2021-10-11T01:15:50Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-11T01:15:50Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-11T01:15:50Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2021-10-11T01:15:50Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2021-10-11T01:15:50Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2021-10-11T01:15:50Z* depth config: Depth_Keller, depth, sea_water_pressure 2021-10-11T01:15:50Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2021-10-11T01:15:50Z* LCM timeout=5.00 sec 2021-10-11T01:15:50Z* TRN settings: 2021-10-11T01:15:50Z* period=3.00 sec 2021-10-11T01:15:50Z* coherence=2.00 sec 2021-10-11T01:15:50Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2021-10-11T01:15:50Z* maptype = 2 filtertype = 3 weighting = 0 2021-10-11T01:15:50Z* lowgrade_filter = 1 allow reinit = 1 2021-10-11T01:15:50Z* cmd_estimate = cmd_estimate cmd_reinit = cmd_reinit 2021-10-11T01:15:50Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-11T01:15:50Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-11T01:15:50Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-11T01:15:50Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-11T01:15:50Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2021-10-11T01:15:50Z* TerrainMapOctree::numTiles_ = 9. 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2021-10-11T01:15:50Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2021-10-11T01:15:51Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.497262 seconds. 2021-10-11T01:15:51Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.61 2021-10-11T01:15:51Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.61 OK 2021-10-11T01:15:51Z* parseSensorSpecs parsing sensor of type 1. 2021-10-11T01:15:51Z* Sensor 0 is of type 1. 2021-10-11T01:15:51Z* parseSensorSpecs parsing sensor of type 2. 2021-10-11T01:15:51Z* Sensor 1 is of type 2. 2021-10-11T01:15:51Z* parseSensorSpecs parsing sensor of type 5. 2021-10-11T01:15:51Z* Sensor 2 is of type 5. 2021-10-11T01:15:51Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x557977c8d0] 2021-10-11T01:15:51Z- TNavConfig::setParticlesFile: value is now particles.cfg 2021-10-11T01:15:51Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2021-10-11T01:15:51Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-11T01:15:51Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2021-10-11T01:15:51Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.61 2021-10-11T01:15:51Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-11T01:15:51Z- parseSensorSpecs parsing sensor of type 1. 2021-10-11T01:15:51Z- Sensor 0 is of type 1. 2021-10-11T01:15:51Z- parseSensorSpecs parsing sensor of type 2. 2021-10-11T01:15:51Z- Sensor 1 is of type 2. 2021-10-11T01:15:51Z- parseSensorSpecs parsing sensor of type 5. 2021-10-11T01:15:51Z- Sensor 2 is of type 5. 2021-10-11T01:15:51Z- Random noise maker initialized with 1633914951 2021-10-11T01:15:51Z- setDistribToSave(0) 2021-10-11T01:15:51Z- setDistribToSave set to 0 2021-10-11T01:15:51Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-11T01:15:51Z- Sensor #1: 2021-10-11T01:15:51Z- Sensor name: rdiDVL 2021-10-11T01:15:51Z- Sensor type: 1 2021-10-11T01:15:51Z- Number of beams per measurement: 4 2021-10-11T01:15:51Z- Sensor #1 to vehicle transformation information: 2021-10-11T01:15:51Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:15:51Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:15:51Z- 2021-10-11T01:15:51Z- Sensor #2: 2021-10-11T01:15:51Z- Sensor name: resonSeabat8101 2021-10-11T01:15:51Z- Sensor type: 2 2021-10-11T01:15:51Z- Number of beams per measurement: 11 2021-10-11T01:15:51Z- Sensor #2 to vehicle transformation information: 2021-10-11T01:15:51Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:15:51Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:15:51Z- 2021-10-11T01:15:51Z- Sensor #3: 2021-10-11T01:15:51Z- Sensor name: imagenexdeltat 2021-10-11T01:15:51Z- Sensor type: 5 2021-10-11T01:15:51Z- Number of beams per measurement: 120 2021-10-11T01:15:51Z- Sensor #3 to vehicle transformation information: 2021-10-11T01:15:51Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:15:51Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:15:51Z- 2021-10-11T01:15:51Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-11T01:15:51Z- TerrainNav::TNavFilter initialized with type 3 2021-10-11T01:15:51Z- TerrainNav::initVariables finished. 2021-10-11T01:15:51Z- TerrainNav::Constructor finished. 2021-10-11T01:15:51Z- TNavBF::setModifiedWeighting umw: 4 2021-10-11T01:15:51Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-11T01:15:51Z- TNavBF::numFilters: 1 2021-10-11T01:15:51Z- TerrainNav::modified weighting set to 0 2021-10-11T01:15:51Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2021-10-11T01:15:51Z- LcmTrn::run() 2021-10-11T01:15:51Z- AHRS_M2 msg: 1633914948.24 epoch sec; seqNo:205 2021-10-11T01:15:51Z- AHRS_M2 msg: -0.10 phi; 0.10 theta; 5.28 psi 2021-10-11T01:15:51Z- handleDepth()-Depth_Keller msg: 1633914948257 epoch sec; seqNo:210; depth 0.02 2021-10-11T01:15:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:15:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:15:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:15:51Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:15:51Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:15:51Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:15:51Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:15:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:15:51Z- handleDvl() - RDI_Pathfinder msg: 1633914948.26 epoch sec; seqNo:49 2021-10-11T01:15:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:15:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , 0.00 , 0.00 2021-10-11T01:15:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914948.28 epoch sec; seqNo:210; 4061688.43 north; 594573.39 east 2021-10-11T01:15:52Z- AHRS_M2 msg: 1633914948.64 epoch sec; seqNo:206 2021-10-11T01:15:52Z- AHRS_M2 msg: -0.08 phi; 0.11 theta; 5.30 psi 2021-10-11T01:15:52Z- handleDepth()-Depth_Keller msg: 1633914948644 epoch sec; seqNo:211; depth 0.03 2021-10-11T01:15:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914948.70 epoch sec; seqNo:211; 4061688.81 north; 594573.38 east 2021-10-11T01:15:52Z- handleDepth()-Depth_Keller msg: 1633914949072 epoch sec; seqNo:212; depth 0.04 2021-10-11T01:15:52Z- handleDvl() - RDI_Pathfinder msg: 1633914949.12 epoch sec; seqNo:50 2021-10-11T01:15:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:15:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-11T01:15:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914949.17 epoch sec; seqNo:212; 4061688.81 north; 594573.38 east 2021-10-11T01:15:52Z- AHRS_M2 msg: 1633914949.44 epoch sec; seqNo:207 2021-10-11T01:15:52Z- AHRS_M2 msg: -0.01 phi; -0.05 theta; 5.25 psi 2021-10-11T01:15:52Z- handleDepth()-Depth_Keller msg: 1633914949452 epoch sec; seqNo:213; depth 0.04 2021-10-11T01:15:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914949.49 epoch sec; seqNo:213; 4061689.19 north; 594573.38 east 2021-10-11T01:15:53Z- AHRS_M2 msg: 1633914949.85 epoch sec; seqNo:208 2021-10-11T01:15:53Z- AHRS_M2 msg: -0.03 phi; -0.05 theta; 5.20 psi 2021-10-11T01:15:53Z- handleDepth()-Depth_Keller msg: 1633914949860 epoch sec; seqNo:214; depth 0.02 2021-10-11T01:15:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914949.88 epoch sec; seqNo:214; 4061689.18 north; 594572.16 east 2021-10-11T01:15:53Z- AHRS_M2 msg: 1633914950.25 epoch sec; seqNo:209 2021-10-11T01:15:53Z- AHRS_M2 msg: 0.04 phi; -0.01 theta; 5.17 psi 2021-10-11T01:15:53Z- handleDepth()-Depth_Keller msg: 1633914950270 epoch sec; seqNo:215; depth -0.04 2021-10-11T01:15:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914950.29 epoch sec; seqNo:215; 4061689.56 north; 594572.15 east 2021-10-11T01:15:54Z- AHRS_M2 msg: 1633914950.66 epoch sec; seqNo:210 2021-10-11T01:15:54Z- AHRS_M2 msg: 0.11 phi; -0.04 theta; 5.16 psi 2021-10-11T01:15:54Z- handleDepth()-Depth_Keller msg: 1633914950664 epoch sec; seqNo:216; depth -0.01 2021-10-11T01:15:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914950.69 epoch sec; seqNo:216; 4061689.56 north; 594572.15 east 2021-10-11T01:15:54Z- handleDepth()-Depth_Keller msg: 1633914951104 epoch sec; seqNo:217; depth 0.04 2021-10-11T01:15:54Z- handleDvl() - RDI_Pathfinder msg: 1633914951.16 epoch sec; seqNo:51 2021-10-11T01:15:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 0.00 , 97.88 , 86.86 , 86.86 2021-10-11T01:15:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.26 , -0.25 , -0.09 2021-10-11T01:15:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914951.20 epoch sec; seqNo:217; 4061689.56 north; 594572.15 east 2021-10-11T01:15:54Z- AHRS_M2 msg: 1633914951.47 epoch sec; seqNo:211 2021-10-11T01:15:54Z- AHRS_M2 msg: -0.08 phi; 0.06 theta; 5.16 psi 2021-10-11T01:15:54Z- handleDepth()-Depth_Keller msg: 1633914951474 epoch sec; seqNo:218; depth 0.04 2021-10-11T01:15:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914951.51 epoch sec; seqNo:218; 4061689.56 north; 594572.15 east 2021-10-11T01:15:55Z- AHRS_M2 msg: 1633914951.87 epoch sec; seqNo:212 2021-10-11T01:15:55Z- AHRS_M2 msg: -0.25 phi; -0.01 theta; 5.09 psi 2021-10-11T01:15:55Z- handleDepth()-Depth_Keller msg: 1633914951876 epoch sec; seqNo:219; depth 0.06 2021-10-11T01:15:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914951.89 epoch sec; seqNo:219; 4061689.56 north; 594572.15 east 2021-10-11T01:15:55Z- AHRS_M2 msg: 1633914952.28 epoch sec; seqNo:213 2021-10-11T01:15:55Z- AHRS_M2 msg: -0.37 phi; -0.07 theta; 5.05 psi 2021-10-11T01:15:55Z- handleDepth()-Depth_Keller msg: 1633914952282 epoch sec; seqNo:220; depth 0.03 2021-10-11T01:15:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914952.32 epoch sec; seqNo:220; 4061689.16 north; 594570.94 east 2021-10-11T01:15:56Z- AHRS_M2 msg: 1633914952.68 epoch sec; seqNo:214 2021-10-11T01:15:56Z- AHRS_M2 msg: -0.40 phi; -0.05 theta; 5.05 psi 2021-10-11T01:15:56Z- handleDepth()-Depth_Keller msg: 1633914952683 epoch sec; seqNo:221; depth -0.01 2021-10-11T01:15:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914952.71 epoch sec; seqNo:221; 4061689.16 north; 594570.94 east 2021-10-11T01:15:56Z- LcmTrn::handleMessages() - handling 37 messages took 0.66 ms and 124 calls... 2021-10-11T01:15:56Z- waiting for 2.00, time is 1633914952.71 2021-10-11T01:15:56Z- LcmTrn::updateTrn() >>>> pose time 1633914952.71, meas time 1633914951.16 <<<< 2021-10-11T01:15:56Z- TerrainNav::Measurement type 1 from time = 1633914951.16 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-11T01:15:56Z- TerrainNav::motionUpdate() - currEstimate = (4061689, 594570.94, -0.01) 2021-10-11T01:15:56Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-11T01:15:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:15:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:15:56Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:15:56Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-11T01:15:56Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-11T01:15:56Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-11T01:15:56Z- handleDepth()-Depth_Keller msg: 1633914953140 epoch sec; seqNo:222; depth -0.00 2021-10-11T01:15:56Z- handleDvl() - RDI_Pathfinder msg: 1633914953.18 epoch sec; seqNo:52 2021-10-11T01:15:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.30 , 118.69 , 90.54 , 101.56 2021-10-11T01:15:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.76 , -0.36 2021-10-11T01:15:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914953.21 epoch sec; seqNo:222; 4061688.79 north; 594570.94 east 2021-10-11T01:15:56Z- AHRS_M2 msg: 1633914953.49 epoch sec; seqNo:215 2021-10-11T01:15:56Z- AHRS_M2 msg: 0.08 phi; 0.02 theta; 5.04 psi 2021-10-11T01:15:56Z- handleDepth()-Depth_Keller msg: 1633914953494 epoch sec; seqNo:223; depth 0.05 2021-10-11T01:15:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914953.52 epoch sec; seqNo:223; 4061688.79 north; 594570.94 east 2021-10-11T01:15:57Z- AHRS_M2 msg: 1633914953.89 epoch sec; seqNo:216 2021-10-11T01:15:57Z- AHRS_M2 msg: 0.22 phi; -0.02 theta; 5.00 psi 2021-10-11T01:15:57Z- handleDepth()-Depth_Keller msg: 1633914953898 epoch sec; seqNo:224; depth 0.07 2021-10-11T01:15:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914953.92 epoch sec; seqNo:224; 4061688.79 north; 594570.94 east 2021-10-11T01:15:57Z- AHRS_M2 msg: 1633914954.29 epoch sec; seqNo:217 2021-10-11T01:15:57Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 4.98 psi 2021-10-11T01:15:57Z- handleDepth()-Depth_Keller msg: 1633914954298 epoch sec; seqNo:225; depth 0.09 2021-10-11T01:15:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914954.31 epoch sec; seqNo:225; 4061688.39 north; 594569.73 east 2021-10-11T01:15:58Z- AHRS_M2 msg: 1633914954.70 epoch sec; seqNo:218 2021-10-11T01:15:58Z- AHRS_M2 msg: -0.01 phi; -0.03 theta; 4.93 psi 2021-10-11T01:15:58Z- handleDepth()-Depth_Keller msg: 1633914954713 epoch sec; seqNo:226; depth 0.03 2021-10-11T01:15:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914954.75 epoch sec; seqNo:226; 4061688.01 north; 594569.73 east 2021-10-11T01:15:58Z- handleDepth()-Depth_Keller msg: 1633914955148 epoch sec; seqNo:227; depth -0.02 2021-10-11T01:15:58Z- handleDvl() - RDI_Pathfinder msg: 1633914955.18 epoch sec; seqNo:53 2021-10-11T01:15:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.49 , 78.38 , 87.89 , 97.41 2021-10-11T01:15:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.16 , -0.14 2021-10-11T01:15:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914955.20 epoch sec; seqNo:227; 4061688.01 north; 594569.73 east 2021-10-11T01:15:58Z- AHRS_M2 msg: 1633914955.51 epoch sec; seqNo:219 2021-10-11T01:15:58Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 4.93 psi 2021-10-11T01:15:58Z- handleDepth()-Depth_Keller msg: 1633914955512 epoch sec; seqNo:228; depth 0.00 2021-10-11T01:15:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914955.55 epoch sec; seqNo:228; 4061688.01 north; 594569.73 east 2021-10-11T01:15:59Z- AHRS_M2 msg: 1633914955.91 epoch sec; seqNo:220 2021-10-11T01:15:59Z- AHRS_M2 msg: -0.06 phi; 0.01 theta; 4.91 psi 2021-10-11T01:15:59Z- handleDepth()-Depth_Keller msg: 1633914955916 epoch sec; seqNo:229; depth 0.03 2021-10-11T01:15:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914955.93 epoch sec; seqNo:229; 4061688.00 north; 594568.51 east 2021-10-11T01:15:59Z- AHRS_M2 msg: 1633914956.31 epoch sec; seqNo:221 2021-10-11T01:15:59Z- AHRS_M2 msg: 0.01 phi; 0.06 theta; 4.89 psi 2021-10-11T01:15:59Z- handleDepth()-Depth_Keller msg: 1633914956322 epoch sec; seqNo:230; depth 0.06 2021-10-11T01:15:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914956.34 epoch sec; seqNo:230; 4061688.00 north; 594568.51 east 2021-10-11T01:16:00Z- AHRS_M2 msg: 1633914956.73 epoch sec; seqNo:222 2021-10-11T01:16:00Z- AHRS_M2 msg: -0.09 phi; 0.03 theta; 4.83 psi 2021-10-11T01:16:00Z- handleDepth()-Depth_Keller msg: 1633914956944 epoch sec; seqNo:231; depth 0.05 2021-10-11T01:16:00Z- handleDvl() - RDI_Pathfinder msg: 1633914956.98 epoch sec; seqNo:54 2021-10-11T01:16:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 86.80 , 0.00 , 97.81 , 84.35 2021-10-11T01:16:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.00 , 0.74 2021-10-11T01:16:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914957.00 epoch sec; seqNo:231; 4061688.38 north; 594568.50 east 2021-10-11T01:16:00Z- AHRS_M2 msg: 1633914957.22 epoch sec; seqNo:223 2021-10-11T01:16:00Z- AHRS_M2 msg: -0.25 phi; -0.01 theta; 4.81 psi 2021-10-11T01:16:00Z- handleDepth()-Depth_Keller msg: 1633914957262 epoch sec; seqNo:232; depth 0.02 2021-10-11T01:16:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914957.30 epoch sec; seqNo:232; 4061688.37 north; 594567.28 east 2021-10-11T01:16:00Z- AHRS_M2 msg: 1633914957.62 epoch sec; seqNo:224 2021-10-11T01:16:00Z- AHRS_M2 msg: -0.21 phi; -0.04 theta; 4.80 psi 2021-10-11T01:16:01Z- handleDepth()-Depth_Keller msg: 1633914957656 epoch sec; seqNo:233; depth 0.01 2021-10-11T01:16:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914957.67 epoch sec; seqNo:233; 4061688.37 north; 594567.28 east 2021-10-11T01:16:01Z- AHRS_M2 msg: 1633914958.02 epoch sec; seqNo:225 2021-10-11T01:16:01Z- AHRS_M2 msg: -0.15 phi; -0.07 theta; 4.78 psi 2021-10-11T01:16:01Z- handleDepth()-Depth_Keller msg: 1633914958060 epoch sec; seqNo:234; depth 0.03 2021-10-11T01:16:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914958.08 epoch sec; seqNo:234; 4061688.37 north; 594567.28 east 2021-10-11T01:16:01Z- LcmTrn::handleMessages() - handling 40 messages took 0.87 ms and 123 calls... 2021-10-11T01:16:01Z- waiting for 1633914955.71, time is 1633914958.08 2021-10-11T01:16:01Z- LcmTrn::updateTrn() >>>> pose time 1633914958.08, meas time 1633914956.98 <<<< 2021-10-11T01:16:01Z- TerrainNav::Measurement type 1 from time = 1633914956.98 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-11T01:16:01Z- TerrainNav::motionUpdate() - currEstimate = (4061688, 594567.28, 0.03) 2021-10-11T01:16:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-11T01:16:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:01Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:01Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-11T01:16:01Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-11T01:16:01Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-11T01:16:01Z- AHRS_M2 msg: 1633914958.43 epoch sec; seqNo:226 2021-10-11T01:16:01Z- AHRS_M2 msg: -0.12 phi; -0.04 theta; 4.78 psi 2021-10-11T01:16:01Z- handleDepth()-Depth_Keller msg: 1633914958434 epoch sec; seqNo:235; depth 0.03 2021-10-11T01:16:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914958.46 epoch sec; seqNo:235; 4061688.35 north; 594566.06 east 2021-10-11T01:16:02Z- AHRS_M2 msg: 1633914958.84 epoch sec; seqNo:227 2021-10-11T01:16:02Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 4.76 psi 2021-10-11T01:16:02Z- handleDepth()-Depth_Keller msg: 1633914958849 epoch sec; seqNo:236; depth -0.00 2021-10-11T01:16:02Z- handleDvl() - RDI_Pathfinder msg: 1633914958.88 epoch sec; seqNo:55 2021-10-11T01:16:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.04 , 96.73 , 85.71 , 97.95 2021-10-11T01:16:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , -0.27 , -0.02 2021-10-11T01:16:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914958.90 epoch sec; seqNo:236; 4061688.35 north; 594566.06 east 2021-10-11T01:16:02Z- AHRS_M2 msg: 1633914959.25 epoch sec; seqNo:228 2021-10-11T01:16:02Z- AHRS_M2 msg: 0.04 phi; -0.00 theta; 4.71 psi 2021-10-11T01:16:02Z- handleDepth()-Depth_Keller msg: 1633914959252 epoch sec; seqNo:237; depth 0.04 2021-10-11T01:16:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914959.27 epoch sec; seqNo:237; 4061688.35 north; 594566.06 east 2021-10-11T01:16:03Z- AHRS_M2 msg: 1633914959.64 epoch sec; seqNo:229 2021-10-11T01:16:03Z- AHRS_M2 msg: -0.05 phi; -0.00 theta; 4.70 psi 2021-10-11T01:16:03Z- handleDepth()-Depth_Keller msg: 1633914959643 epoch sec; seqNo:238; depth 0.03 2021-10-11T01:16:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914959.66 epoch sec; seqNo:238; 4061687.97 north; 594566.07 east 2021-10-11T01:16:03Z- AHRS_M2 msg: 1633914960.04 epoch sec; seqNo:230 2021-10-11T01:16:03Z- AHRS_M2 msg: -0.14 phi; -0.00 theta; 4.70 psi 2021-10-11T01:16:03Z- handleDepth()-Depth_Keller msg: 1633914960052 epoch sec; seqNo:239; depth 0.00 2021-10-11T01:16:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914960.16 epoch sec; seqNo:239; 4061687.97 north; 594566.07 east 2021-10-11T01:16:03Z- AHRS_M2 msg: 1633914960.49 epoch sec; seqNo:231 2021-10-11T01:16:03Z- AHRS_M2 msg: -0.14 phi; 0.04 theta; 4.67 psi 2021-10-11T01:16:03Z- handleDepth()-Depth_Keller msg: 1633914960537 epoch sec; seqNo:240; depth -0.00 2021-10-11T01:16:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914960.66 epoch sec; seqNo:240; 4061687.97 north; 594566.07 east 2021-10-11T01:16:04Z- AHRS_M2 msg: 1633914960.90 epoch sec; seqNo:232 2021-10-11T01:16:04Z- AHRS_M2 msg: -0.10 phi; -0.04 theta; 4.63 psi 2021-10-11T01:16:04Z- handleDepth()-Depth_Keller msg: 1633914960914 epoch sec; seqNo:241; depth -0.00 2021-10-11T01:16:04Z- handleDvl() - RDI_Pathfinder msg: 1633914960.99 epoch sec; seqNo:56 2021-10-11T01:16:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.19 , 97.88 , 89.31 , 88.09 2021-10-11T01:16:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.33 , 0.06 2021-10-11T01:16:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914961.00 epoch sec; seqNo:241; 4061687.58 north; 594564.85 east 2021-10-11T01:16:04Z- AHRS_M2 msg: 1633914961.27 epoch sec; seqNo:233 2021-10-11T01:16:04Z- AHRS_M2 msg: -0.13 phi; -0.09 theta; 4.58 psi 2021-10-11T01:16:04Z- handleDepth()-Depth_Keller msg: 1633914961278 epoch sec; seqNo:242; depth 0.01 2021-10-11T01:16:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914961.30 epoch sec; seqNo:242; 4061687.58 north; 594564.85 east 2021-10-11T01:16:05Z- AHRS_M2 msg: 1633914961.68 epoch sec; seqNo:234 2021-10-11T01:16:05Z- AHRS_M2 msg: -0.11 phi; -0.02 theta; 4.57 psi 2021-10-11T01:16:05Z- handleDepth()-Depth_Keller msg: 1633914961685 epoch sec; seqNo:243; depth -0.01 2021-10-11T01:16:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914961.70 epoch sec; seqNo:243; 4061687.58 north; 594564.85 east 2021-10-11T01:16:05Z- handleDepth()-Depth_Keller msg: 1633914962116 epoch sec; seqNo:244; depth 0.04 2021-10-11T01:16:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914962.14 epoch sec; seqNo:244; 4061687.20 north; 594564.86 east 2021-10-11T01:16:05Z- AHRS_M2 msg: 1633914962.49 epoch sec; seqNo:235 2021-10-11T01:16:05Z- AHRS_M2 msg: 0.09 phi; 0.04 theta; 4.58 psi 2021-10-11T01:16:05Z- handleDepth()-Depth_Keller msg: 1633914962501 epoch sec; seqNo:245; depth 0.13 2021-10-11T01:16:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914962.51 epoch sec; seqNo:245; 4061687.20 north; 594564.86 east 2021-10-11T01:16:06Z- AHRS_M2 msg: 1633914962.89 epoch sec; seqNo:236 2021-10-11T01:16:06Z- AHRS_M2 msg: -0.03 phi; -0.01 theta; 4.55 psi 2021-10-11T01:16:06Z- handleDepth()-Depth_Keller msg: 1633914962896 epoch sec; seqNo:246; depth 0.14 2021-10-11T01:16:06Z- handleDvl() - RDI_Pathfinder msg: 1633914962.93 epoch sec; seqNo:57 2021-10-11T01:16:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 91.83 , 85.71 , 97.95 , 84.49 2021-10-11T01:16:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.11 , 0.24 2021-10-11T01:16:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914962.94 epoch sec; seqNo:246; 4061687.19 north; 594563.64 east 2021-10-11T01:16:06Z- LcmTrn::handleMessages() - handling 38 messages took 0.78 ms and 123 calls... 