-10-10T19:50:57Z- LcmTrn::publishEstimates() - COVAR: 100.04 46.64 0.71 0.00 2021-10-10T19:50:57Z- handleDepth()-Depth_Keller msg: 1633895457535 epoch sec; seqNo:1342; depth 50.33 2021-10-10T19:50:57Z- handleDvl() - RDI_Pathfinder msg: 1633895457.56 epoch sec; seqNo:581 2021-10-10T19:50:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.83 , 40.02 , 31.43 , 32.04 2021-10-10T19:50:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.17 , 0.03 2021-10-10T19:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895457.59 epoch sec; seqNo:1342; 4061692.21 north; 594365.86 east 2021-10-10T19:50:57Z- AHRS_M2 msg: 1633895457.92 epoch sec; seqNo:1302 2021-10-10T19:50:57Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 6.05 psi 2021-10-10T19:50:57Z- handleDepth()-Depth_Keller msg: 1633895457931 epoch sec; seqNo:1343; depth 50.36 2021-10-10T19:50:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895457.95 epoch sec; seqNo:1343; 4061692.21 north; 594365.86 east 2021-10-10T19:50:58Z- AHRS_M2 msg: 1633895458.33 epoch sec; seqNo:1303 2021-10-10T19:50:58Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 6.05 psi 2021-10-10T19:50:58Z- handleDepth()-Depth_Keller msg: 1633895458333 epoch sec; seqNo:1344; depth 50.38 2021-10-10T19:50:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895458.35 epoch sec; seqNo:1344; 4061692.59 north; 594365.86 east 2021-10-10T19:50:58Z- AHRS_M2 msg: 1633895458.74 epoch sec; seqNo:1304 2021-10-10T19:50:58Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 6.05 psi 2021-10-10T19:50:58Z- handleDepth()-Depth_Keller msg: 1633895458752 epoch sec; seqNo:1345; depth 50.38 2021-10-10T19:50:58Z- handleDvl() - RDI_Pathfinder msg: 1633895458.77 epoch sec; seqNo:582 2021-10-10T19:50:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 39.71 , 31.58 , 32.04 2021-10-10T19:50:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.17 , 0.03 2021-10-10T19:50:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895458.81 epoch sec; seqNo:1345; 4061692.95 north; 594364.64 east 2021-10-10T19:50:59Z- AHRS_M2 msg: 1633895459.14 epoch sec; seqNo:1305 2021-10-10T19:50:59Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 6.06 psi 2021-10-10T19:50:59Z- handleDepth()-Depth_Keller msg: 1633895459141 epoch sec; seqNo:1346; depth 50.41 2021-10-10T19:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895459.17 epoch sec; seqNo:1346; 4061693.33 north; 594364.63 east 2021-10-10T19:50:59Z- AHRS_M2 msg: 1633895459.54 epoch sec; seqNo:1306 2021-10-10T19:50:59Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 6.06 psi 2021-10-10T19:50:59Z- handleDepth()-Depth_Keller msg: 1633895459546 epoch sec; seqNo:1347; depth 50.42 2021-10-10T19:50:59Z- handleDvl() - RDI_Pathfinder msg: 1633895459.58 epoch sec; seqNo:583 2021-10-10T19:50:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.28 , 39.25 , 31.58 , 31.89 2021-10-10T19:50:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.15 , 0.04 2021-10-10T19:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895459.60 epoch sec; seqNo:1347; 4061693.71 north; 594364.63 east 2021-10-10T19:50:59Z- AHRS_M2 msg: 1633895459.94 epoch sec; seqNo:1307 2021-10-10T19:50:59Z- AHRS_M2 msg: -0.17 phi; -0.02 theta; 6.06 psi 2021-10-10T19:50:59Z- handleDepth()-Depth_Keller msg: 1633895459960 epoch sec; seqNo:1348; depth 50.43 2021-10-10T19:50:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895459.98 epoch sec; seqNo:1348; 4061694.09 north; 594364.62 east 2021-10-10T19:51:00Z- AHRS_M2 msg: 1633895460.35 epoch sec; seqNo:1308 2021-10-10T19:51:00Z- AHRS_M2 msg: -0.17 phi; -0.02 theta; 6.06 psi 2021-10-10T19:51:00Z- handleDepth()-Depth_Keller msg: 1633895460353 epoch sec; seqNo:1349; depth 50.44 2021-10-10T19:51:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895460.38 epoch sec; seqNo:1349; 4061694.47 north; 594364.62 east 2021-10-10T19:51:00Z- AHRS_M2 msg: 1633895460.76 epoch sec; seqNo:1309 2021-10-10T19:51:00Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.07 psi 2021-10-10T19:51:00Z- handleDepth()-Depth_Keller msg: 1633895460769 epoch sec; seqNo:1350; depth 50.47 2021-10-10T19:51:00Z- handleDvl() - RDI_Pathfinder msg: 1633895460.80 epoch sec; seqNo:584 2021-10-10T19:51:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.59 , 39.10 , 32.04 , 31.74 2021-10-10T19:51:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.15 , 0.04 2021-10-10T19:51:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895460.84 epoch sec; seqNo:1350; 4061694.85 north; 594364.61 east 2021-10-10T19:51:01Z- AHRS_M2 msg: 1633895461.16 epoch sec; seqNo:1310 