2021-10-11T01:16:06Z- waiting for 1633914961.08, time is 1633914962.94 2021-10-11T01:16:06Z- LcmTrn::updateTrn() equating pose 1633914962.94 and meas times 1633914962.94 2021-10-11T01:16:06Z- LcmTrn::updateTrn() >>>> pose time 1633914962.94, meas time 1633914962.94 <<<< 2021-10-11T01:16:06Z- TerrainNav::Measurement type 1 from time = 1633914962.94 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-11T01:16:06Z- TerrainNav::motionUpdate() - currEstimate = (4061687, 594563.64, 0.14) 2021-10-11T01:16:06Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-11T01:16:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:06Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:06Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-11T01:16:06Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-11T01:16:06Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-11T01:16:06Z- AHRS_M2 msg: 1633914963.29 epoch sec; seqNo:237 2021-10-11T01:16:06Z- AHRS_M2 msg: -0.17 phi; -0.08 theta; 4.54 psi 2021-10-11T01:16:06Z- handleDepth()-Depth_Keller msg: 1633914963308 epoch sec; seqNo:247; depth 0.15 2021-10-11T01:16:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914963.33 epoch sec; seqNo:247; 4061687.19 north; 594563.64 east 2021-10-11T01:16:07Z- AHRS_M2 msg: 1633914963.70 epoch sec; seqNo:238 2021-10-11T01:16:07Z- AHRS_M2 msg: -0.28 phi; -0.09 theta; 4.53 psi 2021-10-11T01:16:07Z- handleDepth()-Depth_Keller msg: 1633914963706 epoch sec; seqNo:248; depth 0.12 2021-10-11T01:16:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914963.72 epoch sec; seqNo:248; 4061687.19 north; 594563.64 east 2021-10-11T01:16:07Z- AHRS_M2 msg: 1633914964.11 epoch sec; seqNo:239 2021-10-11T01:16:07Z- AHRS_M2 msg: -0.33 phi; -0.06 theta; 4.50 psi 2021-10-11T01:16:07Z- handleDepth()-Depth_Keller msg: 1633914964114 epoch sec; seqNo:249; depth 0.09 2021-10-11T01:16:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914964.13 epoch sec; seqNo:249; 4061687.19 north; 594563.64 east 2021-10-11T01:16:07Z- AHRS_M2 msg: 1633914964.51 epoch sec; seqNo:240 2021-10-11T01:16:07Z- AHRS_M2 msg: -0.31 phi; -0.06 theta; 4.47 psi 2021-10-11T01:16:07Z- handleDepth()-Depth_Keller msg: 1633914964585 epoch sec; seqNo:250; depth 0.08 2021-10-11T01:16:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914964.71 epoch sec; seqNo:250; 4061687.18 north; 594562.42 east 2021-10-11T01:16:08Z- AHRS_M2 msg: 1633914965.23 epoch sec; seqNo:241 2021-10-11T01:16:08Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 4.43 psi 2021-10-11T01:16:08Z- handleDepth()-Depth_Keller msg: 1633914965244 epoch sec; seqNo:251; depth 0.08 2021-10-11T01:16:08Z- handleDvl() - RDI_Pathfinder msg: 1633914965.39 epoch sec; seqNo:58 2021-10-11T01:16:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.74 , 113.80 , 97.88 , 100.33 2021-10-11T01:16:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.06 , -0.28 2021-10-11T01:16:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914965.49 epoch sec; seqNo:251; 4061686.80 north; 594562.42 east 2021-10-11T01:16:09Z- AHRS_M2 msg: 1633914965.81 epoch sec; seqNo:242 2021-10-11T01:16:09Z- AHRS_M2 msg: -0.17 phi; -0.09 theta; 4.41 psi 2021-10-11T01:16:09Z- handleDepth()-Depth_Keller msg: 1633914965816 epoch sec; seqNo:252; depth 0.13 2021-10-11T01:16:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914965.84 epoch sec; seqNo:252; 4061686.40 north; 594561.20 east 2021-10-11T01:16:09Z- AHRS_M2 msg: 1633914966.21 epoch sec; seqNo:243 2021-10-11T01:16:09Z- AHRS_M2 msg: -0.15 phi; -0.14 theta; 4.31 psi 2021-10-11T01:16:09Z- handleDepth()-Depth_Keller msg: 1633914966220 epoch sec; seqNo:253; depth 0.16 2021-10-11T01:16:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914966.23 epoch sec; seqNo:253; 4061686.40 north; 594561.20 east 2021-10-11T01:16:09Z- AHRS_M2 msg: 1633914966.62 epoch sec; seqNo:244 2021-10-11T01:16:09Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 4.28 psi 2021-10-11T01:16:09Z- handleDepth()-Depth_Keller msg: 1633914966630 epoch sec; seqNo:254; depth 0.15 2021-10-11T01:16:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914966.64 epoch sec; seqNo:254; 4061686.03 north; 594561.21 east 2021-10-11T01:16:10Z- AHRS_M2 msg: 1633914967.01 epoch sec; seqNo:245 2021-10-11T01:16:10Z- AHRS_M2 msg: -0.34 phi; -0.18 theta; 4.30 psi 2021-10-11T01:16:10Z- handleDepth()-Depth_Keller msg: 1633914967026 epoch sec; seqNo:255; depth 0.17 2021-10-11T01:16:10Z- handleDvl() - RDI_Pathfinder msg: 1633914967.05 epoch sec; seqNo:59 2021-10-11T01:16:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 82.44 , 96.05 , 83.80 , 96.05 2021-10-11T01:16:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , 0.00 , 0.04 2021-10-11T01:16:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914967.07 epoch sec; seqNo:255; 4061686.01 north; 594559.99 east 2021-10-11T01:16:10Z- AHRS_M2 msg: 1633914967.42 epoch sec; seqNo:246 2021-10-11T01:16:10Z- AHRS_M2 msg: -0.38 phi; -0.19 theta; 4.29 psi 2021-10-11T01:16:10Z- handleDepth()-Depth_Keller msg: 1633914967425 epoch sec; seqNo:256; depth 0.13 2021-10-11T01:16:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914967.45 epoch sec; seqNo:256; 4061686.01 north; 594559.99 east 2021-10-11T01:16:11Z- AHRS_M2 msg: 1633914967.82 epoch sec; seqNo:247 2021-10-11T01:16:11Z- AHRS_M2 msg: -0.34 phi; -0.19 theta; 4.27 psi 2021-10-11T01:16:11Z- handleDepth()-Depth_Keller msg: 1633914967828 epoch sec; seqNo:257; depth 0.17 2021-10-11T01:16:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914967.84 epoch sec; seqNo:257; 4061686.01 north; 594559.99 east 2021-10-11T01:16:11Z- LcmTrn::handleMessages() - handling 35 messages took 0.69 ms and 122 calls... 2021-10-11T01:16:11Z- waiting for 1633914965.94, time is 1633914967.84 2021-10-11T01:16:11Z- LcmTrn::updateTrn() >>>> pose time 1633914967.84, meas time 1633914967.05 <<<< 2021-10-11T01:16:11Z- TerrainNav::Measurement type 1 from time = 1633914967.05 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-11T01:16:11Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594559.99, 0.17) 2021-10-11T01:16:11Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-11T01:16:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:11Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:11Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-11T01:16:11Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-11T01:16:11Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-11T01:16:11Z- AHRS_M2 msg: 1633914968.29 epoch sec; seqNo:248 2021-10-11T01:16:11Z- AHRS_M2 msg: -0.31 phi; -0.17 theta; 4.25 psi 2021-10-11T01:16:11Z- handleDepth()-Depth_Keller msg: 1633914968349 epoch sec; seqNo:258; depth 0.17 2021-10-11T01:16:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914968.43 epoch sec; seqNo:258; 4061685.63 north; 594559.99 east 2021-10-11T01:16:12Z- AHRS_M2 msg: 1633914968.72 epoch sec; seqNo:249 2021-10-11T01:16:12Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 4.23 psi 2021-10-11T01:16:12Z- handleDepth()-Depth_Keller msg: 1633914968733 epoch sec; seqNo:259; depth 0.20 2021-10-11T01:16:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914968.74 epoch sec; seqNo:259; 4061685.63 north; 594559.99 east 2021-10-11T01:16:12Z- AHRS_M2 msg: 1633914969.13 epoch sec; seqNo:250 2021-10-11T01:16:12Z- AHRS_M2 msg: -0.14 phi; -0.12 theta; 4.20 psi 2021-10-11T01:16:12Z- handleDepth()-Depth_Keller msg: 1633914969134 epoch sec; seqNo:260; depth 0.21 2021-10-11T01:16:12Z- handleDvl() - RDI_Pathfinder msg: 1633914969.16 epoch sec; seqNo:60 2021-10-11T01:16:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.32 , 121.21 , 84.49 , 107.74 2021-10-11T01:16:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.22 , -0.04 , -0.49 2021-10-11T01:16:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914969.18 epoch sec; seqNo:260; 4061685.24 north; 594558.78 east 2021-10-11T01:16:12Z- AHRS_M2 msg: 1633914969.53 epoch sec; seqNo:251 2021-10-11T01:16:12Z- AHRS_M2 msg: -0.15 phi; -0.12 theta; 4.15 psi 2021-10-11T01:16:12Z- handleDepth()-Depth_Keller msg: 1633914969537 epoch sec; seqNo:261; depth 0.29 2021-10-11T01:16:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914969.57 epoch sec; seqNo:261; 4061684.86 north; 594558.78 east 2021-10-11T01:16:13Z- AHRS_M2 msg: 1633914969.94 epoch sec; seqNo:252 2021-10-11T01:16:13Z- AHRS_M2 msg: -0.25 phi; -0.15 theta; 4.13 psi 2021-10-11T01:16:13Z- handleDepth()-Depth_Keller msg: 1633914970106 epoch sec; seqNo:262; depth 0.30 2021-10-11T01:16:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914970.12 epoch sec; seqNo:262; 4061684.48 north; 594558.78 east 2021-10-11T01:16:13Z- AHRS_M2 msg: 1633914970.34 epoch sec; seqNo:253 2021-10-11T01:16:13Z- AHRS_M2 msg: -0.37 phi; -0.16 theta; 4.08 psi 2021-10-11T01:16:13Z- handleDepth()-Depth_Keller msg: 1633914970365 epoch sec; seqNo:263; depth 0.32 2021-10-11T01:16:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914970.38 epoch sec; seqNo:263; 4061684.47 north; 594557.56 east 2021-10-11T01:16:14Z- AHRS_M2 msg: 1633914970.75 epoch sec; seqNo:254 2021-10-11T01:16:14Z- AHRS_M2 msg: -0.46 phi; -0.16 theta; 4.05 psi 2021-10-11T01:16:14Z- handleDepth()-Depth_Keller msg: 1633914970797 epoch sec; seqNo:264; depth 0.34 2021-10-11T01:16:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914970.84 epoch sec; seqNo:264; 4061683.71 north; 594557.57 east 2021-10-11T01:16:14Z- AHRS_M2 msg: 1633914971.14 epoch sec; seqNo:255 2021-10-11T01:16:14Z- AHRS_M2 msg: -0.58 phi; -0.18 theta; 4.03 psi 2021-10-11T01:16:14Z- handleDepth()-Depth_Keller msg: 1633914971180 epoch sec; seqNo:265; depth 0.35 2021-10-11T01:16:14Z- handleDvl() - RDI_Pathfinder msg: 1633914971.20 epoch sec; seqNo:61 2021-10-11T01:16:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.72 , 108.29 , 0.00 , 105.57 2021-10-11T01:16:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.15 , 0.92 2021-10-11T01:16:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914971.22 epoch sec; seqNo:265; 4061683.71 north; 594557.57 east 2021-10-11T01:16:14Z- AHRS_M2 msg: 1633914971.55 epoch sec; seqNo:256 2021-10-11T01:16:14Z- AHRS_M2 msg: -0.55 phi; -0.20 theta; 4.02 psi 2021-10-11T01:16:14Z- handleDepth()-Depth_Keller msg: 1633914971556 epoch sec; seqNo:266; depth 0.37 2021-10-11T01:16:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914971.57 epoch sec; seqNo:266; 4061684.09 north; 594557.57 east 2021-10-11T01:16:15Z- AHRS_M2 msg: 1633914971.95 epoch sec; seqNo:257 2021-10-11T01:16:15Z- AHRS_M2 msg: -0.52 phi; -0.17 theta; 4.00 psi 2021-10-11T01:16:15Z- handleDepth()-Depth_Keller msg: 1633914971968 epoch sec; seqNo:267; depth 0.41 2021-10-11T01:16:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914971.98 epoch sec; seqNo:267; 4061684.08 north; 594556.35 east 2021-10-11T01:16:15Z- AHRS_M2 msg: 1633914972.38 epoch sec; seqNo:258 2021-10-11T01:16:15Z- AHRS_M2 msg: -0.48 phi; -0.13 theta; 3.96 psi 2021-10-11T01:16:15Z- handleDepth()-Depth_Keller msg: 1633914972394 epoch sec; seqNo:268; depth 0.42 2021-10-11T01:16:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:15Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:16:15Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:16:15Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:16:15Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:16:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:16:15Z- handleDvl() - RDI_Pathfinder msg: 1633914972.40 epoch sec; seqNo:62 2021-10-11T01:16:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:16:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.15 , 0.92 2021-10-11T01:16:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914972.41 epoch sec; seqNo:268; 4061684.08 north; 594556.35 east 2021-10-11T01:16:16Z- handleDepth()-Depth_Keller msg: 1633914972833 epoch sec; seqNo:269; depth 0.49 2021-10-11T01:16:16Z- handleDvl() - RDI_Pathfinder msg: 1633914972.86 epoch sec; seqNo:63 2021-10-11T01:16:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.09 , 140.86 , 97.34 , 117.74 2021-10-11T01:16:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.42 , 0.81 2021-10-11T01:16:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914972.88 epoch sec; seqNo:269; 4061683.70 north; 594556.35 east 2021-10-11T01:16:16Z- handleDepth()-Depth_Keller msg: 1633914973189 epoch sec; seqNo:270; depth 0.57 2021-10-11T01:16:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914973.21 epoch sec; seqNo:270; 4061683.32 north; 594556.36 east 2021-10-11T01:16:16Z- LcmTrn::handleMessages() - handling 41 messages took 0.90 ms and 123 calls... 2021-10-11T01:16:16Z- waiting for 1633914970.84, time is 1633914973.21 2021-10-11T01:16:16Z- LcmTrn::updateTrn() >>>> pose time 1633914973.21, meas time 1633914972.86 <<<< 2021-10-11T01:16:16Z- TerrainNav::Measurement type 1 from time = 1633914972.86 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-11T01:16:16Z- TerrainNav::motionUpdate() - currEstimate = (4061683, 594556.36, 0.57) 2021-10-11T01:16:16Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2021-10-11T01:16:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:16Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-11T01:16:16Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-11T01:16:16Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-11T01:16:16Z- AHRS_M2 msg: 1633914973.57 epoch sec; seqNo:259 2021-10-11T01:16:16Z- AHRS_M2 msg: -0.41 phi; -0.26 theta; 3.84 psi 2021-10-11T01:16:16Z- handleDepth()-Depth_Keller msg: 1633914973576 epoch sec; seqNo:271; depth 0.61 2021-10-11T01:16:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914973.61 epoch sec; seqNo:271; 4061683.31 north; 594555.14 east 2021-10-11T01:16:17Z- AHRS_M2 msg: 1633914973.97 epoch sec; seqNo:260 2021-10-11T01:16:17Z- AHRS_M2 msg: -0.53 phi; -0.27 theta; 3.86 psi 2021-10-11T01:16:17Z- handleDepth()-Depth_Keller msg: 1633914973978 epoch sec; seqNo:272; depth 0.58 2021-10-11T01:16:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914973.99 epoch sec; seqNo:272; 4061682.93 north; 594555.14 east 2021-10-11T01:16:17Z- AHRS_M2 msg: 1633914974.41 epoch sec; seqNo:261 2021-10-11T01:16:17Z- AHRS_M2 msg: -0.53 phi; -0.26 theta; 3.86 psi 2021-10-11T01:16:17Z- handleDepth()-Depth_Keller msg: 1633914974415 epoch sec; seqNo:273; depth 0.59 2021-10-11T01:16:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914974.43 epoch sec; seqNo:273; 4061682.93 north; 594555.14 east 2021-10-11T01:16:18Z- AHRS_M2 msg: 1633914974.82 epoch sec; seqNo:262 2021-10-11T01:16:18Z- AHRS_M2 msg: -0.46 phi; -0.24 theta; 3.87 psi 2021-10-11T01:16:18Z- handleDepth()-Depth_Keller msg: 1633914974844 epoch sec; seqNo:274; depth 0.62 2021-10-11T01:16:18Z- handleDvl() - RDI_Pathfinder msg: 1633914974.87 epoch sec; seqNo:64 2021-10-11T01:16:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.56 , 151.47 , 91.62 , 130.53 2021-10-11T01:16:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.65 , -0.85 2021-10-11T01:16:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914974.88 epoch sec; seqNo:274; 4061682.17 north; 594555.15 east 2021-10-11T01:16:18Z- AHRS_M2 msg: 1633914975.19 epoch sec; seqNo:263 2021-10-11T01:16:18Z- AHRS_M2 msg: -0.36 phi; -0.20 theta; 3.85 psi 2021-10-11T01:16:18Z- handleDepth()-Depth_Keller msg: 1633914975192 epoch sec; seqNo:275; depth 0.67 2021-10-11T01:16:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914975.22 epoch sec; seqNo:275; 4061681.79 north; 594555.15 east 2021-10-11T01:16:18Z- AHRS_M2 msg: 1633914975.59 epoch sec; seqNo:264 2021-10-11T01:16:18Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.81 psi 2021-10-11T01:16:18Z- handleDepth()-Depth_Keller msg: 1633914975596 epoch sec; seqNo:276; depth 0.73 2021-10-11T01:16:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914975.61 epoch sec; seqNo:276; 4061681.41 north; 594555.16 east 2021-10-11T01:16:19Z- AHRS_M2 msg: 1633914975.99 epoch sec; seqNo:265 2021-10-11T01:16:19Z- AHRS_M2 msg: -0.17 phi; -0.20 theta; 3.77 psi 2021-10-11T01:16:19Z- handleDepth()-Depth_Keller msg: 1633914976000 epoch sec; seqNo:277; depth 0.81 2021-10-11T01:16:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914976.01 epoch sec; seqNo:277; 4061680.65 north; 594555.16 east 2021-10-11T01:16:19Z- AHRS_M2 msg: 1633914976.40 epoch sec; seqNo:266 2021-10-11T01:16:19Z- AHRS_M2 msg: -0.21 phi; -0.21 theta; 3.73 psi 2021-10-11T01:16:19Z- handleDepth()-Depth_Keller msg: 1633914976404 epoch sec; seqNo:278; depth 0.87 2021-10-11T01:16:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914976.42 epoch sec; seqNo:278; 4061680.28 north; 594555.17 east 2021-10-11T01:16:20Z- AHRS_M2 msg: 1633914976.84 epoch sec; seqNo:267 2021-10-11T01:16:20Z- AHRS_M2 msg: -0.29 phi; -0.22 theta; 3.70 psi 2021-10-11T01:16:20Z- handleDepth()-Depth_Keller msg: 1633914976848 epoch sec; seqNo:279; depth 0.91 2021-10-11T01:16:20Z- handleDvl() - RDI_Pathfinder msg: 1633914976.87 epoch sec; seqNo:65 2021-10-11T01:16:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.97 , 101.89 , 76.74 , 104.89 2021-10-11T01:16:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.66 , 0.19 2021-10-11T01:16:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914976.91 epoch sec; seqNo:279; 4061679.90 north; 594555.17 east 2021-10-11T01:16:20Z- AHRS_M2 msg: 1633914977.23 epoch sec; seqNo:268 2021-10-11T01:16:20Z- AHRS_M2 msg: -0.36 phi; -0.22 theta; 3.68 psi 2021-10-11T01:16:20Z- handleDepth()-Depth_Keller msg: 1633914977232 epoch sec; seqNo:280; depth 0.97 2021-10-11T01:16:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:20Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:16:20Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:16:20Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:16:20Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:16:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:16:20Z- handleDvl() - RDI_Pathfinder msg: 1633914977.23 epoch sec; seqNo:66 2021-10-11T01:16:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:16:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.66 , 0.19 2021-10-11T01:16:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914977.27 epoch sec; seqNo:280; 4061679.90 north; 594555.17 east 2021-10-11T01:16:21Z- AHRS_M2 msg: 1633914977.63 epoch sec; seqNo:269 2021-10-11T01:16:21Z- AHRS_M2 msg: -0.38 phi; -0.22 theta; 3.65 psi 2021-10-11T01:16:21Z- handleDepth()-Depth_Keller msg: 1633914977641 epoch sec; seqNo:281; depth 1.01 2021-10-11T01:16:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914977.66 epoch sec; seqNo:281; 4061679.88 north; 594553.95 east 2021-10-11T01:16:21Z- AHRS_M2 msg: 1633914978.03 epoch sec; seqNo:270 2021-10-11T01:16:21Z- AHRS_M2 msg: -0.37 phi; -0.23 theta; 3.62 psi 2021-10-11T01:16:21Z- handleDepth()-Depth_Keller msg: 1633914978041 epoch sec; seqNo:282; depth 1.08 2021-10-11T01:16:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914978.06 epoch sec; seqNo:282; 4061679.50 north; 594553.96 east 2021-10-11T01:16:21Z- LcmTrn::handleMessages() - handling 39 messages took 0.65 ms and 126 calls... 2021-10-11T01:16:21Z- waiting for 1633914976.21, time is 1633914978.06 2021-10-11T01:16:21Z- LcmTrn::updateTrn() >>>> pose time 1633914978.06, meas time 1633914977.23 <<<< 2021-10-11T01:16:21Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633914977.23, ping # 0. 2021-10-11T01:16:21Z- TerrainNav::Measurement type 1 from time = 1633914977.23 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2021-10-11T01:16:21Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594553.96, 1.08) 2021-10-11T01:16:21Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2021-10-11T01:16:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:16:21Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:21Z- LcmTrn::publishEstimates() - MLE : 0.00 0.00 0.00 2021-10-11T01:16:21Z- LcmTrn::publishEstimates() - MMSE : 0.00 0.00 0.00 2021-10-11T01:16:21Z- LcmTrn::publishEstimates() - COVAR: 0.00 0.00 0.00 0.00 2021-10-11T01:16:21Z- AHRS_M2 msg: 1633914978.44 epoch sec; seqNo:271 2021-10-11T01:16:21Z- AHRS_M2 msg: -0.39 phi; -0.22 theta; 3.60 psi 2021-10-11T01:16:21Z- handleDepth()-Depth_Keller msg: 1633914978450 epoch sec; seqNo:283; depth 1.13 2021-10-11T01:16:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914978.47 epoch sec; seqNo:283; 4061679.50 north; 594553.96 east 2021-10-11T01:16:22Z- handleDepth()-Depth_Keller msg: 1633914978883 epoch sec; seqNo:284; depth 1.17 2021-10-11T01:16:22Z- handleDvl() - RDI_Pathfinder msg: 1633914978.91 epoch sec; seqNo:67 2021-10-11T01:16:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.32 , 122.37 , 83.19 , 113.80 2021-10-11T01:16:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , 0.41 , 0.42 2021-10-11T01:16:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914978.92 epoch sec; seqNo:284; 4061679.11 north; 594552.74 east 2021-10-11T01:16:22Z- AHRS_M2 msg: 1633914979.25 epoch sec; seqNo:272 2021-10-11T01:16:22Z- AHRS_M2 msg: -0.33 phi; -0.20 theta; 3.58 psi 2021-10-11T01:16:22Z- handleDepth()-Depth_Keller msg: 1633914979256 epoch sec; seqNo:285; depth 1.25 2021-10-11T01:16:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914979.28 epoch sec; seqNo:285; 4061679.11 north; 594552.74 east 2021-10-11T01:16:23Z- AHRS_M2 msg: 1633914979.65 epoch sec; seqNo:273 2021-10-11T01:16:23Z- AHRS_M2 msg: -0.30 phi; -0.18 theta; 3.56 psi 2021-10-11T01:16:23Z- handleDepth()-Depth_Keller msg: 1633914979667 epoch sec; seqNo:286; depth 1.28 2021-10-11T01:16:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914979.68 epoch sec; seqNo:286; 4061679.11 north; 594552.74 east 2021-10-11T01:16:23Z- AHRS_M2 msg: 1633914980.05 epoch sec; seqNo:274 2021-10-11T01:16:23Z- AHRS_M2 msg: -0.28 phi; -0.17 theta; 3.54 psi 2021-10-11T01:16:23Z- handleDepth()-Depth_Keller msg: 1633914980059 epoch sec; seqNo:287; depth 1.33 2021-10-11T01:16:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914980.09 epoch sec; seqNo:287; 4061678.73 north; 594552.75 east 2021-10-11T01:16:23Z- AHRS_M2 msg: 1633914980.46 epoch sec; seqNo:275 2021-10-11T01:16:23Z- AHRS_M2 msg: -0.29 phi; -0.16 theta; 3.51 psi 2021-10-11T01:16:23Z- handleDepth()-Depth_Keller msg: 1633914980464 epoch sec; seqNo:288; depth 1.40 2021-10-11T01:16:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914980.48 epoch sec; seqNo:288; 4061678.72 north; 594551.52 east 2021-10-11T01:16:24Z- AHRS_M2 msg: 1633914980.87 epoch sec; seqNo:276 2021-10-11T01:16:24Z- AHRS_M2 msg: -0.31 phi; -0.17 theta; 3.49 psi 2021-10-11T01:16:24Z- handleDepth()-Depth_Keller msg: 1633914980875 epoch sec; seqNo:289; depth 1.46 2021-10-11T01:16:24Z- handleDvl() - RDI_Pathfinder msg: 1633914980.92 epoch sec; seqNo:68 2021-10-11T01:16:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.74 , 113.59 , 83.67 , 106.79 2021-10-11T01:16:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.30 , 0.64 2021-10-11T01:16:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914980.93 epoch sec; seqNo:289; 4061678.34 north; 594551.53 east 2021-10-11T01:16:24Z- AHRS_M2 msg: 1633914981.27 epoch sec; seqNo:277 2021-10-11T01:16:24Z- AHRS_M2 msg: -0.33 phi; -0.17 theta; 3.48 psi 2021-10-11T01:16:24Z- handleDepth()-Depth_Keller msg: 1633914981279 epoch sec; seqNo:290; depth 1.52 2021-10-11T01:16:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914981.30 epoch sec; seqNo:290; 4061677.96 north; 594551.53 east 2021-10-11T01:16:25Z- AHRS_M2 msg: 1633914981.67 epoch sec; seqNo:278 2021-10-11T01:16:25Z- AHRS_M2 msg: -0.34 phi; -0.17 theta; 3.48 psi 2021-10-11T01:16:25Z- handleDepth()-Depth_Keller msg: 1633914981676 epoch sec; seqNo:291; depth 1.57 2021-10-11T01:16:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914981.69 epoch sec; seqNo:291; 4061677.58 north; 594551.54 east 2021-10-11T01:16:25Z- AHRS_M2 msg: 1633914982.08 epoch sec; seqNo:279 2021-10-11T01:16:25Z- AHRS_M2 msg: -0.32 phi; -0.16 theta; 3.47 psi 2021-10-11T01:16:25Z- handleDepth()-Depth_Keller msg: 1633914982085 epoch sec; seqNo:292; depth 1.61 2021-10-11T01:16:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914982.10 epoch sec; seqNo:292; 4061677.20 north; 594551.54 east 2021-10-11T01:16:25Z- handleDepth()-Depth_Keller msg: 1633914982500 epoch sec; seqNo:293; depth 1.66 2021-10-11T01:16:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914982.51 epoch sec; seqNo:293; 4061676.83 north; 594551.55 east 2021-10-11T01:16:26Z- AHRS_M2 msg: 1633914982.88 epoch sec; seqNo:280 2021-10-11T01:16:26Z- AHRS_M2 msg: -0.26 phi; -0.15 theta; 3.45 psi 2021-10-11T01:16:26Z- handleDepth()-Depth_Keller msg: 1633914982975 epoch sec; seqNo:294; depth 1.72 2021-10-11T01:16:26Z- handleDvl() - RDI_Pathfinder msg: 1633914983.00 epoch sec; seqNo:69 2021-10-11T01:16:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.09 , 116.65 , 84.01 , 105.77 2021-10-11T01:16:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.65 , -0.59 2021-10-11T01:16:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914983.03 epoch sec; seqNo:294; 4061676.07 north; 594551.55 east 2021-10-11T01:16:26Z- AHRS_M2 msg: 1633914983.29 epoch sec; seqNo:281 2021-10-11T01:16:26Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 3.44 psi 2021-10-11T01:16:26Z- LcmTrn::handleMessages() - handling 38 messages took 0.72 ms and 123 calls... 2021-10-11T01:16:26Z- waiting for 1633914981.06, time is 1633914983.29 2021-10-11T01:16:26Z- LcmTrn::updateTrn() >>>> pose time 1633914983.29, meas time 1633914983.00 <<<< 2021-10-11T01:16:26Z- TerrainNav::Measurement type 1 from time = 1633914983.00 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-11T01:16:26Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594551.55, 1.72) 2021-10-11T01:16:26Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-11T01:16:26Z- TNavBF: Successfully initialized particles 2021-10-11T01:16:26Z- TerrainNav:: vehicle motion has been initialized 2021-10-11T01:16:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:16:26Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:26Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-11T01:16:26Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:26Z- LcmTrn::publishEstimates() - MLE : 4061626.57 594502.05 1.72 2021-10-11T01:16:26Z- LcmTrn::publishEstimates() - MMSE : 4061676.07 594551.55 1.72 2021-10-11T01:16:26Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-11T01:16:26Z- handleDepth()-Depth_Keller msg: 1633914983380 epoch sec; seqNo:295; depth 1.80 2021-10-11T01:16:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914983.40 epoch sec; seqNo:295; 4061675.69 north; 594551.56 east 2021-10-11T01:16:27Z- AHRS_M2 msg: 1633914983.69 epoch sec; seqNo:282 2021-10-11T01:16:27Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 3.43 psi 2021-10-11T01:16:27Z- handleDepth()-Depth_Keller msg: 1633914983732 epoch sec; seqNo:296; depth 1.86 2021-10-11T01:16:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914983.78 epoch sec; seqNo:296; 4061675.31 north; 594551.56 east 2021-10-11T01:16:27Z- AHRS_M2 msg: 1633914984.10 epoch sec; seqNo:283 2021-10-11T01:16:27Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 3.42 psi 2021-10-11T01:16:27Z- handleDepth()-Depth_Keller msg: 1633914984135 epoch sec; seqNo:297; depth 1.90 2021-10-11T01:16:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914984.16 epoch sec; seqNo:297; 4061674.94 north; 594552.79 east 2021-10-11T01:16:27Z- AHRS_M2 msg: 1633914984.50 epoch sec; seqNo:284 2021-10-11T01:16:27Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.41 psi 2021-10-11T01:16:27Z- handleDepth()-Depth_Keller msg: 1633914984524 epoch sec; seqNo:298; depth 1.95 2021-10-11T01:16:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:27Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:16:27Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:16:27Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:16:27Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:16:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:16:27Z- handleDvl() - RDI_Pathfinder msg: 1633914984.53 epoch sec; seqNo:70 2021-10-11T01:16:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:16:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.65 , -0.59 2021-10-11T01:16:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914984.54 epoch sec; seqNo:298; 4061674.19 north; 594552.80 east 2021-10-11T01:16:28Z- AHRS_M2 msg: 1633914984.90 epoch sec; seqNo:285 2021-10-11T01:16:28Z- AHRS_M2 msg: -0.25 phi; -0.17 theta; 3.39 psi 2021-10-11T01:16:28Z- handleDepth()-Depth_Keller msg: 1633914984908 epoch sec; seqNo:299; depth 2.00 2021-10-11T01:16:28Z- handleDvl() - RDI_Pathfinder msg: 1633914984.94 epoch sec; seqNo:71 2021-10-11T01:16:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.74 , 96.25 , 78.79 , 101.69 2021-10-11T01:16:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.71 , -0.20 2021-10-11T01:16:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914984.96 epoch sec; seqNo:299; 4061674.17 north; 594551.57 east 2021-10-11T01:16:28Z- AHRS_M2 msg: 1633914985.31 epoch sec; seqNo:286 2021-10-11T01:16:28Z- AHRS_M2 msg: -0.28 phi; -0.17 theta; 3.37 psi 2021-10-11T01:16:28Z- handleDepth()-Depth_Keller msg: 1633914985312 epoch sec; seqNo:300; depth 2.05 2021-10-11T01:16:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914985.33 epoch sec; seqNo:300; 4061673.79 north; 594551.58 east 2021-10-11T01:16:29Z- AHRS_M2 msg: 1633914985.71 epoch sec; seqNo:287 2021-10-11T01:16:29Z- AHRS_M2 msg: -0.30 phi; -0.16 theta; 3.37 psi 2021-10-11T01:16:29Z- handleDepth()-Depth_Keller msg: 1633914985717 epoch sec; seqNo:301; depth 2.07 2021-10-11T01:16:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914985.73 epoch sec; seqNo:301; 4061673.79 north; 594551.58 east 2021-10-11T01:16:29Z- AHRS_M2 msg: 1633914986.11 epoch sec; seqNo:288 2021-10-11T01:16:29Z- AHRS_M2 msg: -0.30 phi; -0.14 theta; 3.38 psi 2021-10-11T01:16:29Z- handleDepth()-Depth_Keller msg: 1633914986119 epoch sec; seqNo:302; depth 2.11 2021-10-11T01:16:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914986.13 epoch sec; seqNo:302; 4061673.42 north; 594551.58 east 2021-10-11T01:16:29Z- AHRS_M2 msg: 1633914986.52 epoch sec; seqNo:289 2021-10-11T01:16:29Z- AHRS_M2 msg: -0.29 phi; -0.13 theta; 3.38 psi 2021-10-11T01:16:29Z- handleDepth()-Depth_Keller msg: 1633914986525 epoch sec; seqNo:303; depth 2.17 2021-10-11T01:16:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914986.54 epoch sec; seqNo:303; 4061673.02 north; 594550.37 east 2021-10-11T01:16:30Z- AHRS_M2 msg: 1633914986.92 epoch sec; seqNo:290 2021-10-11T01:16:30Z- AHRS_M2 msg: -0.27 phi; -0.12 theta; 3.38 psi 2021-10-11T01:16:30Z- handleDepth()-Depth_Keller msg: 1633914986932 epoch sec; seqNo:304; depth 2.21 2021-10-11T01:16:30Z- handleDvl() - RDI_Pathfinder msg: 1633914986.95 epoch sec; seqNo:72 2021-10-11T01:16:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.27 , 111.48 , 83.33 , 104.14 2021-10-11T01:16:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.16 , 0.41 2021-10-11T01:16:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914986.99 epoch sec; seqNo:304; 4061672.64 north; 594550.37 east 2021-10-11T01:16:30Z- AHRS_M2 msg: 1633914987.33 epoch sec; seqNo:291 2021-10-11T01:16:30Z- AHRS_M2 msg: -0.25 phi; -0.12 theta; 3.38 psi 2021-10-11T01:16:30Z- handleDepth()-Depth_Keller msg: 1633914987340 epoch sec; seqNo:305; depth 2.28 2021-10-11T01:16:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914987.36 epoch sec; seqNo:305; 4061672.64 north; 594550.37 east 2021-10-11T01:16:31Z- AHRS_M2 msg: 1633914987.73 epoch sec; seqNo:292 2021-10-11T01:16:31Z- AHRS_M2 msg: -0.23 phi; -0.12 theta; 3.38 psi 2021-10-11T01:16:31Z- handleDepth()-Depth_Keller msg: 1633914987735 epoch sec; seqNo:306; depth 2.32 2021-10-11T01:16:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914987.76 epoch sec; seqNo:306; 4061672.27 north; 594550.38 east 2021-10-11T01:16:31Z- AHRS_M2 msg: 1633914988.13 epoch sec; seqNo:293 2021-10-11T01:16:31Z- AHRS_M2 msg: -0.23 phi; -0.12 theta; 3.39 psi 2021-10-11T01:16:31Z- handleDepth()-Depth_Keller msg: 1633914988139 epoch sec; seqNo:307; depth 2.37 2021-10-11T01:16:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914988.15 epoch sec; seqNo:307; 4061671.89 north; 594550.38 east 2021-10-11T01:16:31Z- LcmTrn::handleMessages() - handling 41 messages took 0.87 ms and 123 calls... 2021-10-11T01:16:31Z- waiting for 1633914986.29, time is 1633914988.15 2021-10-11T01:16:31Z- LcmTrn::updateTrn() >>>> pose time 1633914988.15, meas time 1633914986.95 <<<< 2021-10-11T01:16:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633914986.95 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:16:31Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594550.38, 2.37) 2021-10-11T01:16:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:16:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:16:31Z- TNavBF::Projecting Measurements 2021-10-11T01:16:31Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:16:31Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:16:31Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:16:31Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:16:31Z- TNavFilter::4 good beams. 2021-10-11T01:16:31Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:16:31Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:16:31Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:16:31Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:16:31Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:16:31Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:16:31Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:16:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:31Z- TerrainMapOctree: (vehN, vehE ) = (4061672.91, 594550.67). 2021-10-11T01:16:31Z- TerrainMapOctree: Min Distance = 213.72. 2021-10-11T01:16:31Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:16:31Z- TerrainMapOctree: Switching to tile 5. 2021-10-11T01:16:33Z- TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo took 1.193798 seconds. 2021-10-11T01:16:33Z- Forcing Subcloud Comparison 2021-10-11T01:16:33Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:16:33Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:33Z- Filter 0 partialDeltaRmsComputation: 12.698835 terrainVariance: 0.990938 1-SumSquareWeights: 0.999900 2021-10-11T01:16:33Z- Filter 0 meanExpectedMeasDiff: -3.421680 delta_rms_squared: 0.980939 alpha: 0.980019 2021-10-11T01:16:33Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:33Z- Filter 0 partialDeltaRmsComputation: 1.375858 terrainVariance: 0.792127 1-SumSquareWeights: 0.999900 2021-10-11T01:16:33Z- Filter 0 meanExpectedMeasDiff: 0.764023 delta_rms_squared: 0.782128 alpha: 0.975066 2021-10-11T01:16:33Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:33Z- Filter 0 partialDeltaRmsComputation: 147.097911 terrainVariance: 1.704542 1-SumSquareWeights: 0.999900 2021-10-11T01:16:33Z- Filter 0 meanExpectedMeasDiff: -12.057917 delta_rms_squared: 1.694543 alpha: 0.988335 2021-10-11T01:16:33Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:33Z- Filter 0 partialDeltaRmsComputation: 261.838745 terrainVariance: 2.110057 1-SumSquareWeights: 0.999900 2021-10-11T01:16:33Z- Filter 0 meanExpectedMeasDiff: 16.116100 delta_rms_squared: 2.100058 alpha: 0.990566 2021-10-11T01:16:33Z- Filter 0 SubcloudNIS: 0.069624 2021-10-11T01:16:33Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:16:33Z- TNavBF:: Filter 0 sumWeights = 0.000051 2021-10-11T01:16:33Z- Filter 0 NorthBias: 0.8 EastBias: -21.1 DepthBias: -9.3 NorthVariance: 805.8 EastVariance: 1092.3 DepthVariance: 3.9 this->DepthBiasCov: 3.2 2021-10-11T01:16:33Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633914986.95 sec. 2021-10-11T01:16:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:16:33Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:33Z- variances([0], [2], and psi_berg) = 805.595111 1094.429534 0.000000 2021-10-11T01:16:33Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:33Z- LcmTrn::publishEstimates() - MLE : 4061680.39 594500.88 2.37 2021-10-11T01:16:33Z- LcmTrn::publishEstimates() - MMSE : 4061672.71 594529.32 -6.91 2021-10-11T01:16:33Z- LcmTrn::publishEstimates() - COVAR: 805.60 1094.43 3.98 0.00 2021-10-11T01:16:33Z- AHRS_M2 msg: 1633914988.54 epoch sec; seqNo:294 2021-10-11T01:16:33Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 3.39 psi 2021-10-11T01:16:33Z- handleDepth()-Depth_Keller msg: 1633914988546 epoch sec; seqNo:308; depth 2.42 2021-10-11T01:16:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914988.56 epoch sec; seqNo:308; 4061671.51 north; 594550.38 east 2021-10-11T01:16:33Z- AHRS_M2 msg: 1633914988.94 epoch sec; seqNo:295 2021-10-11T01:16:33Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 3.38 psi 2021-10-11T01:16:33Z- handleDepth()-Depth_Keller msg: 1633914988952 epoch sec; seqNo:309; depth 2.44 2021-10-11T01:16:33Z- handleDvl() - RDI_Pathfinder msg: 1633914988.98 epoch sec; seqNo:73 2021-10-11T01:16:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.70 , 104.55 , 81.42 , 99.11 2021-10-11T01:16:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , -0.29 , -0.03 2021-10-11T01:16:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914989.00 epoch sec; seqNo:309; 4061670.75 north; 594550.39 east 2021-10-11T01:16:33Z- AHRS_M2 msg: 1633914989.35 epoch sec; seqNo:296 2021-10-11T01:16:33Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 3.38 psi 2021-10-11T01:16:33Z- handleDepth()-Depth_Keller msg: 1633914989350 epoch sec; seqNo:310; depth 2.51 2021-10-11T01:16:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914989.38 epoch sec; seqNo:310; 4061670.37 north; 594550.40 east 2021-10-11T01:16:33Z- AHRS_M2 msg: 1633914989.75 epoch sec; seqNo:297 2021-10-11T01:16:33Z- AHRS_M2 msg: -0.19 phi; -0.09 theta; 3.37 psi 2021-10-11T01:16:33Z- handleDepth()-Depth_Keller msg: 1633914989756 epoch sec; seqNo:311; depth 2.56 2021-10-11T01:16:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914989.77 epoch sec; seqNo:311; 4061669.99 north; 594550.40 east 2021-10-11T01:16:33Z- AHRS_M2 msg: 1633914990.15 epoch sec; seqNo:298 2021-10-11T01:16:33Z- AHRS_M2 msg: -0.18 phi; -0.09 theta; 3.37 psi 2021-10-11T01:16:33Z- handleDepth()-Depth_Keller msg: 1633914990161 epoch sec; seqNo:312; depth 2.61 2021-10-11T01:16:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914990.17 epoch sec; seqNo:312; 4061669.61 north; 594550.40 east 2021-10-11T01:16:33Z- AHRS_M2 msg: 1633914990.56 epoch sec; seqNo:299 2021-10-11T01:16:33Z- AHRS_M2 msg: -0.19 phi; -0.09 theta; 3.36 psi 2021-10-11T01:16:33Z- handleDepth()-Depth_Keller msg: 1633914990562 epoch sec; seqNo:313; depth 2.66 2021-10-11T01:16:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914990.57 epoch sec; seqNo:313; 4061669.24 north; 594550.41 east 2021-10-11T01:16:34Z- AHRS_M2 msg: 1633914990.97 epoch sec; seqNo:300 2021-10-11T01:16:34Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 3.37 psi 2021-10-11T01:16:34Z- handleDepth()-Depth_Keller msg: 1633914990975 epoch sec; seqNo:314; depth 2.69 2021-10-11T01:16:34Z- handleDvl() - RDI_Pathfinder msg: 1633914991.01 epoch sec; seqNo:74 2021-10-11T01:16:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.74 , 96.59 , 81.90 , 95.37 2021-10-11T01:16:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.16 , -0.23 2021-10-11T01:16:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914991.02 epoch sec; seqNo:314; 4061668.48 north; 594550.42 east 2021-10-11T01:16:34Z- AHRS_M2 msg: 1633914991.37 epoch sec; seqNo:301 2021-10-11T01:16:34Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 3.37 psi 2021-10-11T01:16:34Z- handleDepth()-Depth_Keller msg: 1633914991374 epoch sec; seqNo:315; depth 2.75 2021-10-11T01:16:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914991.39 epoch sec; seqNo:315; 4061668.09 north; 594549.20 east 2021-10-11T01:16:35Z- AHRS_M2 msg: 1633914991.77 epoch sec; seqNo:302 2021-10-11T01:16:35Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 3.37 psi 2021-10-11T01:16:35Z- handleDepth()-Depth_Keller msg: 1633914991775 epoch sec; seqNo:316; depth 2.78 2021-10-11T01:16:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914991.79 epoch sec; seqNo:316; 4061667.71 north; 594549.21 east 2021-10-11T01:16:35Z- AHRS_M2 msg: 1633914992.17 epoch sec; seqNo:303 2021-10-11T01:16:35Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 3.37 psi 2021-10-11T01:16:35Z- handleDepth()-Depth_Keller msg: 1633914992179 epoch sec; seqNo:317; depth 2.83 2021-10-11T01:16:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914992.21 epoch sec; seqNo:317; 4061667.33 north; 594549.21 east 2021-10-11T01:16:35Z- AHRS_M2 msg: 1633914992.58 epoch sec; seqNo:304 2021-10-11T01:16:35Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 3.37 psi 2021-10-11T01:16:35Z- handleDepth()-Depth_Keller msg: 1633914992584 epoch sec; seqNo:318; depth 2.87 2021-10-11T01:16:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914992.60 epoch sec; seqNo:318; 4061666.95 north; 594549.21 east 2021-10-11T01:16:36Z- AHRS_M2 msg: 1633914992.99 epoch sec; seqNo:305 2021-10-11T01:16:36Z- AHRS_M2 msg: -0.21 phi; -0.09 theta; 3.36 psi 2021-10-11T01:16:36Z- handleDepth()-Depth_Keller msg: 1633914992996 epoch sec; seqNo:319; depth 2.93 2021-10-11T01:16:36Z- handleDvl() - RDI_Pathfinder msg: 1633914993.02 epoch sec; seqNo:75 2021-10-11T01:16:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.27 , 96.86 , 83.40 , 95.64 2021-10-11T01:16:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.44 , -0.21 2021-10-11T01:16:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914993.05 epoch sec; seqNo:319; 4061666.57 north; 594549.22 east 2021-10-11T01:16:36Z- AHRS_M2 msg: 1633914993.38 epoch sec; seqNo:306 2021-10-11T01:16:36Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 3.35 psi 2021-10-11T01:16:36Z- handleDepth()-Depth_Keller msg: 1633914993392 epoch sec; seqNo:320; depth 2.98 2021-10-11T01:16:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914993.42 epoch sec; seqNo:320; 4061666.57 north; 594549.22 east 2021-10-11T01:16:37Z- AHRS_M2 msg: 1633914993.79 epoch sec; seqNo:307 2021-10-11T01:16:37Z- AHRS_M2 msg: -0.22 phi; -0.10 theta; 3.35 psi 2021-10-11T01:16:37Z- handleDepth()-Depth_Keller msg: 1633914993796 epoch sec; seqNo:321; depth 3.02 2021-10-11T01:16:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914993.81 epoch sec; seqNo:321; 4061666.19 north; 594549.22 east 2021-10-11T01:16:37Z- AHRS_M2 msg: 1633914994.19 epoch sec; seqNo:308 2021-10-11T01:16:37Z- AHRS_M2 msg: -0.24 phi; -0.11 theta; 3.35 psi 2021-10-11T01:16:37Z- handleDepth()-Depth_Keller msg: 1633914994205 epoch sec; seqNo:322; depth 3.04 2021-10-11T01:16:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914994.24 epoch sec; seqNo:322; 4061665.80 north; 594548.01 east 2021-10-11T01:16:37Z- AHRS_M2 msg: 1633914994.60 epoch sec; seqNo:309 2021-10-11T01:16:37Z- AHRS_M2 msg: -0.25 phi; -0.10 theta; 3.36 psi 2021-10-11T01:16:37Z- handleDepth()-Depth_Keller msg: 1633914994614 epoch sec; seqNo:323; depth 3.07 2021-10-11T01:16:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914994.63 epoch sec; seqNo:323; 4061665.42 north; 594548.01 east 2021-10-11T01:16:38Z- LcmTrn::handleMessages() - handling 51 messages took 0.71 ms and 136 calls... 