2021-10-10T19:51:01Z- AHRS_M2 msg: -0.17 phi; -0.01 theta; 6.07 psi 2021-10-10T19:51:01Z- handleDepth()-Depth_Keller msg: 1633895461170 epoch sec; seqNo:1351; depth 50.48 2021-10-10T19:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895461.19 epoch sec; seqNo:1351; 4061694.85 north; 594364.61 east 2021-10-10T19:51:01Z- AHRS_M2 msg: 1633895461.56 epoch sec; seqNo:1311 2021-10-10T19:51:01Z- AHRS_M2 msg: -0.17 phi; -0.01 theta; 6.08 psi 2021-10-10T19:51:01Z- handleDepth()-Depth_Keller msg: 1633895461572 epoch sec; seqNo:1352; depth 50.49 2021-10-10T19:51:01Z- handleDvl() - RDI_Pathfinder msg: 1633895461.59 epoch sec; seqNo:585 2021-10-10T19:51:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.13 , 38.94 , 31.89 , 31.28 2021-10-10T19:51:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.14 , 0.04 2021-10-10T19:51:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895461.61 epoch sec; seqNo:1352; 4061695.22 north; 594364.61 east 2021-10-10T19:51:01Z- AHRS_M2 msg: 1633895461.96 epoch sec; seqNo:1312 2021-10-10T19:51:01Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.08 psi 2021-10-10T19:51:01Z- handleDepth()-Depth_Keller msg: 1633895461970 epoch sec; seqNo:1353; depth 50.50 2021-10-10T19:51:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895461.99 epoch sec; seqNo:1353; 4061695.60 north; 594364.61 east 2021-10-10T19:51:02Z- AHRS_M2 msg: 1633895462.37 epoch sec; seqNo:1313 2021-10-10T19:51:02Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.08 psi 2021-10-10T19:51:02Z- handleDepth()-Depth_Keller msg: 1633895462381 epoch sec; seqNo:1354; depth 50.50 2021-10-10T19:51:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633895462.39 epoch sec; seqNo:1354; 4061695.98 north; 594364.60 east 2021-10-10T19:51:02Z- LcmTrn::handleMessages() - handling 43 messages took 0.68 ms and 129 calls... 2021-10-10T19:51:02Z- waiting for 1633895460.53, time is 1633895462.39 2021-10-10T19:51:02Z- LcmTrn::updateTrn() >>>> pose time 1633895462.39, meas time 1633895461.59 <<<< 2021-10-10T19:51:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633895461.59 sec, ping # 0; waiting for more recent INS data... 2021-10-10T19:51:02Z- TerrainNav::motionUpdate() - currEstimate = (4061696, 594364.60, 50.50) 2021-10-10T19:51:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-10T19:51:02Z- TerrainNav:: SubcloudNIS of 1.40 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-10T19:51:02Z- reinitFilter: getDistribToSave == 0 2021-10-10T19:51:02Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-10T19:51:02Z- parseSensorSpecs parsing sensor of type 1. 2021-10-10T19:51:02Z- Sensor 0 is of type 1. 2021-10-10T19:51:02Z- parseSensorSpecs parsing sensor of type 2. 2021-10-10T19:51:02Z- Sensor 1 is of type 2. 2021-10-10T19:51:02Z- parseSensorSpecs parsing sensor of type 5. 2021-10-10T19:51:02Z- Sensor 2 is of type 5. 2021-10-10T19:51:02Z- Random noise maker initialized with 1633895462 2021-10-10T19:51:02Z- setDistribToSave(0) 2021-10-10T19:51:02Z- setDistribToSave set to 0 2021-10-10T19:51:02Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-10T19:51:02Z- Sensor #1: 2021-10-10T19:51:02Z- Sensor name: rdiDVL 2021-10-10T19:51:02Z- Sensor type: 1 2021-10-10T19:51:02Z- Number of beams per measurement: 4 2021-10-10T19:51:02Z- Sensor #1 to vehicle transformation information: 2021-10-10T19:51:02Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:51:02Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:51:02Z- 2021-10-10T19:51:02Z- Sensor #2: 2021-10-10T19:51:02Z- Sensor name: resonSeabat8101 2021-10-10T19:51:02Z- Sensor type: 2 2021-10-10T19:51:02Z- Number of beams per measurement: 11 2021-10-10T19:51:02Z- Sensor #2 to vehicle transformation information: 2021-10-10T19:51:02Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:51:02Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:51:02Z- 2021-10-10T19:51:02Z- Sensor #3: 2021-10-10T19:51:02Z- Sensor name: imagenexdeltat 2021-10-10T19:51:02Z- Sensor type: 5 2021-10-10T19:51:02Z- Number of beams per measurement: 120 2021-10-10T19:51:02Z- Sensor #3 to vehicle transformation information: 2021-10-10T19:51:02Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-10T19:51:02Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-10T19:51:02Z- 2021-10-10T19:51:02Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-10T19:51:02Z- TerrainNav::TNavFilter initialized with type 3 2021-10-10T19:51:02Z- TNavBF::setModifiedWeighting umw: 4 2021-10-10T19:51:02Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-10T19:51:02Z- TNavBF::numFilters: 1