2021-10-11T01:16:38Z- waiting for 1633914991.15, time is 1633914994.63 2021-10-11T01:16:38Z- LcmTrn::updateTrn() >>>> pose time 1633914994.63, meas time 1633914993.02 <<<< 2021-10-11T01:16:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633914993.02 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:16:38Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594548.01, 3.07) 2021-10-11T01:16:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:16:38Z- TerrainNav:: SubcloudNIS is 0.07, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:16:38Z- TNavBF::Projecting Measurements 2021-10-11T01:16:38Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:16:38Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:16:38Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:16:38Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:16:38Z- TNavFilter::4 good beams. 2021-10-11T01:16:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:16:38Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:16:38Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:16:38Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:16:38Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:16:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:16:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:16:38Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:38Z- TerrainMapOctree: (vehN, vehE ) = (4061667.03, 594548.60). 2021-10-11T01:16:38Z- TerrainMapOctree: Min Distance = 217.82. 2021-10-11T01:16:38Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:16:38Z- Forcing Subcloud Comparison 2021-10-11T01:16:38Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:16:38Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:38Z- Filter 0 partialDeltaRmsComputation: 3.505890 terrainVariance: 2.014650 1-SumSquareWeights: 0.999652 2021-10-11T01:16:38Z- Filter 0 meanExpectedMeasDiff: -1.221164 delta_rms_squared: 2.004653 alpha: 0.990122 2021-10-11T01:16:38Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:38Z- Filter 0 partialDeltaRmsComputation: 105.157392 terrainVariance: 0.692634 1-SumSquareWeights: 0.999652 2021-10-11T01:16:38Z- Filter 0 meanExpectedMeasDiff: -10.220800 delta_rms_squared: 0.682638 alpha: 0.971536 2021-10-11T01:16:38Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:38Z- Filter 0 partialDeltaRmsComputation: 77.148234 terrainVariance: 5.206043 1-SumSquareWeights: 0.999652 2021-10-11T01:16:38Z- Filter 0 meanExpectedMeasDiff: -8.481874 delta_rms_squared: 5.196046 alpha: 0.996166 2021-10-11T01:16:38Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:38Z- Filter 0 partialDeltaRmsComputation: 132.401719 terrainVariance: 1.175174 1-SumSquareWeights: 0.999652 2021-10-11T01:16:38Z- Filter 0 meanExpectedMeasDiff: 11.455416 delta_rms_squared: 1.165177 alpha: 0.983125 2021-10-11T01:16:38Z- Filter 0 SubcloudNIS: 0.134373 2021-10-11T01:16:38Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:16:38Z- TNavBF:: Filter 0 sumWeights = 0.000369 2021-10-11T01:16:38Z- Filter 0 NorthBias: -18.2 EastBias: -44.7 DepthBias: -10.7 NorthVariance: 719.2 EastVariance: 79.8 DepthVariance: 2.5 this->DepthBiasCov: 1.7 2021-10-11T01:16:38Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633914993.02 sec. 2021-10-11T01:16:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:16:38Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:38Z- variances([0], [2], and psi_berg) = 719.042831 96.605569 0.000000 2021-10-11T01:16:38Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:38Z- LcmTrn::publishEstimates() - MLE : 4061629.92 594499.51 3.07 2021-10-11T01:16:38Z- LcmTrn::publishEstimates() - MMSE : 4061647.23 594503.46 -7.66 2021-10-11T01:16:38Z- LcmTrn::publishEstimates() - COVAR: 719.04 96.61 2.55 0.00 2021-10-11T01:16:38Z- AHRS_M2 msg: 1633914995.00 epoch sec; seqNo:310 2021-10-11T01:16:38Z- AHRS_M2 msg: -0.27 phi; -0.08 theta; 3.36 psi 2021-10-11T01:16:38Z- handleDepth()-Depth_Keller msg: 1633914995012 epoch sec; seqNo:324; depth 3.09 2021-10-11T01:16:38Z- handleDvl() - RDI_Pathfinder msg: 1633914995.05 epoch sec; seqNo:76 2021-10-11T01:16:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.51 , 103.06 , 82.24 , 98.16 2021-10-11T01:16:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.04 , 0.84 2021-10-11T01:16:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914995.07 epoch sec; seqNo:324; 4061665.04 north; 594548.01 east 2021-10-11T01:16:38Z- AHRS_M2 msg: 1633914995.41 epoch sec; seqNo:311 2021-10-11T01:16:38Z- AHRS_M2 msg: -0.27 phi; -0.06 theta; 3.37 psi 2021-10-11T01:16:38Z- handleDepth()-Depth_Keller msg: 1633914995416 epoch sec; seqNo:325; depth 3.13 2021-10-11T01:16:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914995.43 epoch sec; seqNo:325; 4061664.66 north; 594548.02 east 2021-10-11T01:16:39Z- AHRS_M2 msg: 1633914995.82 epoch sec; seqNo:312 2021-10-11T01:16:39Z- AHRS_M2 msg: -0.23 phi; -0.03 theta; 3.38 psi 2021-10-11T01:16:39Z- handleDepth()-Depth_Keller msg: 1633914995895 epoch sec; seqNo:326; depth 3.16 2021-10-11T01:16:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914995.91 epoch sec; seqNo:326; 4061664.28 north; 594548.02 east 2021-10-11T01:16:39Z- AHRS_M2 msg: 1633914996.22 epoch sec; seqNo:313 2021-10-11T01:16:39Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 3.38 psi 2021-10-11T01:16:39Z- handleDepth()-Depth_Keller msg: 1633914996232 epoch sec; seqNo:327; depth 3.21 2021-10-11T01:16:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914996.26 epoch sec; seqNo:327; 4061663.90 north; 594548.03 east 2021-10-11T01:16:39Z- AHRS_M2 msg: 1633914996.62 epoch sec; seqNo:314 2021-10-11T01:16:39Z- AHRS_M2 msg: -0.16 phi; -0.02 theta; 3.39 psi 2021-10-11T01:16:40Z- handleDepth()-Depth_Keller msg: 1633914996644 epoch sec; seqNo:328; depth 3.25 2021-10-11T01:16:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914996.66 epoch sec; seqNo:328; 4061663.53 north; 594548.03 east 2021-10-11T01:16:40Z- AHRS_M2 msg: 1633914997.03 epoch sec; seqNo:315 2021-10-11T01:16:40Z- AHRS_M2 msg: -0.14 phi; -0.02 theta; 3.39 psi 2021-10-11T01:16:40Z- handleDepth()-Depth_Keller msg: 1633914997128 epoch sec; seqNo:329; depth 3.27 2021-10-11T01:16:40Z- handleDvl() - RDI_Pathfinder msg: 1633914997.15 epoch sec; seqNo:77 2021-10-11T01:16:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.09 , 101.62 , 85.71 , 97.95 2021-10-11T01:16:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , -0.47 , -0.62 2021-10-11T01:16:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914997.20 epoch sec; seqNo:329; 4061662.77 north; 594548.04 east 2021-10-11T01:16:40Z- AHRS_M2 msg: 1633914997.42 epoch sec; seqNo:316 2021-10-11T01:16:40Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 3.39 psi 2021-10-11T01:16:40Z- handleDepth()-Depth_Keller msg: 1633914997456 epoch sec; seqNo:330; depth 3.31 2021-10-11T01:16:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914997.50 epoch sec; seqNo:330; 4061662.77 north; 594548.04 east 2021-10-11T01:16:41Z- AHRS_M2 msg: 1633914997.83 epoch sec; seqNo:317 2021-10-11T01:16:41Z- AHRS_M2 msg: -0.12 phi; -0.02 theta; 3.39 psi 2021-10-11T01:16:41Z- handleDepth()-Depth_Keller msg: 1633914997859 epoch sec; seqNo:331; depth 3.32 2021-10-11T01:16:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914997.87 epoch sec; seqNo:331; 4061662.01 north; 594548.05 east 2021-10-11T01:16:41Z- AHRS_M2 msg: 1633914998.23 epoch sec; seqNo:318 2021-10-11T01:16:41Z- AHRS_M2 msg: -0.13 phi; -0.02 theta; 3.39 psi 2021-10-11T01:16:41Z- handleDepth()-Depth_Keller msg: 1633914998260 epoch sec; seqNo:332; depth 3.34 2021-10-11T01:16:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914998.27 epoch sec; seqNo:332; 4061661.63 north; 594548.05 east 2021-10-11T01:16:42Z- AHRS_M2 msg: 1633914998.64 epoch sec; seqNo:319 2021-10-11T01:16:42Z- AHRS_M2 msg: -0.15 phi; -0.01 theta; 3.38 psi 2021-10-11T01:16:42Z- handleDepth()-Depth_Keller msg: 1633914998643 epoch sec; seqNo:333; depth 3.35 2021-10-11T01:16:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914998.66 epoch sec; seqNo:333; 4061661.25 north; 594548.06 east 2021-10-11T01:16:42Z- AHRS_M2 msg: 1633914999.04 epoch sec; seqNo:320 2021-10-11T01:16:42Z- AHRS_M2 msg: -0.17 phi; -0.01 theta; 3.36 psi 2021-10-11T01:16:42Z- handleDepth()-Depth_Keller msg: 1633914999052 epoch sec; seqNo:334; depth 3.36 2021-10-11T01:16:42Z- handleDvl() - RDI_Pathfinder msg: 1633914999.10 epoch sec; seqNo:78 2021-10-11T01:16:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.56 , 94.21 , 83.19 , 86.86 2021-10-11T01:16:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.59 , -0.06 2021-10-11T01:16:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914999.12 epoch sec; seqNo:334; 4061660.87 north; 594548.06 east 2021-10-11T01:16:42Z- AHRS_M2 msg: 1633914999.45 epoch sec; seqNo:321 2021-10-11T01:16:42Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 3.35 psi 2021-10-11T01:16:42Z- handleDepth()-Depth_Keller msg: 1633914999451 epoch sec; seqNo:335; depth 3.36 2021-10-11T01:16:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914999.47 epoch sec; seqNo:335; 4061660.48 north; 594546.84 east 2021-10-11T01:16:43Z- AHRS_M2 msg: 1633914999.86 epoch sec; seqNo:322 2021-10-11T01:16:43Z- AHRS_M2 msg: -0.23 phi; -0.01 theta; 3.34 psi 2021-10-11T01:16:43Z- handleDepth()-Depth_Keller msg: 1633914999868 epoch sec; seqNo:336; depth 3.36 2021-10-11T01:16:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633914999.88 epoch sec; seqNo:336; 4061660.10 north; 594546.85 east 2021-10-11T01:16:43Z- LcmTrn::handleMessages() - handling 42 messages took 0.85 ms and 125 calls... 2021-10-11T01:16:43Z- waiting for 1633914997.63, time is 1633914999.88 2021-10-11T01:16:43Z- LcmTrn::updateTrn() >>>> pose time 1633914999.88, meas time 1633914999.10 <<<< 2021-10-11T01:16:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633914999.10 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:16:43Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594546.85, 3.36) 2021-10-11T01:16:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:16:43Z- TerrainNav:: SubcloudNIS is 0.13, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:16:43Z- TNavBF::Projecting Measurements 2021-10-11T01:16:43Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:16:43Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:16:43Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:16:43Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:16:43Z- TNavFilter::4 good beams. 2021-10-11T01:16:43Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:16:43Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:16:43Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:16:43Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:16:43Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:16:43Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:16:43Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:16:43Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:43Z- TerrainMapOctree: (vehN, vehE ) = (4061660.90, 594547.02). 2021-10-11T01:16:43Z- TerrainMapOctree: Min Distance = 221.68. 2021-10-11T01:16:43Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:16:43Z- Forcing Subcloud Comparison 2021-10-11T01:16:43Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:16:43Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:43Z- Filter 0 partialDeltaRmsComputation: 1.006969 terrainVariance: 0.664467 1-SumSquareWeights: 0.997809 2021-10-11T01:16:43Z- Filter 0 meanExpectedMeasDiff: -0.585237 delta_rms_squared: 0.654489 alpha: 0.970348 2021-10-11T01:16:43Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:43Z- Filter 0 partialDeltaRmsComputation: 16.815616 terrainVariance: 0.460984 1-SumSquareWeights: 0.997809 2021-10-11T01:16:43Z- Filter 0 meanExpectedMeasDiff: -4.044086 delta_rms_squared: 0.451006 alpha: 0.957538 2021-10-11T01:16:43Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:43Z- Filter 0 partialDeltaRmsComputation: 45.321882 terrainVariance: 1.948482 1-SumSquareWeights: 0.997809 2021-10-11T01:16:43Z- Filter 0 meanExpectedMeasDiff: -6.585848 delta_rms_squared: 1.938504 alpha: 0.989788 2021-10-11T01:16:43Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:43Z- Filter 0 partialDeltaRmsComputation: 47.461633 terrainVariance: 0.344028 1-SumSquareWeights: 0.997809 2021-10-11T01:16:43Z- Filter 0 meanExpectedMeasDiff: 6.864226 delta_rms_squared: 0.334050 alpha: 0.943511 2021-10-11T01:16:43Z- Filter 0 SubcloudNIS: 0.209364 2021-10-11T01:16:43Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:16:43Z- TNavBF:: Filter 0 sumWeights = 0.037481 2021-10-11T01:16:43Z- Filter 0 NorthBias: -29.0 EastBias: -46.7 DepthBias: -11.0 NorthVariance: 344.8 EastVariance: 8.2 DepthVariance: 1.7 this->DepthBiasCov: 1.3 2021-10-11T01:16:43Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633914999.10 sec. 2021-10-11T01:16:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:16:43Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:43Z- variances([0], [2], and psi_berg) = 344.823950 23.300952 0.000000 2021-10-11T01:16:43Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:43Z- LcmTrn::publishEstimates() - MLE : 4061623.60 594497.35 3.36 2021-10-11T01:16:43Z- LcmTrn::publishEstimates() - MMSE : 4061631.07 594500.31 -7.64 2021-10-11T01:16:43Z- LcmTrn::publishEstimates() - COVAR: 344.82 23.30 1.71 0.00 2021-10-11T01:16:43Z- AHRS_M2 msg: 1633915000.25 epoch sec; seqNo:323 2021-10-11T01:16:43Z- AHRS_M2 msg: -0.25 phi; -0.01 theta; 3.33 psi 2021-10-11T01:16:43Z- handleDepth()-Depth_Keller msg: 1633915000258 epoch sec; seqNo:337; depth 3.36 2021-10-11T01:16:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915000.28 epoch sec; seqNo:337; 4061659.72 north; 594546.85 east 2021-10-11T01:16:44Z- AHRS_M2 msg: 1633915000.66 epoch sec; seqNo:324 2021-10-11T01:16:44Z- AHRS_M2 msg: -0.27 phi; -0.02 theta; 3.34 psi 2021-10-11T01:16:44Z- handleDepth()-Depth_Keller msg: 1633915000664 epoch sec; seqNo:338; depth 3.37 2021-10-11T01:16:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915000.69 epoch sec; seqNo:338; 4061659.34 north; 594546.86 east 2021-10-11T01:16:44Z- AHRS_M2 msg: 1633915001.06 epoch sec; seqNo:325 2021-10-11T01:16:44Z- AHRS_M2 msg: -0.28 phi; -0.03 theta; 3.34 psi 2021-10-11T01:16:44Z- handleDepth()-Depth_Keller msg: 1633915001088 epoch sec; seqNo:339; depth 3.36 2021-10-11T01:16:44Z- handleDvl() - RDI_Pathfinder msg: 1633915001.12 epoch sec; seqNo:79 2021-10-11T01:16:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.71 , 97.07 , 86.05 , 88.50 2021-10-11T01:16:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.23 2021-10-11T01:16:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915001.14 epoch sec; seqNo:339; 4061658.97 north; 594546.86 east 2021-10-11T01:16:44Z- AHRS_M2 msg: 1633915001.46 epoch sec; seqNo:326 2021-10-11T01:16:44Z- AHRS_M2 msg: -0.27 phi; -0.03 theta; 3.36 psi 2021-10-11T01:16:44Z- handleDepth()-Depth_Keller msg: 1633915001470 epoch sec; seqNo:340; depth 3.37 2021-10-11T01:16:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915001.50 epoch sec; seqNo:340; 4061658.97 north; 594546.86 east 2021-10-11T01:16:45Z- AHRS_M2 msg: 1633915001.87 epoch sec; seqNo:327 2021-10-11T01:16:45Z- AHRS_M2 msg: -0.25 phi; -0.03 theta; 3.37 psi 2021-10-11T01:16:45Z- handleDepth()-Depth_Keller msg: 1633915001875 epoch sec; seqNo:341; depth 3.36 2021-10-11T01:16:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915001.89 epoch sec; seqNo:341; 4061658.57 north; 594545.64 east 2021-10-11T01:16:45Z- handleDepth()-Depth_Keller msg: 1633915002296 epoch sec; seqNo:342; depth 3.36 2021-10-11T01:16:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915002.31 epoch sec; seqNo:342; 4061658.19 north; 594545.65 east 2021-10-11T01:16:46Z- AHRS_M2 msg: 1633915002.68 epoch sec; seqNo:328 2021-10-11T01:16:46Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 3.38 psi 2021-10-11T01:16:46Z- handleDepth()-Depth_Keller msg: 1633915002691 epoch sec; seqNo:343; depth 3.36 2021-10-11T01:16:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915002.70 epoch sec; seqNo:343; 4061657.82 north; 594545.65 east 2021-10-11T01:16:46Z- AHRS_M2 msg: 1633915003.09 epoch sec; seqNo:329 2021-10-11T01:16:46Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 3.38 psi 2021-10-11T01:16:46Z- handleDepth()-Depth_Keller msg: 1633915003096 epoch sec; seqNo:344; depth 3.38 2021-10-11T01:16:46Z- handleDvl() - RDI_Pathfinder msg: 1633915003.13 epoch sec; seqNo:80 2021-10-11T01:16:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.27 , 100.54 , 84.62 , 91.97 2021-10-11T01:16:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.03 , 0.10 2021-10-11T01:16:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915003.15 epoch sec; seqNo:344; 4061657.44 north; 594545.66 east 2021-10-11T01:16:46Z- AHRS_M2 msg: 1633915003.49 epoch sec; seqNo:330 2021-10-11T01:16:46Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 3.38 psi 2021-10-11T01:16:46Z- handleDepth()-Depth_Keller msg: 1633915003497 epoch sec; seqNo:345; depth 3.38 2021-10-11T01:16:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915003.52 epoch sec; seqNo:345; 4061657.06 north; 594545.66 east 2021-10-11T01:16:47Z- AHRS_M2 msg: 1633915003.89 epoch sec; seqNo:331 2021-10-11T01:16:47Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 3.38 psi 2021-10-11T01:16:47Z- handleDepth()-Depth_Keller msg: 1633915003896 epoch sec; seqNo:346; depth 3.40 2021-10-11T01:16:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915003.92 epoch sec; seqNo:346; 4061656.68 north; 594545.67 east 2021-10-11T01:16:47Z- AHRS_M2 msg: 1633915004.30 epoch sec; seqNo:332 2021-10-11T01:16:47Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 3.38 psi 2021-10-11T01:16:47Z- handleDepth()-Depth_Keller msg: 1633915004307 epoch sec; seqNo:347; depth 3.41 2021-10-11T01:16:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915004.32 epoch sec; seqNo:347; 4061656.30 north; 594545.67 east 2021-10-11T01:16:48Z- AHRS_M2 msg: 1633915004.70 epoch sec; seqNo:333 2021-10-11T01:16:48Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 3.39 psi 2021-10-11T01:16:48Z- handleDepth()-Depth_Keller msg: 1633915004706 epoch sec; seqNo:348; depth 3.42 2021-10-11T01:16:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915004.72 epoch sec; seqNo:348; 4061655.54 north; 594545.68 east 2021-10-11T01:16:48Z- AHRS_M2 msg: 1633915005.10 epoch sec; seqNo:334 2021-10-11T01:16:48Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 3.39 psi 2021-10-11T01:16:48Z- handleDepth()-Depth_Keller msg: 1633915005120 epoch sec; seqNo:349; depth 3.42 2021-10-11T01:16:48Z- handleDvl() - RDI_Pathfinder msg: 1633915005.14 epoch sec; seqNo:81 2021-10-11T01:16:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.68 , 98.09 , 84.62 , 87.07 2021-10-11T01:16:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.08 , -0.15 2021-10-11T01:16:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915005.15 epoch sec; seqNo:349; 4061655.16 north; 594545.68 east 2021-10-11T01:16:48Z- LcmTrn::handleMessages() - handling 41 messages took 0.66 ms and 127 calls... 2021-10-11T01:16:48Z- waiting for 1633915002.88, time is 1633915005.15 2021-10-11T01:16:48Z- LcmTrn::updateTrn() equating pose 1633915005.15 and meas times 1633915005.15 2021-10-11T01:16:48Z- LcmTrn::updateTrn() >>>> pose time 1633915005.15, meas time 1633915005.15 <<<< 2021-10-11T01:16:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915005.15 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:16:48Z- TerrainNav::motionUpdate() - currEstimate = (4061655, 594545.68, 3.42) 2021-10-11T01:16:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:16:48Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:16:48Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915005.15 sec.; No relevant navigation data available 2021-10-11T01:16:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:16:48Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:48Z- variances([0], [2], and psi_berg) = 344.763065 60.118635 0.000000 2021-10-11T01:16:48Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:48Z- LcmTrn::publishEstimates() - MLE : 4061618.66 594496.18 3.42 2021-10-11T01:16:48Z- LcmTrn::publishEstimates() - MMSE : 4061626.14 594499.55 -7.58 2021-10-11T01:16:48Z- LcmTrn::publishEstimates() - COVAR: 344.76 60.12 1.97 0.00 2021-10-11T01:16:48Z- AHRS_M2 msg: 1633915005.52 epoch sec; seqNo:335 2021-10-11T01:16:48Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 3.39 psi 2021-10-11T01:16:48Z- handleDepth()-Depth_Keller msg: 1633915005523 epoch sec; seqNo:350; depth 3.44 2021-10-11T01:16:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915005.55 epoch sec; seqNo:350; 4061654.79 north; 594545.69 east 2021-10-11T01:16:49Z- AHRS_M2 msg: 1633915005.91 epoch sec; seqNo:336 2021-10-11T01:16:49Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 3.39 psi 2021-10-11T01:16:49Z- handleDepth()-Depth_Keller msg: 1633915005925 epoch sec; seqNo:351; depth 3.44 2021-10-11T01:16:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915005.94 epoch sec; seqNo:351; 4061654.41 north; 594545.69 east 2021-10-11T01:16:49Z- AHRS_M2 msg: 1633915006.32 epoch sec; seqNo:337 2021-10-11T01:16:49Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 3.40 psi 2021-10-11T01:16:49Z- handleDepth()-Depth_Keller msg: 1633915006326 epoch sec; seqNo:352; depth 3.44 2021-10-11T01:16:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915006.34 epoch sec; seqNo:352; 4061654.03 north; 594545.69 east 2021-10-11T01:16:50Z- AHRS_M2 msg: 1633915006.72 epoch sec; seqNo:338 2021-10-11T01:16:50Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 3.40 psi 2021-10-11T01:16:50Z- handleDepth()-Depth_Keller msg: 1633915006725 epoch sec; seqNo:353; depth 3.45 2021-10-11T01:16:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915006.74 epoch sec; seqNo:353; 4061653.63 north; 594544.48 east 2021-10-11T01:16:50Z- AHRS_M2 msg: 1633915007.12 epoch sec; seqNo:339 2021-10-11T01:16:50Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 3.40 psi 2021-10-11T01:16:50Z- handleDepth()-Depth_Keller msg: 1633915007131 epoch sec; seqNo:354; depth 3.46 2021-10-11T01:16:50Z- handleDvl() - RDI_Pathfinder msg: 1633915007.15 epoch sec; seqNo:82 2021-10-11T01:16:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.50 , 97.00 , 82.31 , 90.88 2021-10-11T01:16:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.09 , -0.11 2021-10-11T01:16:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915007.17 epoch sec; seqNo:354; 4061653.26 north; 594544.48 east 2021-10-11T01:16:50Z- AHRS_M2 msg: 1633915007.53 epoch sec; seqNo:340 2021-10-11T01:16:50Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 3.40 psi 2021-10-11T01:16:50Z- handleDepth()-Depth_Keller msg: 1633915007532 epoch sec; seqNo:355; depth 3.49 2021-10-11T01:16:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915007.56 epoch sec; seqNo:355; 4061652.88 north; 594544.49 east 2021-10-11T01:16:51Z- AHRS_M2 msg: 1633915007.93 epoch sec; seqNo:341 2021-10-11T01:16:51Z- AHRS_M2 msg: -0.22 phi; -0.06 theta; 3.39 psi 2021-10-11T01:16:51Z- handleDepth()-Depth_Keller msg: 1633915007935 epoch sec; seqNo:356; depth 3.50 2021-10-11T01:16:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915007.95 epoch sec; seqNo:356; 4061652.50 north; 594544.49 east 2021-10-11T01:16:51Z- AHRS_M2 msg: 1633915008.34 epoch sec; seqNo:342 2021-10-11T01:16:51Z- AHRS_M2 msg: -0.22 phi; -0.08 theta; 3.39 psi 2021-10-11T01:16:51Z- handleDepth()-Depth_Keller msg: 1633915008346 epoch sec; seqNo:357; depth 3.50 2021-10-11T01:16:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915008.36 epoch sec; seqNo:357; 4061652.12 north; 594544.50 east 2021-10-11T01:16:52Z- AHRS_M2 msg: 1633915008.74 epoch sec; seqNo:343 2021-10-11T01:16:52Z- AHRS_M2 msg: -0.22 phi; -0.09 theta; 3.39 psi 2021-10-11T01:16:52Z- handleDepth()-Depth_Keller msg: 1633915008759 epoch sec; seqNo:358; depth 3.54 2021-10-11T01:16:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:16:52Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:16:52Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:16:52Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:16:52Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:16:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:16:52Z- handleDvl() - RDI_Pathfinder msg: 1633915008.76 epoch sec; seqNo:83 2021-10-11T01:16:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:16:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.09 , -0.11 2021-10-11T01:16:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915008.82 epoch sec; seqNo:358; 4061651.36 north; 594544.50 east 2021-10-11T01:16:52Z- AHRS_M2 msg: 1633915009.14 epoch sec; seqNo:344 2021-10-11T01:16:52Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 3.40 psi 2021-10-11T01:16:52Z- handleDepth()-Depth_Keller msg: 1633915009148 epoch sec; seqNo:359; depth 3.56 2021-10-11T01:16:52Z- handleDvl() - RDI_Pathfinder msg: 1633915009.18 epoch sec; seqNo:84 2021-10-11T01:16:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.69 , 97.00 , 82.31 , 92.11 2021-10-11T01:16:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.14 , -0.07 2021-10-11T01:16:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915009.20 epoch sec; seqNo:359; 4061650.98 north; 594544.51 east 2021-10-11T01:16:52Z- AHRS_M2 msg: 1633915009.55 epoch sec; seqNo:345 2021-10-11T01:16:52Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 3.41 psi 2021-10-11T01:16:52Z- handleDepth()-Depth_Keller msg: 1633915009630 epoch sec; seqNo:360; depth 3.57 2021-10-11T01:16:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915009.65 epoch sec; seqNo:360; 4061650.60 north; 594544.51 east 2021-10-11T01:16:53Z- AHRS_M2 msg: 1633915009.95 epoch sec; seqNo:346 2021-10-11T01:16:53Z- AHRS_M2 msg: -0.24 phi; -0.09 theta; 3.41 psi 2021-10-11T01:16:53Z- handleDepth()-Depth_Keller msg: 1633915009965 epoch sec; seqNo:361; depth 3.60 2021-10-11T01:16:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915009.98 epoch sec; seqNo:361; 4061650.23 north; 594544.52 east 2021-10-11T01:16:53Z- AHRS_M2 msg: 1633915010.35 epoch sec; seqNo:347 2021-10-11T01:16:53Z- AHRS_M2 msg: -0.24 phi; -0.10 theta; 3.42 psi 2021-10-11T01:16:53Z- LcmTrn::handleMessages() - handling 40 messages took 0.74 ms and 125 calls... 2021-10-11T01:16:53Z- waiting for 1633915008.15, time is 1633915010.35 2021-10-11T01:16:53Z- LcmTrn::updateTrn() >>>> pose time 1633915010.35, meas time 1633915009.18 <<<< 2021-10-11T01:16:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915009.18 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:16:53Z- TerrainNav::motionUpdate() - currEstimate = (4061650, 594544.52, 3.60) 2021-10-11T01:16:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:16:53Z- TerrainNav:: SubcloudNIS is 0.21, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:16:53Z- TNavBF::Projecting Measurements 2021-10-11T01:16:53Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:16:53Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:16:53Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:16:53Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:16:53Z- TNavFilter::4 good beams. 2021-10-11T01:16:53Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:16:53Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:16:53Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:16:53Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:16:53Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:16:53Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:16:53Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:16:53Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:53Z- TerrainMapOctree: (vehN, vehE ) = (4061651.34, 594544.78). 2021-10-11T01:16:53Z- TerrainMapOctree: Min Distance = 227.70. 2021-10-11T01:16:53Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:16:53Z- Forcing Subcloud Comparison 2021-10-11T01:16:53Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:16:53Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:53Z- Filter 0 partialDeltaRmsComputation: 2.548307 terrainVariance: 0.308853 1-SumSquareWeights: 0.996217 2021-10-11T01:16:53Z- Filter 0 meanExpectedMeasDiff: -1.496480 delta_rms_squared: 0.298891 alpha: 0.937283 2021-10-11T01:16:54Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:54Z- Filter 0 partialDeltaRmsComputation: 17.493636 terrainVariance: 0.285070 1-SumSquareWeights: 0.996217 2021-10-11T01:16:54Z- Filter 0 meanExpectedMeasDiff: -4.148321 delta_rms_squared: 0.275108 alpha: 0.932228 2021-10-11T01:16:54Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:54Z- Filter 0 partialDeltaRmsComputation: 13.566085 terrainVariance: 0.866527 1-SumSquareWeights: 0.996217 2021-10-11T01:16:54Z- Filter 0 meanExpectedMeasDiff: -3.563644 delta_rms_squared: 0.856565 alpha: 0.977184 2021-10-11T01:16:54Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:54Z- Filter 0 partialDeltaRmsComputation: 94.095810 terrainVariance: 0.305223 1-SumSquareWeights: 0.996217 2021-10-11T01:16:54Z- Filter 0 meanExpectedMeasDiff: 9.684554 delta_rms_squared: 0.295261 alpha: 0.936560 2021-10-11T01:16:54Z- Filter 0 SubcloudNIS: 0.280130 2021-10-11T01:16:54Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:16:54Z- TNavBF:: Filter 0 sumWeights = 0.027312 2021-10-11T01:16:54Z- Filter 0 NorthBias: -32.8 EastBias: -47.1 DepthBias: -10.9 NorthVariance: 218.3 EastVariance: 5.7 DepthVariance: 1.4 this->DepthBiasCov: 1.2 2021-10-11T01:16:54Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915009.18 sec. 2021-10-11T01:16:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:16:54Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:54Z- variances([0], [2], and psi_berg) = 218.253691 24.950255 0.000000 2021-10-11T01:16:54Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:54Z- LcmTrn::publishEstimates() - MLE : 4061613.73 594495.02 3.60 2021-10-11T01:16:54Z- LcmTrn::publishEstimates() - MMSE : 4061617.43 594497.60 -7.31 2021-10-11T01:16:54Z- LcmTrn::publishEstimates() - COVAR: 218.25 24.95 1.49 0.00 2021-10-11T01:16:54Z- handleDepth()-Depth_Keller msg: 1633915010459 epoch sec; seqNo:362; depth 3.62 2021-10-11T01:16:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915010.47 epoch sec; seqNo:362; 4061649.83 north; 594543.30 east 2021-10-11T01:16:54Z- AHRS_M2 msg: 1633915010.77 epoch sec; seqNo:348 2021-10-11T01:16:54Z- AHRS_M2 msg: -0.23 phi; -0.10 theta; 3.42 psi 2021-10-11T01:16:54Z- handleDepth()-Depth_Keller msg: 1633915010864 epoch sec; seqNo:363; depth 3.66 2021-10-11T01:16:54Z- handleDvl() - RDI_Pathfinder msg: 1633915010.90 epoch sec; seqNo:85 2021-10-11T01:16:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.68 , 98.22 , 81.08 , 98.22 2021-10-11T01:16:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.19 , -0.06 2021-10-11T01:16:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915010.91 epoch sec; seqNo:363; 4061649.45 north; 594543.30 east 2021-10-11T01:16:54Z- handleDepth()-Depth_Keller msg: 1633915011197 epoch sec; seqNo:364; depth 3.68 2021-10-11T01:16:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915011.22 epoch sec; seqNo:364; 4061649.08 north; 594543.31 east 2021-10-11T01:16:54Z- AHRS_M2 msg: 1633915011.57 epoch sec; seqNo:349 2021-10-11T01:16:54Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 3.40 psi 2021-10-11T01:16:54Z- handleDepth()-Depth_Keller msg: 1633915011592 epoch sec; seqNo:365; depth 3.72 2021-10-11T01:16:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915011.61 epoch sec; seqNo:365; 4061648.70 north; 594543.31 east 2021-10-11T01:16:55Z- AHRS_M2 msg: 1633915011.97 epoch sec; seqNo:350 2021-10-11T01:16:55Z- AHRS_M2 msg: -0.22 phi; -0.15 theta; 3.40 psi 2021-10-11T01:16:55Z- handleDepth()-Depth_Keller msg: 1633915011975 epoch sec; seqNo:366; depth 3.74 2021-10-11T01:16:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915011.98 epoch sec; seqNo:366; 4061648.32 north; 594543.32 east 2021-10-11T01:16:55Z- AHRS_M2 msg: 1633915012.38 epoch sec; seqNo:351 2021-10-11T01:16:55Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 3.40 psi 2021-10-11T01:16:55Z- handleDepth()-Depth_Keller msg: 1633915012411 epoch sec; seqNo:367; depth 3.77 2021-10-11T01:16:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915012.44 epoch sec; seqNo:367; 4061647.94 north; 594543.32 east 2021-10-11T01:16:56Z- AHRS_M2 msg: 1633915012.84 epoch sec; seqNo:352 2021-10-11T01:16:56Z- AHRS_M2 msg: -0.27 phi; -0.16 theta; 3.40 psi 2021-10-11T01:16:56Z- handleDepth()-Depth_Keller msg: 1633915012848 epoch sec; seqNo:368; depth 3.81 2021-10-11T01:16:56Z- handleDvl() - RDI_Pathfinder msg: 1633915012.87 epoch sec; seqNo:86 2021-10-11T01:16:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.27 , 100.54 , 78.38 , 98.09 2021-10-11T01:16:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.20 , 0.38 2021-10-11T01:16:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915012.88 epoch sec; seqNo:368; 4061647.56 north; 594543.33 east 2021-10-11T01:16:56Z- AHRS_M2 msg: 1633915013.19 epoch sec; seqNo:353 2021-10-11T01:16:56Z- AHRS_M2 msg: -0.28 phi; -0.16 theta; 3.40 psi 2021-10-11T01:16:56Z- handleDepth()-Depth_Keller msg: 1633915013192 epoch sec; seqNo:369; depth 3.86 2021-10-11T01:16:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915013.22 epoch sec; seqNo:369; 4061647.55 north; 594542.11 east 2021-10-11T01:16:56Z- AHRS_M2 msg: 1633915013.60 epoch sec; seqNo:354 2021-10-11T01:16:56Z- AHRS_M2 msg: -0.28 phi; -0.16 theta; 3.40 psi 2021-10-11T01:16:56Z- handleDepth()-Depth_Keller msg: 1633915013602 epoch sec; seqNo:370; depth 3.88 2021-10-11T01:16:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915013.61 epoch sec; seqNo:370; 4061647.17 north; 594542.11 east 2021-10-11T01:16:57Z- AHRS_M2 msg: 1633915013.99 epoch sec; seqNo:355 2021-10-11T01:16:57Z- AHRS_M2 msg: -0.27 phi; -0.16 theta; 3.40 psi 2021-10-11T01:16:57Z- handleDepth()-Depth_Keller msg: 1633915013994 epoch sec; seqNo:371; depth 3.96 2021-10-11T01:16:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915014.01 epoch sec; seqNo:371; 4061646.79 north; 594542.11 east 2021-10-11T01:16:57Z- AHRS_M2 msg: 1633915014.39 epoch sec; seqNo:356 2021-10-11T01:16:57Z- AHRS_M2 msg: -0.26 phi; -0.16 theta; 3.41 psi 2021-10-11T01:16:57Z- handleDepth()-Depth_Keller msg: 1633915014398 epoch sec; seqNo:372; depth 4.01 2021-10-11T01:16:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915014.41 epoch sec; seqNo:372; 4061646.41 north; 594542.12 east 2021-10-11T01:16:58Z- AHRS_M2 msg: 1633915014.84 epoch sec; seqNo:357 2021-10-11T01:16:58Z- AHRS_M2 msg: -0.25 phi; -0.16 theta; 3.42 psi 2021-10-11T01:16:58Z- handleDepth()-Depth_Keller msg: 1633915014849 epoch sec; seqNo:373; depth 4.05 2021-10-11T01:16:58Z- handleDvl() - RDI_Pathfinder msg: 1633915014.87 epoch sec; seqNo:87 2021-10-11T01:16:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.27 , 102.98 , 79.72 , 99.31 2021-10-11T01:16:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.31 , -0.06 2021-10-11T01:16:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915014.89 epoch sec; seqNo:373; 4061645.65 north; 594542.13 east 2021-10-11T01:16:58Z- AHRS_M2 msg: 1633915015.20 epoch sec; seqNo:358 2021-10-11T01:16:58Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.43 psi 2021-10-11T01:16:58Z- handleDepth()-Depth_Keller msg: 1633915015207 epoch sec; seqNo:374; depth 4.12 2021-10-11T01:16:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915015.23 epoch sec; seqNo:374; 4061645.27 north; 594542.13 east 2021-10-11T01:16:58Z- AHRS_M2 msg: 1633915015.61 epoch sec; seqNo:359 2021-10-11T01:16:58Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.44 psi 2021-10-11T01:16:58Z- handleDepth()-Depth_Keller msg: 1633915015610 epoch sec; seqNo:375; depth 4.18 2021-10-11T01:16:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915015.62 epoch sec; seqNo:375; 4061644.89 north; 594542.13 east 2021-10-11T01:16:59Z- LcmTrn::handleMessages() - handling 43 messages took 0.86 ms and 125 calls... 2021-10-11T01:16:59Z- waiting for 1633915013.35, time is 1633915015.62 2021-10-11T01:16:59Z- LcmTrn::updateTrn() >>>> pose time 1633915015.62, meas time 1633915014.87 <<<< 2021-10-11T01:16:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915014.87 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:16:59Z- TerrainNav::motionUpdate() - currEstimate = (4061645, 594542.13, 4.18) 2021-10-11T01:16:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:16:59Z- TerrainNav:: SubcloudNIS is 0.28, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:16:59Z- TNavBF::Projecting Measurements 2021-10-11T01:16:59Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:16:59Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:16:59Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:16:59Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:16:59Z- TNavFilter::4 good beams. 2021-10-11T01:16:59Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:16:59Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:16:59Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:16:59Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:16:59Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:16:59Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:16:59Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:16:59Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:59Z- TerrainMapOctree: (vehN, vehE ) = (4061645.65, 594542.47). 2021-10-11T01:16:59Z- TerrainMapOctree: Min Distance = 232.28. 2021-10-11T01:16:59Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:16:59Z- Forcing Subcloud Comparison 2021-10-11T01:16:59Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:16:59Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:59Z- Filter 0 partialDeltaRmsComputation: 0.348821 terrainVariance: 0.222157 1-SumSquareWeights: 0.995246 2021-10-11T01:16:59Z- Filter 0 meanExpectedMeasDiff: -0.355899 delta_rms_squared: 0.212205 alpha: 0.913869 2021-10-11T01:16:59Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:59Z- Filter 0 partialDeltaRmsComputation: 7.453564 terrainVariance: 0.277210 1-SumSquareWeights: 0.995246 2021-10-11T01:16:59Z- Filter 0 meanExpectedMeasDiff: -2.678872 delta_rms_squared: 0.267258 alpha: 0.930376 2021-10-11T01:16:59Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:59Z- Filter 0 partialDeltaRmsComputation: 11.880338 terrainVariance: 0.564204 1-SumSquareWeights: 0.995246 2021-10-11T01:16:59Z- Filter 0 meanExpectedMeasDiff: -3.363946 delta_rms_squared: 0.554252 alpha: 0.965172 2021-10-11T01:16:59Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:16:59Z- Filter 0 partialDeltaRmsComputation: 171.967983 terrainVariance: 0.269574 1-SumSquareWeights: 0.995246 2021-10-11T01:16:59Z- Filter 0 meanExpectedMeasDiff: 13.103374 delta_rms_squared: 0.259622 alpha: 0.928475 2021-10-11T01:16:59Z- Filter 0 SubcloudNIS: 0.337964 2021-10-11T01:16:59Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:16:59Z- TNavBF:: Filter 0 sumWeights = 0.007892 2021-10-11T01:16:59Z- Filter 0 NorthBias: -35.2 EastBias: -47.5 DepthBias: -10.4 NorthVariance: 145.7 EastVariance: 4.2 DepthVariance: 1.2 this->DepthBiasCov: 1.0 2021-10-11T01:16:59Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915014.87 sec. 2021-10-11T01:16:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:16:59Z- TNavBF::mmse selected from filter -1 2021-10-11T01:16:59Z- variances([0], [2], and psi_berg) = 145.679567 23.158195 0.000000 2021-10-11T01:16:59Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:16:59Z- LcmTrn::publishEstimates() - MLE : 4061620.39 594492.63 4.18 2021-10-11T01:16:59Z- LcmTrn::publishEstimates() - MMSE : 4061609.71 594494.84 -6.20 2021-10-11T01:16:59Z- LcmTrn::publishEstimates() - COVAR: 145.68 23.16 1.27 0.00 2021-10-11T01:16:59Z- AHRS_M2 msg: 1633915016.01 epoch sec; seqNo:360 2021-10-11T01:16:59Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 3.45 psi 2021-10-11T01:16:59Z- handleDepth()-Depth_Keller msg: 1633915016020 epoch sec; seqNo:376; depth 4.23 2021-10-11T01:16:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915016.03 epoch sec; seqNo:376; 4061644.52 north; 594542.14 east 2021-10-11T01:16:59Z- AHRS_M2 msg: 1633915016.42 epoch sec; seqNo:361 2021-10-11T01:16:59Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 3.44 psi 2021-10-11T01:16:59Z- handleDepth()-Depth_Keller msg: 1633915016421 epoch sec; seqNo:377; depth 4.28 2021-10-11T01:16:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915016.44 epoch sec; seqNo:377; 4061644.14 north; 594542.14 east 2021-10-11T01:17:00Z- AHRS_M2 msg: 1633915016.85 epoch sec; seqNo:362 2021-10-11T01:17:00Z- AHRS_M2 msg: -0.18 phi; -0.17 theta; 3.44 psi 2021-10-11T01:17:00Z- handleDepth()-Depth_Keller msg: 1633915016854 epoch sec; seqNo:378; depth 4.35 2021-10-11T01:17:00Z- handleDvl() - RDI_Pathfinder msg: 1633915016.88 epoch sec; seqNo:88 2021-10-11T01:17:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.09 , 98.02 , 76.74 , 98.02 2021-10-11T01:17:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.27 , -0.28 2021-10-11T01:17:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915016.89 epoch sec; seqNo:378; 4061643.76 north; 594542.15 east 2021-10-11T01:17:00Z- AHRS_M2 msg: 1633915017.22 epoch sec; seqNo:363 2021-10-11T01:17:00Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 3.42 psi 2021-10-11T01:17:00Z- handleDepth()-Depth_Keller msg: 1633915017228 epoch sec; seqNo:379; depth 4.41 2021-10-11T01:17:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915017.24 epoch sec; seqNo:379; 4061643.37 north; 594540.93 east 2021-10-11T01:17:00Z- AHRS_M2 msg: 1633915017.62 epoch sec; seqNo:364 2021-10-11T01:17:00Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 3.41 psi 2021-10-11T01:17:01Z- handleDepth()-Depth_Keller msg: 1633915017637 epoch sec; seqNo:380; depth 4.47 2021-10-11T01:17:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915017.65 epoch sec; seqNo:380; 4061642.99 north; 594540.93 east 2021-10-11T01:17:01Z- AHRS_M2 msg: 1633915018.03 epoch sec; seqNo:365 2021-10-11T01:17:01Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.39 psi 2021-10-11T01:17:01Z- handleDepth()-Depth_Keller msg: 1633915018040 epoch sec; seqNo:381; depth 4.51 2021-10-11T01:17:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915018.06 epoch sec; seqNo:381; 4061642.61 north; 594540.94 east 2021-10-11T01:17:01Z- AHRS_M2 msg: 1633915018.43 epoch sec; seqNo:366 2021-10-11T01:17:01Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.38 psi 2021-10-11T01:17:01Z- handleDepth()-Depth_Keller msg: 1633915018437 epoch sec; seqNo:382; depth 4.57 2021-10-11T01:17:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915018.45 epoch sec; seqNo:382; 4061642.23 north; 594540.94 east 2021-10-11T01:17:02Z- AHRS_M2 msg: 1633915018.85 epoch sec; seqNo:367 2021-10-11T01:17:02Z- AHRS_M2 msg: -0.26 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:02Z- handleDepth()-Depth_Keller msg: 1633915018861 epoch sec; seqNo:383; depth 4.63 2021-10-11T01:17:02Z- handleDvl() - RDI_Pathfinder msg: 1633915018.88 epoch sec; seqNo:89 2021-10-11T01:17:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.27 , 96.93 , 76.74 , 99.38 2021-10-11T01:17:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.29 , 0.32 2021-10-11T01:17:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915018.91 epoch sec; seqNo:383; 4061641.85 north; 594540.95 east 2021-10-11T01:17:02Z- AHRS_M2 msg: 1633915019.24 epoch sec; seqNo:368 2021-10-11T01:17:02Z- AHRS_M2 msg: -0.27 phi; -0.21 theta; 3.37 psi 2021-10-11T01:17:02Z- handleDepth()-Depth_Keller msg: 1633915019247 epoch sec; seqNo:384; depth 4.67 2021-10-11T01:17:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915019.27 epoch sec; seqNo:384; 4061641.85 north; 594540.95 east 2021-10-11T01:17:03Z- AHRS_M2 msg: 1633915019.64 epoch sec; seqNo:369 2021-10-11T01:17:03Z- AHRS_M2 msg: -0.27 phi; -0.21 theta; 3.36 psi 2021-10-11T01:17:03Z- handleDepth()-Depth_Keller msg: 1633915019651 epoch sec; seqNo:385; depth 4.72 2021-10-11T01:17:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915019.66 epoch sec; seqNo:385; 4061641.47 north; 594540.95 east 2021-10-11T01:17:03Z- AHRS_M2 msg: 1633915020.05 epoch sec; seqNo:370 2021-10-11T01:17:03Z- AHRS_M2 msg: -0.28 phi; -0.21 theta; 3.36 psi 2021-10-11T01:17:03Z- handleDepth()-Depth_Keller msg: 1633915020056 epoch sec; seqNo:386; depth 4.78 2021-10-11T01:17:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915020.07 epoch sec; seqNo:386; 4061641.08 north; 594539.74 east 2021-10-11T01:17:03Z- AHRS_M2 msg: 1633915020.46 epoch sec; seqNo:371 2021-10-11T01:17:03Z- AHRS_M2 msg: -0.27 phi; -0.21 theta; 3.37 psi 2021-10-11T01:17:03Z- handleDepth()-Depth_Keller msg: 1633915020461 epoch sec; seqNo:387; depth 4.86 2021-10-11T01:17:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915020.47 epoch sec; seqNo:387; 4061641.08 north; 594539.74 east 2021-10-11T01:17:04Z- AHRS_M2 msg: 1633915020.86 epoch sec; seqNo:372 2021-10-11T01:17:04Z- AHRS_M2 msg: -0.27 phi; -0.21 theta; 3.38 psi 2021-10-11T01:17:04Z- handleDepth()-Depth_Keller msg: 1633915020863 epoch sec; seqNo:388; depth 4.90 2021-10-11T01:17:04Z- handleDvl() - RDI_Pathfinder msg: 1633915020.89 epoch sec; seqNo:90 2021-10-11T01:17:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.27 , 106.72 , 77.15 , 104.28 2021-10-11T01:17:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.28 , 0.36 2021-10-11T01:17:04Z- LcmTrn::handleMessages() - handling 41 messages took 0.76 ms and 125 calls... 2021-10-11T01:17:04Z- waiting for 1633915018.62, time is 1633915020.89 2021-10-11T01:17:04Z- LcmTrn::updateTrn() equating pose 1633915020.89 and meas times 1633915020.89 2021-10-11T01:17:04Z- LcmTrn::updateTrn() >>>> pose time 1633915020.89, meas time 1633915020.89 <<<< 2021-10-11T01:17:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915020.89 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:04Z- TerrainNav::motionUpdate() - currEstimate = (4061641, 594539.74, 4.90) 2021-10-11T01:17:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:04Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:04Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915020.89 sec.; No relevant navigation data available 2021-10-11T01:17:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:04Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:04Z- variances([0], [2], and psi_berg) = 145.625978 66.303420 0.000000 2021-10-11T01:17:04Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:04Z- LcmTrn::publishEstimates() - MLE : 4061616.58 594490.24 4.90 2021-10-11T01:17:04Z- LcmTrn::publishEstimates() - MMSE : 4061605.90 594492.91 -5.49 2021-10-11T01:17:04Z- LcmTrn::publishEstimates() - COVAR: 145.63 66.30 1.51 0.00 2021-10-11T01:17:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915020.91 epoch sec; seqNo:388; 4061640.32 north; 594539.74 east 2021-10-11T01:17:04Z- AHRS_M2 msg: 1633915021.26 epoch sec; seqNo:373 2021-10-11T01:17:04Z- AHRS_M2 msg: -0.25 phi; -0.21 theta; 3.39 psi 2021-10-11T01:17:04Z- handleDepth()-Depth_Keller msg: 1633915021267 epoch sec; seqNo:389; depth 4.98 2021-10-11T01:17:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915021.31 epoch sec; seqNo:389; 4061639.94 north; 594539.75 east 2021-10-11T01:17:05Z- AHRS_M2 msg: 1633915021.67 epoch sec; seqNo:374 2021-10-11T01:17:05Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 3.40 psi 2021-10-11T01:17:05Z- handleDepth()-Depth_Keller msg: 1633915021674 epoch sec; seqNo:390; depth 5.05 2021-10-11T01:17:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915021.68 epoch sec; seqNo:390; 4061639.56 north; 594539.75 east 2021-10-11T01:17:05Z- AHRS_M2 msg: 1633915022.07 epoch sec; seqNo:375 2021-10-11T01:17:05Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 3.40 psi 2021-10-11T01:17:05Z- handleDepth()-Depth_Keller msg: 1633915022082 epoch sec; seqNo:391; depth 5.12 2021-10-11T01:17:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915022.10 epoch sec; seqNo:391; 4061639.18 north; 594539.76 east 2021-10-11T01:17:05Z- AHRS_M2 msg: 1633915022.48 epoch sec; seqNo:376 2021-10-11T01:17:05Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 3.41 psi 2021-10-11T01:17:05Z- handleDepth()-Depth_Keller msg: 1633915022494 epoch sec; seqNo:392; depth 5.20 2021-10-11T01:17:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915022.51 epoch sec; seqNo:392; 4061638.81 north; 594539.76 east 2021-10-11T01:17:06Z- AHRS_M2 msg: 1633915022.88 epoch sec; seqNo:377 2021-10-11T01:17:06Z- AHRS_M2 msg: -0.17 phi; -0.18 theta; 3.41 psi 2021-10-11T01:17:06Z- handleDepth()-Depth_Keller msg: 1633915022961 epoch sec; seqNo:393; depth 5.27 2021-10-11T01:17:06Z- handleDvl() - RDI_Pathfinder msg: 1633915022.98 epoch sec; seqNo:91 2021-10-11T01:17:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.86 , 100.33 , 75.09 , 96.66 2021-10-11T01:17:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , -0.26 , -0.48 2021-10-11T01:17:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915023.00 epoch sec; seqNo:393; 4061638.43 north; 594539.76 east 2021-10-11T01:17:06Z- AHRS_M2 msg: 1633915023.28 epoch sec; seqNo:378 2021-10-11T01:17:06Z- AHRS_M2 msg: -0.15 phi; -0.18 theta; 3.41 psi 2021-10-11T01:17:06Z- handleDepth()-Depth_Keller msg: 1633915023367 epoch sec; seqNo:394; depth 5.38 2021-10-11T01:17:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915023.38 epoch sec; seqNo:394; 4061637.67 north; 594539.77 east 2021-10-11T01:17:07Z- AHRS_M2 msg: 1633915023.69 epoch sec; seqNo:379 2021-10-11T01:17:07Z- AHRS_M2 msg: -0.15 phi; -0.18 theta; 3.41 psi 2021-10-11T01:17:07Z- handleDepth()-Depth_Keller msg: 1633915023717 epoch sec; seqNo:395; depth 5.45 2021-10-11T01:17:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915023.74 epoch sec; seqNo:395; 4061637.29 north; 594539.78 east 2021-10-11T01:17:07Z- AHRS_M2 msg: 1633915024.09 epoch sec; seqNo:380 2021-10-11T01:17:07Z- AHRS_M2 msg: -0.16 phi; -0.19 theta; 3.41 psi 2021-10-11T01:17:07Z- handleDepth()-Depth_Keller msg: 1633915024132 epoch sec; seqNo:396; depth 5.51 2021-10-11T01:17:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915024.14 epoch sec; seqNo:396; 4061636.91 north; 594539.78 east 2021-10-11T01:17:07Z- handleDepth()-Depth_Keller msg: 1633915024524 epoch sec; seqNo:397; depth 5.56 2021-10-11T01:17:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915024.54 epoch sec; seqNo:397; 4061636.15 north; 594539.79 east 2021-10-11T01:17:08Z- AHRS_M2 msg: 1633915024.90 epoch sec; seqNo:381 2021-10-11T01:17:08Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 3.40 psi 2021-10-11T01:17:08Z- handleDepth()-Depth_Keller msg: 1633915024905 epoch sec; seqNo:398; depth 5.62 2021-10-11T01:17:08Z- handleDvl() - RDI_Pathfinder msg: 1633915024.94 epoch sec; seqNo:92 2021-10-11T01:17:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.68 , 92.10 , 74.27 , 98.22 2021-10-11T01:17:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.47 , -0.23 2021-10-11T01:17:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915024.95 epoch sec; seqNo:398; 4061635.78 north; 594539.79 east 2021-10-11T01:17:08Z- AHRS_M2 msg: 1633915025.30 epoch sec; seqNo:382 2021-10-11T01:17:08Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 3.39 psi 2021-10-11T01:17:08Z- handleDepth()-Depth_Keller msg: 1633915025313 epoch sec; seqNo:399; depth 5.68 2021-10-11T01:17:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915025.33 epoch sec; seqNo:399; 4061635.40 north; 594539.80 east 2021-10-11T01:17:09Z- AHRS_M2 msg: 1633915025.71 epoch sec; seqNo:383 2021-10-11T01:17:09Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 3.38 psi 2021-10-11T01:17:09Z- handleDepth()-Depth_Keller msg: 1633915025711 epoch sec; seqNo:400; depth 5.76 2021-10-11T01:17:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915025.72 epoch sec; seqNo:400; 4061635.00 north; 594538.58 east 2021-10-11T01:17:09Z- LcmTrn::handleMessages() - handling 38 messages took 0.83 ms and 121 calls... 2021-10-11T01:17:09Z- waiting for 1633915023.89, time is 1633915025.72 2021-10-11T01:17:09Z- LcmTrn::updateTrn() >>>> pose time 1633915025.72, meas time 1633915024.94 <<<< 2021-10-11T01:17:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915024.94 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:09Z- TerrainNav::motionUpdate() - currEstimate = (4061635, 594538.58, 5.76) 2021-10-11T01:17:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:09Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:09Z- TNavBF::Projecting Measurements 2021-10-11T01:17:09Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:17:09Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:17:09Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:17:09Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:17:09Z- TNavFilter::4 good beams. 2021-10-11T01:17:09Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:17:09Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:17:09Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:17:09Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:17:09Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:17:09Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:17:09Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:17:09Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:09Z- TerrainMapOctree: (vehN, vehE ) = (4061635.99, 594538.77). 2021-10-11T01:17:09Z- TerrainMapOctree: Min Distance = 240.03. 2021-10-11T01:17:09Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:17:09Z- Forcing Subcloud Comparison 2021-10-11T01:17:09Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:17:09Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:09Z- Filter 0 partialDeltaRmsComputation: 10.128909 terrainVariance: 0.364397 1-SumSquareWeights: 0.994207 2021-10-11T01:17:09Z- Filter 0 meanExpectedMeasDiff: 3.124822 delta_rms_squared: 0.354455 alpha: 0.946589 2021-10-11T01:17:09Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:09Z- Filter 0 partialDeltaRmsComputation: 141.970345 terrainVariance: 1.158456 1-SumSquareWeights: 0.994207 2021-10-11T01:17:09Z- Filter 0 meanExpectedMeasDiff: -11.866419 delta_rms_squared: 1.148514 alpha: 0.982884 2021-10-11T01:17:09Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:09Z- Filter 0 partialDeltaRmsComputation: 32.091169 terrainVariance: 0.777191 1-SumSquareWeights: 0.994207 2021-10-11T01:17:09Z- Filter 0 meanExpectedMeasDiff: -5.595889 delta_rms_squared: 0.767249 alpha: 0.974595 2021-10-11T01:17:09Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:09Z- Filter 0 partialDeltaRmsComputation: 145.956417 terrainVariance: 0.370460 1-SumSquareWeights: 0.994207 2021-10-11T01:17:09Z- Filter 0 meanExpectedMeasDiff: 12.065901 delta_rms_squared: 0.360518 alpha: 0.947440 2021-10-11T01:17:09Z- Filter 0 SubcloudNIS: 0.436647 2021-10-11T01:17:09Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:17:09Z- TNavBF:: Filter 0 sumWeights = 0.000084 2021-10-11T01:17:09Z- Filter 0 NorthBias: -38.6 EastBias: -48.0 DepthBias: -10.7 NorthVariance: 56.0 EastVariance: 2.5 DepthVariance: 1.1 this->DepthBiasCov: 1.1 2021-10-11T01:17:09Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915024.94 sec. 2021-10-11T01:17:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:09Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:09Z- variances([0], [2], and psi_berg) = 56.034198 28.137659 0.000000 2021-10-11T01:17:09Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:09Z- LcmTrn::publishEstimates() - MLE : 4061598.50 594489.08 5.76 2021-10-11T01:17:09Z- LcmTrn::publishEstimates() - MMSE : 4061596.44 594490.90 -4.93 2021-10-11T01:17:09Z- LcmTrn::publishEstimates() - COVAR: 56.03 28.14 1.20 0.00 2021-10-11T01:17:09Z- AHRS_M2 msg: 1633915026.11 epoch sec; seqNo:384 2021-10-11T01:17:09Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:09Z- handleDepth()-Depth_Keller msg: 1633915026115 epoch sec; seqNo:401; depth 5.82 2021-10-11T01:17:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915026.13 epoch sec; seqNo:401; 4061634.63 north; 594538.59 east 2021-10-11T01:17:09Z- AHRS_M2 msg: 1633915026.52 epoch sec; seqNo:385 2021-10-11T01:17:09Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:09Z- handleDepth()-Depth_Keller msg: 1633915026525 epoch sec; seqNo:402; depth 5.87 2021-10-11T01:17:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915026.54 epoch sec; seqNo:402; 4061634.25 north; 594538.59 east 2021-10-11T01:17:10Z- AHRS_M2 msg: 1633915026.92 epoch sec; seqNo:386 2021-10-11T01:17:10Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:10Z- handleDepth()-Depth_Keller msg: 1633915026934 epoch sec; seqNo:403; depth 5.94 2021-10-11T01:17:10Z- handleDvl() - RDI_Pathfinder msg: 1633915026.96 epoch sec; seqNo:93 2021-10-11T01:17:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.04 , 98.36 , 74.68 , 97.13 2021-10-11T01:17:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.35 , 0.27 2021-10-11T01:17:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915027.00 epoch sec; seqNo:403; 4061633.87 north; 594538.59 east 2021-10-11T01:17:10Z- AHRS_M2 msg: 1633915027.32 epoch sec; seqNo:387 2021-10-11T01:17:10Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:10Z- handleDepth()-Depth_Keller msg: 1633915027328 epoch sec; seqNo:404; depth 6.00 2021-10-11T01:17:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915027.36 epoch sec; seqNo:404; 4061633.87 north; 594538.59 east 2021-10-11T01:17:11Z- AHRS_M2 msg: 1633915027.73 epoch sec; seqNo:388 2021-10-11T01:17:11Z- AHRS_M2 msg: -0.25 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:11Z- handleDepth()-Depth_Keller msg: 1633915027731 epoch sec; seqNo:405; depth 6.08 2021-10-11T01:17:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915027.74 epoch sec; seqNo:405; 4061633.48 north; 594537.38 east 2021-10-11T01:17:11Z- AHRS_M2 msg: 1633915028.13 epoch sec; seqNo:389 2021-10-11T01:17:11Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:11Z- handleDepth()-Depth_Keller msg: 1633915028136 epoch sec; seqNo:406; depth 6.14 2021-10-11T01:17:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915028.15 epoch sec; seqNo:406; 4061633.10 north; 594537.38 east 2021-10-11T01:17:11Z- AHRS_M2 msg: 1633915028.54 epoch sec; seqNo:390 2021-10-11T01:17:11Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:11Z- handleDepth()-Depth_Keller msg: 1633915028540 epoch sec; seqNo:407; depth 6.22 2021-10-11T01:17:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915028.56 epoch sec; seqNo:407; 4061632.72 north; 594537.39 east 2021-10-11T01:17:12Z- AHRS_M2 msg: 1633915028.94 epoch sec; seqNo:391 2021-10-11T01:17:12Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.37 psi 2021-10-11T01:17:12Z- handleDepth()-Depth_Keller msg: 1633915028946 epoch sec; seqNo:408; depth 6.28 2021-10-11T01:17:12Z- handleDvl() - RDI_Pathfinder msg: 1633915028.98 epoch sec; seqNo:94 2021-10-11T01:17:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.45 , 97.07 , 74.68 , 99.51 2021-10-11T01:17:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.00 , 0.30 2021-10-11T01:17:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915029.00 epoch sec; seqNo:408; 4061632.34 north; 594537.39 east 2021-10-11T01:17:12Z- AHRS_M2 msg: 1633915029.34 epoch sec; seqNo:392 2021-10-11T01:17:12Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.38 psi 2021-10-11T01:17:12Z- handleDepth()-Depth_Keller msg: 1633915029347 epoch sec; seqNo:409; depth 6.34 2021-10-11T01:17:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915029.37 epoch sec; seqNo:409; 4061631.96 north; 594537.40 east 2021-10-11T01:17:13Z- AHRS_M2 msg: 1633915029.75 epoch sec; seqNo:393 2021-10-11T01:17:13Z- AHRS_M2 msg: -0.24 phi; -0.20 theta; 3.38 psi 2021-10-11T01:17:13Z- handleDepth()-Depth_Keller msg: 1633915029759 epoch sec; seqNo:410; depth 6.42 2021-10-11T01:17:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915029.77 epoch sec; seqNo:410; 4061631.58 north; 594537.40 east 2021-10-11T01:17:13Z- AHRS_M2 msg: 1633915030.16 epoch sec; seqNo:394 2021-10-11T01:17:13Z- AHRS_M2 msg: -0.23 phi; -0.20 theta; 3.40 psi 2021-10-11T01:17:13Z- handleDepth()-Depth_Keller msg: 1633915030161 epoch sec; seqNo:411; depth 6.49 2021-10-11T01:17:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915030.19 epoch sec; seqNo:411; 4061631.20 north; 594537.40 east 2021-10-11T01:17:13Z- AHRS_M2 msg: 1633915030.56 epoch sec; seqNo:395 2021-10-11T01:17:13Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 3.41 psi 2021-10-11T01:17:13Z- handleDepth()-Depth_Keller msg: 1633915030566 epoch sec; seqNo:412; depth 6.56 2021-10-11T01:17:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915030.58 epoch sec; seqNo:412; 4061630.82 north; 594537.41 east 2021-10-11T01:17:14Z- AHRS_M2 msg: 1633915030.96 epoch sec; seqNo:396 2021-10-11T01:17:14Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 3.41 psi 2021-10-11T01:17:14Z- handleDepth()-Depth_Keller msg: 1633915030968 epoch sec; seqNo:413; depth 6.65 2021-10-11T01:17:14Z- handleDvl() - RDI_Pathfinder msg: 1633915030.99 epoch sec; seqNo:95 2021-10-11T01:17:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.45 , 98.22 , 74.27 , 98.22 2021-10-11T01:17:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , -0.20 , 0.02 2021-10-11T01:17:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915031.01 epoch sec; seqNo:413; 4061630.43 north; 594536.19 east 2021-10-11T01:17:14Z- LcmTrn::handleMessages() - handling 42 messages took 0.72 ms and 127 calls... 2021-10-11T01:17:14Z- waiting for 1633915028.72, time is 1633915031.01 2021-10-11T01:17:14Z- LcmTrn::updateTrn() equating pose 1633915031.01 and meas times 1633915031.01 2021-10-11T01:17:14Z- LcmTrn::updateTrn() >>>> pose time 1633915031.01, meas time 1633915031.01 <<<< 2021-10-11T01:17:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915031.01 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:14Z- TerrainNav::motionUpdate() - currEstimate = (4061630, 594536.19, 6.65) 2021-10-11T01:17:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:14Z- TerrainNav:: SubcloudNIS is 0.44, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:14Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915031.01 sec.; No relevant navigation data available 2021-10-11T01:17:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:14Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:14Z- variances([0], [2], and psi_berg) = 56.041951 84.667561 0.000000 2021-10-11T01:17:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:14Z- LcmTrn::publishEstimates() - MLE : 4061593.93 594486.69 6.65 2021-10-11T01:17:14Z- LcmTrn::publishEstimates() - MMSE : 4061591.87 594489.11 -4.05 2021-10-11T01:17:14Z- LcmTrn::publishEstimates() - COVAR: 56.04 84.67 1.48 0.00 2021-10-11T01:17:14Z- AHRS_M2 msg: 1633915031.36 epoch sec; seqNo:397 2021-10-11T01:17:14Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 3.42 psi 2021-10-11T01:17:14Z- handleDepth()-Depth_Keller msg: 1633915031367 epoch sec; seqNo:414; depth 6.72 2021-10-11T01:17:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915031.39 epoch sec; seqNo:414; 4061630.05 north; 594536.20 east 2021-10-11T01:17:15Z- AHRS_M2 msg: 1633915031.78 epoch sec; seqNo:398 2021-10-11T01:17:15Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 3.42 psi 2021-10-11T01:17:15Z- handleDepth()-Depth_Keller msg: 1633915031780 epoch sec; seqNo:415; depth 6.78 2021-10-11T01:17:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915031.79 epoch sec; seqNo:415; 4061629.67 north; 594536.20 east 2021-10-11T01:17:15Z- AHRS_M2 msg: 1633915032.17 epoch sec; seqNo:399 2021-10-11T01:17:15Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 3.42 psi 2021-10-11T01:17:15Z- handleDepth()-Depth_Keller msg: 1633915032181 epoch sec; seqNo:416; depth 6.87 2021-10-11T01:17:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915032.19 epoch sec; seqNo:416; 4061629.29 north; 594536.20 east 2021-10-11T01:17:15Z- AHRS_M2 msg: 1633915032.58 epoch sec; seqNo:400 2021-10-11T01:17:15Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 3.41 psi 2021-10-11T01:17:15Z- handleDepth()-Depth_Keller msg: 1633915032586 epoch sec; seqNo:417; depth 6.95 2021-10-11T01:17:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915032.62 epoch sec; seqNo:417; 4061628.92 north; 594536.21 east 2021-10-11T01:17:16Z- AHRS_M2 msg: 1633915032.98 epoch sec; seqNo:401 2021-10-11T01:17:16Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 3.40 psi 2021-10-11T01:17:16Z- handleDepth()-Depth_Keller msg: 1633915032988 epoch sec; seqNo:418; depth 7.03 2021-10-11T01:17:16Z- handleDvl() - RDI_Pathfinder msg: 1633915033.02 epoch sec; seqNo:96 2021-10-11T01:17:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.45 , 94.55 , 73.86 , 98.22 2021-10-11T01:17:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.09 , -0.14 2021-10-11T01:17:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915033.04 epoch sec; seqNo:418; 4061628.16 north; 594536.22 east 2021-10-11T01:17:16Z- AHRS_M2 msg: 1633915033.38 epoch sec; seqNo:402 2021-10-11T01:17:16Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 3.39 psi 2021-10-11T01:17:16Z- handleDepth()-Depth_Keller msg: 1633915033389 epoch sec; seqNo:419; depth 7.11 2021-10-11T01:17:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915033.41 epoch sec; seqNo:419; 4061627.78 north; 594536.22 east 2021-10-11T01:17:17Z- AHRS_M2 msg: 1633915033.80 epoch sec; seqNo:403 2021-10-11T01:17:17Z- AHRS_M2 msg: -0.21 phi; -0.15 theta; 3.37 psi 2021-10-11T01:17:17Z- handleDepth()-Depth_Keller msg: 1633915033808 epoch sec; seqNo:420; depth 7.19 2021-10-11T01:17:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915033.82 epoch sec; seqNo:420; 4061627.40 north; 594536.23 east 2021-10-11T01:17:17Z- AHRS_M2 msg: 1633915034.19 epoch sec; seqNo:404 2021-10-11T01:17:17Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 3.37 psi 2021-10-11T01:17:17Z- handleDepth()-Depth_Keller msg: 1633915034200 epoch sec; seqNo:421; depth 7.25 2021-10-11T01:17:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915034.22 epoch sec; seqNo:421; 4061627.02 north; 594536.23 east 2021-10-11T01:17:17Z- AHRS_M2 msg: 1633915034.59 epoch sec; seqNo:405 2021-10-11T01:17:17Z- AHRS_M2 msg: -0.22 phi; -0.13 theta; 3.36 psi 2021-10-11T01:17:17Z- handleDepth()-Depth_Keller msg: 1633915034600 epoch sec; seqNo:422; depth 7.30 2021-10-11T01:17:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915034.61 epoch sec; seqNo:422; 4061626.64 north; 594536.23 east 2021-10-11T01:17:18Z- AHRS_M2 msg: 1633915035.00 epoch sec; seqNo:406 2021-10-11T01:17:18Z- AHRS_M2 msg: -0.22 phi; -0.12 theta; 3.37 psi 2021-10-11T01:17:18Z- handleDepth()-Depth_Keller msg: 1633915035005 epoch sec; seqNo:423; depth 7.37 2021-10-11T01:17:18Z- handleDvl() - RDI_Pathfinder msg: 1633915035.03 epoch sec; seqNo:97 2021-10-11T01:17:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.77 , 92.24 , 75.50 , 98.36 2021-10-11T01:17:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.11 , 0.03 2021-10-11T01:17:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915035.05 epoch sec; seqNo:423; 4061626.26 north; 594536.24 east 2021-10-11T01:17:18Z- AHRS_M2 msg: 1633915035.40 epoch sec; seqNo:407 2021-10-11T01:17:18Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 3.37 psi 2021-10-11T01:17:18Z- handleDepth()-Depth_Keller msg: 1633915035407 epoch sec; seqNo:424; depth 7.40 2021-10-11T01:17:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915035.43 epoch sec; seqNo:424; 4061625.88 north; 594536.24 east 2021-10-11T01:17:19Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:17:19Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:17:19Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:17:19Z- AHRS_M2 msg: 1633915035.80 epoch sec; seqNo:408 2021-10-11T01:17:19Z- AHRS_M2 msg: -0.22 phi; -0.11 theta; 3.37 psi 2021-10-11T01:17:19Z- handleDepth()-Depth_Keller msg: 1633915035833 epoch sec; seqNo:425; depth 7.46 2021-10-11T01:17:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915035.85 epoch sec; seqNo:425; 4061625.49 north; 594535.03 east 2021-10-11T01:17:19Z- LcmTrn::handleMessages() - handling 38 messages took 0.72 ms and 123 calls... 2021-10-11T01:17:19Z- waiting for 1633915034.01, time is 1633915035.85 2021-10-11T01:17:19Z- LcmTrn::updateTrn() >>>> pose time 1633915035.85, meas time 1633915035.03 <<<< 2021-10-11T01:17:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915035.03 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:19Z- TerrainNav::motionUpdate() - currEstimate = (4061625, 594535.03, 7.46) 2021-10-11T01:17:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:19Z- TerrainNav:: SubcloudNIS is 0.44, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:19Z- TNavBF::Projecting Measurements 2021-10-11T01:17:19Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:17:19Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:17:19Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:17:19Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:17:19Z- TNavFilter::4 good beams. 2021-10-11T01:17:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:17:19Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:17:19Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:17:19Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:17:19Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:17:19Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:17:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:17:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:19Z- TerrainMapOctree: (vehN, vehE ) = (4061626.33, 594535.22). 2021-10-11T01:17:19Z- TerrainMapOctree: Min Distance = 247.84. 2021-10-11T01:17:19Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:17:19Z- Forcing Subcloud Comparison 2021-10-11T01:17:19Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:17:19Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:19Z- Filter 0 partialDeltaRmsComputation: 46.333047 terrainVariance: 0.408914 1-SumSquareWeights: 0.988885 2021-10-11T01:17:19Z- Filter 0 meanExpectedMeasDiff: 6.776735 delta_rms_squared: 0.399025 alpha: 0.952270 2021-10-11T01:17:19Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:19Z- Filter 0 partialDeltaRmsComputation: 16.742614 terrainVariance: 0.587180 1-SumSquareWeights: 0.988885 2021-10-11T01:17:19Z- Filter 0 meanExpectedMeasDiff: -4.019382 delta_rms_squared: 0.577291 alpha: 0.966515 2021-10-11T01:17:19Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:19Z- Filter 0 partialDeltaRmsComputation: 56.456333 terrainVariance: 1.531929 1-SumSquareWeights: 0.988885 2021-10-11T01:17:19Z- Filter 0 meanExpectedMeasDiff: -7.411100 delta_rms_squared: 1.522040 alpha: 0.987030 2021-10-11T01:17:19Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:19Z- Filter 0 partialDeltaRmsComputation: 292.882047 terrainVariance: 0.206032 1-SumSquareWeights: 0.988885 2021-10-11T01:17:19Z- Filter 0 meanExpectedMeasDiff: 17.107776 delta_rms_squared: 0.196143 alpha: 0.907469 2021-10-11T01:17:19Z- Filter 0 SubcloudNIS: 0.536346 2021-10-11T01:17:19Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:17:19Z- TNavBF:: Filter 0 sumWeights = 0.000011 2021-10-11T01:17:19Z- Filter 0 NorthBias: -32.0 EastBias: -48.1 DepthBias: -9.8 NorthVariance: 104.6 EastVariance: 2.3 DepthVariance: 1.1 this->DepthBiasCov: 1.1 2021-10-11T01:17:19Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915035.03 sec. 2021-10-11T01:17:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:19Z- variances([0], [2], and psi_berg) = 104.591140 30.582743 0.000000 2021-10-11T01:17:19Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:19Z- LcmTrn::publishEstimates() - MLE : 4061600.99 594485.53 7.46 2021-10-11T01:17:19Z- LcmTrn::publishEstimates() - MMSE : 4061593.48 594487.17 -2.30 2021-10-11T01:17:19Z- LcmTrn::publishEstimates() - COVAR: 104.59 30.58 1.16 0.00 2021-10-11T01:17:19Z- AHRS_M2 msg: 1633915036.21 epoch sec; seqNo:409 2021-10-11T01:17:19Z- AHRS_M2 msg: -0.21 phi; -0.08 theta; 3.37 psi 2021-10-11T01:17:19Z- handleDepth()-Depth_Keller msg: 1633915036372 epoch sec; seqNo:426; depth 7.52 2021-10-11T01:17:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915036.38 epoch sec; seqNo:426; 4061625.11 north; 594535.03 east 2021-10-11T01:17:19Z- AHRS_M2 msg: 1633915036.63 epoch sec; seqNo:410 2021-10-11T01:17:19Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 3.37 psi 2021-10-11T01:17:20Z- handleDepth()-Depth_Keller msg: 1633915036650 epoch sec; seqNo:427; depth 7.58 2021-10-11T01:17:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915036.68 epoch sec; seqNo:427; 4061624.73 north; 594535.03 east 2021-10-11T01:17:20Z- AHRS_M2 msg: 1633915037.03 epoch sec; seqNo:411 2021-10-11T01:17:20Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 3.37 psi 2021-10-11T01:17:20Z- handleDepth()-Depth_Keller msg: 1633915037065 epoch sec; seqNo:428; depth 7.61 2021-10-11T01:17:20Z- handleDvl() - RDI_Pathfinder msg: 1633915037.10 epoch sec; seqNo:98 2021-10-11T01:17:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.40 , 94.55 , 76.32 , 89.65 2021-10-11T01:17:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.02 , 0.04 2021-10-11T01:17:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915037.12 epoch sec; seqNo:428; 4061624.36 north; 594535.04 east 2021-10-11T01:17:20Z- AHRS_M2 msg: 1633915037.45 epoch sec; seqNo:412 2021-10-11T01:17:20Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:20Z- handleDepth()-Depth_Keller msg: 1633915037488 epoch sec; seqNo:429; depth 7.65 2021-10-11T01:17:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915037.51 epoch sec; seqNo:429; 4061623.98 north; 594535.04 east 2021-10-11T01:17:21Z- AHRS_M2 msg: 1633915037.83 epoch sec; seqNo:413 2021-10-11T01:17:21Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 3.37 psi 2021-10-11T01:17:21Z- handleDepth()-Depth_Keller msg: 1633915037840 epoch sec; seqNo:430; depth 7.67 2021-10-11T01:17:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915037.86 epoch sec; seqNo:430; 4061623.98 north; 594535.04 east 2021-10-11T01:17:21Z- AHRS_M2 msg: 1633915038.24 epoch sec; seqNo:414 2021-10-11T01:17:21Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 3.37 psi 2021-10-11T01:17:21Z- handleDepth()-Depth_Keller msg: 1633915038249 epoch sec; seqNo:431; depth 7.71 2021-10-11T01:17:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915038.27 epoch sec; seqNo:431; 4061623.22 north; 594535.05 east 2021-10-11T01:17:22Z- AHRS_M2 msg: 1633915038.64 epoch sec; seqNo:415 2021-10-11T01:17:22Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 3.38 psi 2021-10-11T01:17:22Z- handleDepth()-Depth_Keller msg: 1633915038646 epoch sec; seqNo:432; depth 7.76 2021-10-11T01:17:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915038.66 epoch sec; seqNo:432; 4061623.22 north; 594535.05 east 2021-10-11T01:17:22Z- AHRS_M2 msg: 1633915039.05 epoch sec; seqNo:416 2021-10-11T01:17:22Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 3.38 psi 2021-10-11T01:17:22Z- handleDepth()-Depth_Keller msg: 1633915039050 epoch sec; seqNo:433; depth 7.76 2021-10-11T01:17:22Z- handleDvl() - RDI_Pathfinder msg: 1633915039.08 epoch sec; seqNo:99 2021-10-11T01:17:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.81 , 91.15 , 76.74 , 0.00 2021-10-11T01:17:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.02 , -0.16 2021-10-11T01:17:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915039.12 epoch sec; seqNo:433; 4061622.46 north; 594535.06 east 2021-10-11T01:17:22Z- AHRS_M2 msg: 1633915039.45 epoch sec; seqNo:417 2021-10-11T01:17:22Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 3.38 psi 2021-10-11T01:17:22Z- handleDepth()-Depth_Keller msg: 1633915039459 epoch sec; seqNo:434; depth 7.80 2021-10-11T01:17:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915039.48 epoch sec; seqNo:434; 4061622.08 north; 594535.06 east 2021-10-11T01:17:23Z- AHRS_M2 msg: 1633915039.86 epoch sec; seqNo:418 2021-10-11T01:17:23Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 3.38 psi 2021-10-11T01:17:23Z- handleDepth()-Depth_Keller msg: 1633915039861 epoch sec; seqNo:435; depth 7.82 2021-10-11T01:17:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915039.89 epoch sec; seqNo:435; 4061621.70 north; 594535.07 east 2021-10-11T01:17:23Z- AHRS_M2 msg: 1633915040.26 epoch sec; seqNo:419 2021-10-11T01:17:23Z- AHRS_M2 msg: -0.18 phi; 0.00 theta; 3.37 psi 2021-10-11T01:17:23Z- handleDepth()-Depth_Keller msg: 1633915040263 epoch sec; seqNo:436; depth 7.83 2021-10-11T01:17:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915040.28 epoch sec; seqNo:436; 4061621.33 north; 594535.07 east 2021-10-11T01:17:24Z- AHRS_M2 msg: 1633915040.66 epoch sec; seqNo:420 2021-10-11T01:17:24Z- AHRS_M2 msg: -0.18 phi; 0.01 theta; 3.37 psi 2021-10-11T01:17:24Z- handleDepth()-Depth_Keller msg: 1633915040672 epoch sec; seqNo:437; depth 7.85 2021-10-11T01:17:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915040.68 epoch sec; seqNo:437; 4061620.95 north; 594535.08 east 2021-10-11T01:17:24Z- AHRS_M2 msg: 1633915041.07 epoch sec; seqNo:421 2021-10-11T01:17:24Z- AHRS_M2 msg: -0.18 phi; 0.01 theta; 3.36 psi 2021-10-11T01:17:24Z- handleDepth()-Depth_Keller msg: 1633915041076 epoch sec; seqNo:438; depth 7.84 2021-10-11T01:17:24Z- handleDvl() - RDI_Pathfinder msg: 1633915041.11 epoch sec; seqNo:100 2021-10-11T01:17:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.99 , 88.29 , 0.00 , 79.20 2021-10-11T01:17:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.22 , 0.01 2021-10-11T01:17:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915041.12 epoch sec; seqNo:438; 4061620.55 north; 594533.86 east 2021-10-11T01:17:24Z- LcmTrn::handleMessages() - handling 42 messages took 0.77 ms and 126 calls... 2021-10-11T01:17:24Z- waiting for 1633915038.85, time is 1633915041.12 2021-10-11T01:17:24Z- LcmTrn::updateTrn() equating pose 1633915041.12 and meas times 1633915041.12 2021-10-11T01:17:24Z- LcmTrn::updateTrn() >>>> pose time 1633915041.12, meas time 1633915041.12 <<<< 2021-10-11T01:17:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915041.12 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:24Z- TerrainNav::motionUpdate() - currEstimate = (4061621, 594533.86, 7.84) 2021-10-11T01:17:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:24Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:24Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915041.12 sec.; No relevant navigation data available 2021-10-11T01:17:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:24Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:24Z- variances([0], [2], and psi_berg) = 104.574395 97.207332 0.000000 2021-10-11T01:17:24Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:24Z- LcmTrn::publishEstimates() - MLE : 4061596.05 594484.36 7.84 2021-10-11T01:17:24Z- LcmTrn::publishEstimates() - MMSE : 4061588.54 594486.72 -1.93 2021-10-11T01:17:24Z- LcmTrn::publishEstimates() - COVAR: 104.57 97.21 1.44 0.00 2021-10-11T01:17:24Z- AHRS_M2 msg: 1633915041.47 epoch sec; seqNo:422 2021-10-11T01:17:24Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 3.35 psi 2021-10-11T01:17:24Z- handleDepth()-Depth_Keller msg: 1633915041476 epoch sec; seqNo:439; depth 7.86 2021-10-11T01:17:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915041.49 epoch sec; seqNo:439; 4061620.55 north; 594533.86 east 2021-10-11T01:17:25Z- AHRS_M2 msg: 1633915041.87 epoch sec; seqNo:423 2021-10-11T01:17:25Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 3.35 psi 2021-10-11T01:17:25Z- handleDepth()-Depth_Keller msg: 1633915041890 epoch sec; seqNo:440; depth 7.87 2021-10-11T01:17:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915041.90 epoch sec; seqNo:440; 4061620.18 north; 594533.86 east 2021-10-11T01:17:25Z- AHRS_M2 msg: 1633915042.28 epoch sec; seqNo:424 2021-10-11T01:17:25Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 3.35 psi 2021-10-11T01:17:25Z- handleDepth()-Depth_Keller msg: 1633915042283 epoch sec; seqNo:441; depth 7.86 2021-10-11T01:17:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915042.30 epoch sec; seqNo:441; 4061619.80 north; 594533.87 east 2021-10-11T01:17:26Z- AHRS_M2 msg: 1633915042.68 epoch sec; seqNo:425 2021-10-11T01:17:26Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 3.35 psi 2021-10-11T01:17:26Z- handleDepth()-Depth_Keller msg: 1633915042687 epoch sec; seqNo:442; depth 7.86 2021-10-11T01:17:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915042.70 epoch sec; seqNo:442; 4061619.42 north; 594533.87 east 2021-10-11T01:17:26Z- AHRS_M2 msg: 1633915043.09 epoch sec; seqNo:426 2021-10-11T01:17:26Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 3.35 psi 2021-10-11T01:17:26Z- handleDepth()-Depth_Keller msg: 1633915043100 epoch sec; seqNo:443; depth 7.86 2021-10-11T01:17:26Z- handleDvl() - RDI_Pathfinder msg: 1633915043.12 epoch sec; seqNo:101 2021-10-11T01:17:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.81 , 90.47 , 81.76 , 78.38 2021-10-11T01:17:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.02 , 0.21 2021-10-11T01:17:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915043.14 epoch sec; seqNo:443; 4061619.04 north; 594533.88 east 2021-10-11T01:17:26Z- AHRS_M2 msg: 1633915043.49 epoch sec; seqNo:427 2021-10-11T01:17:26Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 3.35 psi 2021-10-11T01:17:26Z- handleDepth()-Depth_Keller msg: 1633915043495 epoch sec; seqNo:444; depth 7.87 2021-10-11T01:17:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915043.52 epoch sec; seqNo:444; 4061618.66 north; 594533.88 east 2021-10-11T01:17:27Z- AHRS_M2 msg: 1633915043.90 epoch sec; seqNo:428 2021-10-11T01:17:27Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 3.35 psi 2021-10-11T01:17:27Z- handleDepth()-Depth_Keller msg: 1633915043905 epoch sec; seqNo:445; depth 7.85 2021-10-11T01:17:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915043.92 epoch sec; seqNo:445; 4061617.90 north; 594533.89 east 2021-10-11T01:17:27Z- AHRS_M2 msg: 1633915044.30 epoch sec; seqNo:429 2021-10-11T01:17:27Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 3.36 psi 2021-10-11T01:17:27Z- handleDepth()-Depth_Keller msg: 1633915044306 epoch sec; seqNo:446; depth 7.86 2021-10-11T01:17:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915044.32 epoch sec; seqNo:446; 4061617.52 north; 594533.89 east 2021-10-11T01:17:28Z- AHRS_M2 msg: 1633915044.70 epoch sec; seqNo:430 2021-10-11T01:17:28Z- AHRS_M2 msg: -0.20 phi; 0.05 theta; 3.36 psi 2021-10-11T01:17:28Z- handleDepth()-Depth_Keller msg: 1633915044713 epoch sec; seqNo:447; depth 7.87 2021-10-11T01:17:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915044.72 epoch sec; seqNo:447; 4061617.13 north; 594532.68 east 2021-10-11T01:17:28Z- AHRS_M2 msg: 1633915045.11 epoch sec; seqNo:431 2021-10-11T01:17:28Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 3.36 psi 2021-10-11T01:17:28Z- handleDepth()-Depth_Keller msg: 1633915045112 epoch sec; seqNo:448; depth 7.85 2021-10-11T01:17:28Z- handleDvl() - RDI_Pathfinder msg: 1633915045.13 epoch sec; seqNo:102 2021-10-11T01:17:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.81 , 90.40 , 84.96 , 77.56 2021-10-11T01:17:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.25 , -0.20 2021-10-11T01:17:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915045.16 epoch sec; seqNo:448; 4061616.77 north; 594533.90 east 2021-10-11T01:17:28Z- AHRS_M2 msg: 1633915045.51 epoch sec; seqNo:432 2021-10-11T01:17:28Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 3.36 psi 2021-10-11T01:17:28Z- handleDepth()-Depth_Keller msg: 1633915045521 epoch sec; seqNo:449; depth 7.83 2021-10-11T01:17:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915045.54 epoch sec; seqNo:449; 4061616.39 north; 594533.91 east 2021-10-11T01:17:29Z- AHRS_M2 msg: 1633915045.91 epoch sec; seqNo:433 2021-10-11T01:17:29Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 3.37 psi 2021-10-11T01:17:29Z- handleDepth()-Depth_Keller msg: 1633915045924 epoch sec; seqNo:450; depth 7.83 2021-10-11T01:17:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915045.96 epoch sec; seqNo:450; 4061616.01 north; 594533.91 east 2021-10-11T01:17:29Z- AHRS_M2 msg: 1633915046.32 epoch sec; seqNo:434 2021-10-11T01:17:29Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 3.38 psi 2021-10-11T01:17:29Z- handleDepth()-Depth_Keller msg: 1633915046324 epoch sec; seqNo:451; depth 7.81 2021-10-11T01:17:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915046.35 epoch sec; seqNo:451; 4061615.63 north; 594533.91 east 2021-10-11T01:17:29Z- LcmTrn::handleMessages() - handling 41 messages took 0.77 ms and 125 calls... 2021-10-11T01:17:29Z- waiting for 1633915044.12, time is 1633915046.35 2021-10-11T01:17:29Z- LcmTrn::updateTrn() >>>> pose time 1633915046.35, meas time 1633915045.13 <<<< 2021-10-11T01:17:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915045.13 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:29Z- TerrainNav::motionUpdate() - currEstimate = (4061616, 594533.91, 7.81) 2021-10-11T01:17:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:29Z- TerrainNav:: SubcloudNIS is 0.54, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:29Z- TNavBF::Projecting Measurements 2021-10-11T01:17:29Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:17:29Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:17:29Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:17:29Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:17:29Z- TNavFilter::4 good beams. 2021-10-11T01:17:29Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:17:29Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:17:29Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:17:29Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:17:29Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:17:29Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:17:29Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:17:29Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:29Z- TerrainMapOctree: (vehN, vehE ) = (4061616.78, 594533.90). 2021-10-11T01:17:29Z- TerrainMapOctree: Min Distance = 253.86. 2021-10-11T01:17:29Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:17:29Z- Forcing Subcloud Comparison 2021-10-11T01:17:29Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:17:29Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:29Z- Filter 0 partialDeltaRmsComputation: 21.294226 terrainVariance: 0.881718 1-SumSquareWeights: 0.991877 2021-10-11T01:17:29Z- Filter 0 meanExpectedMeasDiff: -4.518020 delta_rms_squared: 0.871799 alpha: 0.977573 2021-10-11T01:17:29Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:29Z- Filter 0 partialDeltaRmsComputation: 39.229813 terrainVariance: 2.246994 1-SumSquareWeights: 0.991877 2021-10-11T01:17:29Z- Filter 0 meanExpectedMeasDiff: 6.081350 delta_rms_squared: 2.237076 alpha: 0.991139 2021-10-11T01:17:30Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:30Z- Filter 0 partialDeltaRmsComputation: 3.957801 terrainVariance: 0.818907 1-SumSquareWeights: 0.991877 2021-10-11T01:17:30Z- Filter 0 meanExpectedMeasDiff: -1.771692 delta_rms_squared: 0.808989 alpha: 0.975874 2021-10-11T01:17:30Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:30Z- Filter 0 partialDeltaRmsComputation: 4.663266 terrainVariance: 0.170985 1-SumSquareWeights: 0.991877 2021-10-11T01:17:30Z- Filter 0 meanExpectedMeasDiff: 2.119500 delta_rms_squared: 0.161066 alpha: 0.889543 2021-10-11T01:17:30Z- Filter 0 SubcloudNIS: 0.467382 2021-10-11T01:17:30Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:17:30Z- TNavBF:: Filter 0 sumWeights = 0.110060 2021-10-11T01:17:30Z- Filter 0 NorthBias: -26.5 EastBias: -43.3 DepthBias: -9.9 NorthVariance: 118.1 EastVariance: 431.0 DepthVariance: 1.1 this->DepthBiasCov: 1.0 2021-10-11T01:17:30Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915045.13 sec. 2021-10-11T01:17:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:30Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:30Z- variances([0], [2], and psi_berg) = 118.082034 452.328509 0.000000 2021-10-11T01:17:30Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:30Z- LcmTrn::publishEstimates() - MLE : 4061591.13 594484.41 7.81 2021-10-11T01:17:30Z- LcmTrn::publishEstimates() - MMSE : 4061589.12 594490.82 -2.07 2021-10-11T01:17:30Z- LcmTrn::publishEstimates() - COVAR: 118.08 452.33 1.15 0.00 2021-10-11T01:17:30Z- AHRS_M2 msg: 1633915046.72 epoch sec; seqNo:435 2021-10-11T01:17:30Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 3.38 psi 2021-10-11T01:17:30Z- handleDepth()-Depth_Keller msg: 1633915046734 epoch sec; seqNo:452; depth 7.82 2021-10-11T01:17:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915046.75 epoch sec; seqNo:452; 4061615.25 north; 594533.92 east 2021-10-11T01:17:30Z- AHRS_M2 msg: 1633915047.13 epoch sec; seqNo:436 2021-10-11T01:17:30Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 3.38 psi 2021-10-11T01:17:30Z- handleDepth()-Depth_Keller msg: 1633915047139 epoch sec; seqNo:453; depth 7.80 2021-10-11T01:17:30Z- handleDvl() - RDI_Pathfinder msg: 1633915047.16 epoch sec; seqNo:103 2021-10-11T01:17:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.99 , 89.31 , 82.78 , 78.38 2021-10-11T01:17:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.17 , -0.24 2021-10-11T01:17:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915047.19 epoch sec; seqNo:453; 4061614.86 north; 594532.70 east 2021-10-11T01:17:30Z- AHRS_M2 msg: 1633915047.53 epoch sec; seqNo:437 2021-10-11T01:17:30Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 3.37 psi 2021-10-11T01:17:30Z- handleDepth()-Depth_Keller msg: 1633915047545 epoch sec; seqNo:454; depth 7.79 2021-10-11T01:17:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915047.56 epoch sec; seqNo:454; 4061614.48 north; 594532.71 east 2021-10-11T01:17:31Z- AHRS_M2 msg: 1633915047.94 epoch sec; seqNo:438 2021-10-11T01:17:31Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 3.37 psi 2021-10-11T01:17:31Z- handleDepth()-Depth_Keller msg: 1633915047952 epoch sec; seqNo:455; depth 7.80 2021-10-11T01:17:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915047.98 epoch sec; seqNo:455; 4061614.10 north; 594532.71 east 2021-10-11T01:17:31Z- AHRS_M2 msg: 1633915048.34 epoch sec; seqNo:439 2021-10-11T01:17:31Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 3.37 psi 2021-10-11T01:17:31Z- handleDepth()-Depth_Keller msg: 1633915048344 epoch sec; seqNo:456; depth 7.78 2021-10-11T01:17:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915048.36 epoch sec; seqNo:456; 4061613.72 north; 594532.71 east 2021-10-11T01:17:32Z- AHRS_M2 msg: 1633915048.74 epoch sec; seqNo:440 2021-10-11T01:17:32Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 3.37 psi 2021-10-11T01:17:32Z- handleDepth()-Depth_Keller msg: 1633915048755 epoch sec; seqNo:457; depth 7.76 2021-10-11T01:17:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915048.77 epoch sec; seqNo:457; 4061613.34 north; 594532.72 east 2021-10-11T01:17:32Z- AHRS_M2 msg: 1633915049.15 epoch sec; seqNo:441 2021-10-11T01:17:32Z- AHRS_M2 msg: -0.21 phi; 0.02 theta; 3.37 psi 2021-10-11T01:17:32Z- handleDepth()-Depth_Keller msg: 1633915049152 epoch sec; seqNo:458; depth 7.76 2021-10-11T01:17:32Z- handleDvl() - RDI_Pathfinder msg: 1633915049.18 epoch sec; seqNo:104 2021-10-11T01:17:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.81 , 88.29 , 79.20 , 77.97 2021-10-11T01:17:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.15 , 0.05 2021-10-11T01:17:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915049.20 epoch sec; seqNo:458; 4061612.96 north; 594532.72 east 2021-10-11T01:17:32Z- AHRS_M2 msg: 1633915049.55 epoch sec; seqNo:442 2021-10-11T01:17:32Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 3.38 psi 2021-10-11T01:17:32Z- handleDepth()-Depth_Keller msg: 1633915049626 epoch sec; seqNo:459; depth 7.76 2021-10-11T01:17:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915049.64 epoch sec; seqNo:459; 4061612.58 north; 594532.73 east 2021-10-11T01:17:33Z- AHRS_M2 msg: 1633915049.97 epoch sec; seqNo:443 2021-10-11T01:17:33Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 3.38 psi 2021-10-11T01:17:33Z- handleDepth()-Depth_Keller msg: 1633915050066 epoch sec; seqNo:460; depth 7.76 2021-10-11T01:17:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915050.08 epoch sec; seqNo:460; 4061612.21 north; 594532.73 east 2021-10-11T01:17:33Z- AHRS_M2 msg: 1633915050.36 epoch sec; seqNo:444 2021-10-11T01:17:33Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 3.37 psi 2021-10-11T01:17:33Z- handleDepth()-Depth_Keller msg: 1633915050400 epoch sec; seqNo:461; depth 7.76 2021-10-11T01:17:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915050.43 epoch sec; seqNo:461; 4061611.81 north; 594531.52 east 2021-10-11T01:17:34Z- AHRS_M2 msg: 1633915050.77 epoch sec; seqNo:445 2021-10-11T01:17:34Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 3.37 psi 2021-10-11T01:17:34Z- handleDepth()-Depth_Keller msg: 1633915050821 epoch sec; seqNo:462; depth 7.77 2021-10-11T01:17:34Z- handleDvl() - RDI_Pathfinder msg: 1633915050.86 epoch sec; seqNo:105 2021-10-11T01:17:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.99 , 89.38 , 78.79 , 79.20 2021-10-11T01:17:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.17 , -0.01 2021-10-11T01:17:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915050.87 epoch sec; seqNo:462; 4061611.43 north; 594531.52 east 2021-10-11T01:17:34Z- AHRS_M2 msg: 1633915051.16 epoch sec; seqNo:446 2021-10-11T01:17:34Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 3.36 psi 2021-10-11T01:17:34Z- handleDepth()-Depth_Keller msg: 1633915051195 epoch sec; seqNo:463; depth 7.75 2021-10-11T01:17:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915051.21 epoch sec; seqNo:463; 4061611.06 north; 594531.52 east 2021-10-11T01:17:34Z- AHRS_M2 msg: 1633915051.57 epoch sec; seqNo:447 2021-10-11T01:17:34Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 3.36 psi 2021-10-11T01:17:34Z- handleDepth()-Depth_Keller msg: 1633915051575 epoch sec; seqNo:464; depth 7.78 2021-10-11T01:17:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915051.60 epoch sec; seqNo:464; 4061610.68 north; 594531.53 east 2021-10-11T01:17:35Z- LcmTrn::handleMessages() - handling 42 messages took 1.00 ms and 122 calls... 2021-10-11T01:17:35Z- waiting for 1633915049.35, time is 1633915051.60 2021-10-11T01:17:35Z- LcmTrn::updateTrn() >>>> pose time 1633915051.60, meas time 1633915050.86 <<<< 2021-10-11T01:17:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915050.86 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:35Z- TerrainNav::motionUpdate() - currEstimate = (4061611, 594531.53, 7.78) 2021-10-11T01:17:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:35Z- TerrainNav:: SubcloudNIS is 0.47, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:35Z- TNavBF::Projecting Measurements 2021-10-11T01:17:35Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:17:35Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:17:35Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:17:35Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:17:35Z- TNavFilter::4 good beams. 2021-10-11T01:17:35Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:17:35Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:17:35Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:17:35Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:17:35Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:17:35Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:17:35Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:17:35Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:35Z- TerrainMapOctree: (vehN, vehE ) = (4061611.38, 594531.86). 2021-10-11T01:17:35Z- TerrainMapOctree: Min Distance = 258.46. 2021-10-11T01:17:35Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:17:35Z- Forcing Subcloud Comparison 2021-10-11T01:17:35Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:17:35Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:35Z- Filter 0 partialDeltaRmsComputation: 13.349791 terrainVariance: 1.675914 1-SumSquareWeights: 0.992284 2021-10-11T01:17:35Z- Filter 0 meanExpectedMeasDiff: -3.416706 delta_rms_squared: 1.665991 alpha: 0.988138 2021-10-11T01:17:35Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:35Z- Filter 0 partialDeltaRmsComputation: 15.835335 terrainVariance: 3.100507 1-SumSquareWeights: 0.992284 2021-10-11T01:17:35Z- Filter 0 meanExpectedMeasDiff: 3.568589 delta_rms_squared: 3.090585 alpha: 0.993570 2021-10-11T01:17:35Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:35Z- Filter 0 partialDeltaRmsComputation: 52.463203 terrainVariance: 1.053971 1-SumSquareWeights: 0.992284 2021-10-11T01:17:35Z- Filter 0 meanExpectedMeasDiff: -7.170023 delta_rms_squared: 1.044048 alpha: 0.981204 2021-10-11T01:17:35Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:35Z- Filter 0 partialDeltaRmsComputation: 15.585686 terrainVariance: 0.319575 1-SumSquareWeights: 0.992284 2021-10-11T01:17:35Z- Filter 0 meanExpectedMeasDiff: 3.907187 delta_rms_squared: 0.309652 alpha: 0.939330 2021-10-11T01:17:35Z- Filter 0 SubcloudNIS: 0.472816 2021-10-11T01:17:35Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:17:35Z- TNavBF:: Filter 0 sumWeights = 0.031002 2021-10-11T01:17:35Z- Filter 0 NorthBias: -20.8 EastBias: -42.0 DepthBias: -10.4 NorthVariance: 108.4 EastVariance: 550.8 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-11T01:17:35Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915050.86 sec. 2021-10-11T01:17:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:35Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:35Z- variances([0], [2], and psi_berg) = 108.375938 566.698672 0.000000 2021-10-11T01:17:35Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:35Z- LcmTrn::publishEstimates() - MLE : 4061586.18 594482.03 7.78 2021-10-11T01:17:35Z- LcmTrn::publishEstimates() - MMSE : 4061589.90 594489.72 -2.65 2021-10-11T01:17:35Z- LcmTrn::publishEstimates() - COVAR: 108.38 566.70 0.98 0.00 2021-10-11T01:17:35Z- AHRS_M2 msg: 1633915051.98 epoch sec; seqNo:448 2021-10-11T01:17:35Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 3.36 psi 2021-10-11T01:17:35Z- handleDepth()-Depth_Keller msg: 1633915051984 epoch sec; seqNo:465; depth 7.75 2021-10-11T01:17:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915052.00 epoch sec; seqNo:465; 4061610.30 north; 594531.53 east 2021-10-11T01:17:35Z- AHRS_M2 msg: 1633915052.38 epoch sec; seqNo:449 2021-10-11T01:17:35Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 3.37 psi 2021-10-11T01:17:35Z- handleDepth()-Depth_Keller msg: 1633915052384 epoch sec; seqNo:466; depth 7.75 2021-10-11T01:17:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915052.40 epoch sec; seqNo:466; 4061609.92 north; 594531.54 east 2021-10-11T01:17:36Z- AHRS_M2 msg: 1633915052.83 epoch sec; seqNo:450 2021-10-11T01:17:36Z- AHRS_M2 msg: -0.22 phi; -0.02 theta; 3.37 psi 2021-10-11T01:17:36Z- handleDepth()-Depth_Keller msg: 1633915052842 epoch sec; seqNo:467; depth 7.76 2021-10-11T01:17:36Z- handleDvl() - RDI_Pathfinder msg: 1633915052.86 epoch sec; seqNo:106 2021-10-11T01:17:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.58 , 91.56 , 81.76 , 0.00 2021-10-11T01:17:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , 0.12 2021-10-11T01:17:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915052.90 epoch sec; seqNo:467; 4061609.54 north; 594531.54 east 2021-10-11T01:17:36Z- AHRS_M2 msg: 1633915053.18 epoch sec; seqNo:451 2021-10-11T01:17:36Z- AHRS_M2 msg: -0.22 phi; -0.02 theta; 3.37 psi 2021-10-11T01:17:36Z- handleDepth()-Depth_Keller msg: 1633915053197 epoch sec; seqNo:468; depth 7.77 2021-10-11T01:17:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915053.21 epoch sec; seqNo:468; 4061609.16 north; 594531.54 east 2021-10-11T01:17:36Z- AHRS_M2 msg: 1633915053.59 epoch sec; seqNo:452 2021-10-11T01:17:36Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 3.37 psi 2021-10-11T01:17:36Z- handleDepth()-Depth_Keller msg: 1633915053596 epoch sec; seqNo:469; depth 7.77 2021-10-11T01:17:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915053.62 epoch sec; seqNo:469; 4061608.78 north; 594531.55 east 2021-10-11T01:17:37Z- AHRS_M2 msg: 1633915053.99 epoch sec; seqNo:453 2021-10-11T01:17:37Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 3.37 psi 2021-10-11T01:17:37Z- handleDepth()-Depth_Keller msg: 1633915054000 epoch sec; seqNo:470; depth 7.79 2021-10-11T01:17:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915054.02 epoch sec; seqNo:470; 4061608.39 north; 594530.33 east 2021-10-11T01:17:37Z- AHRS_M2 msg: 1633915054.40 epoch sec; seqNo:454 2021-10-11T01:17:37Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 3.37 psi 2021-10-11T01:17:37Z- handleDepth()-Depth_Keller msg: 1633915054405 epoch sec; seqNo:471; depth 7.80 2021-10-11T01:17:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915054.42 epoch sec; seqNo:471; 4061608.01 north; 594530.34 east 2021-10-11T01:17:38Z- AHRS_M2 msg: 1633915054.84 epoch sec; seqNo:455 2021-10-11T01:17:38Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:38Z- handleDepth()-Depth_Keller msg: 1633915054843 epoch sec; seqNo:472; depth 7.81 2021-10-11T01:17:38Z- handleDvl() - RDI_Pathfinder msg: 1633915054.87 epoch sec; seqNo:107 2021-10-11T01:17:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.40 , 90.33 , 77.56 , 0.00 2021-10-11T01:17:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.16 2021-10-11T01:17:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915054.89 epoch sec; seqNo:472; 4061607.63 north; 594530.34 east 2021-10-11T01:17:38Z- AHRS_M2 msg: 1633915055.21 epoch sec; seqNo:456 2021-10-11T01:17:38Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:38Z- handleDepth()-Depth_Keller msg: 1633915055212 epoch sec; seqNo:473; depth 7.81 2021-10-11T01:17:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915055.23 epoch sec; seqNo:473; 4061607.25 north; 594530.34 east 2021-10-11T01:17:38Z- AHRS_M2 msg: 1633915055.61 epoch sec; seqNo:457 2021-10-11T01:17:38Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:38Z- handleDepth()-Depth_Keller msg: 1633915055620 epoch sec; seqNo:474; depth 7.84 2021-10-11T01:17:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915055.63 epoch sec; seqNo:474; 4061606.88 north; 594530.35 east 2021-10-11T01:17:39Z- AHRS_M2 msg: 1633915056.01 epoch sec; seqNo:458 2021-10-11T01:17:39Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:39Z- handleDepth()-Depth_Keller msg: 1633915056023 epoch sec; seqNo:475; depth 7.86 2021-10-11T01:17:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915056.05 epoch sec; seqNo:475; 4061606.50 north; 594530.35 east 2021-10-11T01:17:39Z- AHRS_M2 msg: 1633915056.42 epoch sec; seqNo:459 2021-10-11T01:17:39Z- AHRS_M2 msg: -0.21 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:39Z- handleDepth()-Depth_Keller msg: 1633915056423 epoch sec; seqNo:476; depth 7.85 2021-10-11T01:17:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915056.43 epoch sec; seqNo:476; 4061606.50 north; 594530.35 east 2021-10-11T01:17:40Z- AHRS_M2 msg: 1633915056.84 epoch sec; seqNo:460 2021-10-11T01:17:40Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:40Z- handleDepth()-Depth_Keller msg: 1633915056846 epoch sec; seqNo:477; depth 7.88 2021-10-11T01:17:40Z- handleDvl() - RDI_Pathfinder msg: 1633915056.88 epoch sec; seqNo:108 2021-10-11T01:17:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.40 , 90.47 , 77.15 , 87.21 2021-10-11T01:17:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , -0.15 , 0.21 2021-10-11T01:17:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915056.89 epoch sec; seqNo:477; 4061605.74 north; 594530.36 east 2021-10-11T01:17:40Z- LcmTrn::handleMessages() - handling 42 messages took 0.69 ms and 128 calls... 2021-10-11T01:17:40Z- waiting for 1633915054.60, time is 1633915056.89 2021-10-11T01:17:40Z- LcmTrn::updateTrn() equating pose 1633915056.89 and meas times 1633915056.89 2021-10-11T01:17:40Z- LcmTrn::updateTrn() >>>> pose time 1633915056.89, meas time 1633915056.89 <<<< 2021-10-11T01:17:40Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915056.89 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:40Z- TerrainNav::motionUpdate() - currEstimate = (4061606, 594530.36, 7.88) 2021-10-11T01:17:40Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:40Z- TerrainNav:: SubcloudNIS is 0.47, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:40Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915056.89 sec.; No relevant navigation data available 2021-10-11T01:17:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:40Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:40Z- variances([0], [2], and psi_berg) = 108.354364 606.283626 0.000000 2021-10-11T01:17:40Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:40Z- LcmTrn::publishEstimates() - MLE : 4061581.24 594480.86 7.88 2021-10-11T01:17:40Z- LcmTrn::publishEstimates() - MMSE : 4061584.96 594489.04 -2.55 2021-10-11T01:17:40Z- LcmTrn::publishEstimates() - COVAR: 108.35 606.28 1.25 0.00 2021-10-11T01:17:40Z- AHRS_M2 msg: 1633915057.22 epoch sec; seqNo:461 2021-10-11T01:17:40Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 3.37 psi 2021-10-11T01:17:40Z- handleDepth()-Depth_Keller msg: 1633915057236 epoch sec; seqNo:478; depth 7.90 2021-10-11T01:17:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915057.25 epoch sec; seqNo:478; 4061605.36 north; 594530.37 east 2021-10-11T01:17:40Z- AHRS_M2 msg: 1633915057.63 epoch sec; seqNo:462 2021-10-11T01:17:40Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 3.37 psi 2021-10-11T01:17:41Z- handleDepth()-Depth_Keller msg: 1633915057640 epoch sec; seqNo:479; depth 7.92 2021-10-11T01:17:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915057.66 epoch sec; seqNo:479; 4061604.98 north; 594530.37 east 2021-10-11T01:17:41Z- AHRS_M2 msg: 1633915058.03 epoch sec; seqNo:463 2021-10-11T01:17:41Z- AHRS_M2 msg: -0.21 phi; -0.07 theta; 3.37 psi 2021-10-11T01:17:41Z- handleDepth()-Depth_Keller msg: 1633915058037 epoch sec; seqNo:480; depth 7.93 2021-10-11T01:17:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915058.05 epoch sec; seqNo:480; 4061604.60 north; 594530.37 east 2021-10-11T01:17:41Z- AHRS_M2 msg: 1633915058.44 epoch sec; seqNo:464 2021-10-11T01:17:41Z- AHRS_M2 msg: -0.22 phi; -0.07 theta; 3.38 psi 2021-10-11T01:17:41Z- handleDepth()-Depth_Keller msg: 1633915058445 epoch sec; seqNo:481; depth 7.97 2021-10-11T01:17:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915058.46 epoch sec; seqNo:481; 4061604.22 north; 594530.38 east 2021-10-11T01:17:42Z- AHRS_M2 msg: 1633915058.85 epoch sec; seqNo:465 2021-10-11T01:17:42Z- AHRS_M2 msg: -0.23 phi; -0.08 theta; 3.39 psi 2021-10-11T01:17:42Z- handleDepth()-Depth_Keller msg: 1633915058861 epoch sec; seqNo:482; depth 7.98 2021-10-11T01:17:42Z- handleDvl() - RDI_Pathfinder msg: 1633915058.88 epoch sec; seqNo:109 2021-10-11T01:17:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.40 , 89.25 , 76.32 , 88.16 2021-10-11T01:17:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.32 , -0.24 2021-10-11T01:17:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915058.90 epoch sec; seqNo:482; 4061603.84 north; 594530.38 east 2021-10-11T01:17:42Z- AHRS_M2 msg: 1633915059.24 epoch sec; seqNo:466 2021-10-11T01:17:42Z- AHRS_M2 msg: -0.23 phi; -0.09 theta; 3.39 psi 2021-10-11T01:17:42Z- handleDepth()-Depth_Keller msg: 1633915059256 epoch sec; seqNo:483; depth 8.02 2021-10-11T01:17:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915059.28 epoch sec; seqNo:483; 4061603.47 north; 594530.39 east 2021-10-11T01:17:43Z- handleDepth()-Depth_Keller msg: 1633915059676 epoch sec; seqNo:484; depth 8.03 2021-10-11T01:17:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915059.70 epoch sec; seqNo:484; 4061603.09 north; 594530.39 east 2021-10-11T01:17:43Z- AHRS_M2 msg: 1633915060.06 epoch sec; seqNo:467 2021-10-11T01:17:43Z- AHRS_M2 msg: -0.21 phi; -0.10 theta; 3.41 psi 2021-10-11T01:17:43Z- handleDepth()-Depth_Keller msg: 1633915060067 epoch sec; seqNo:485; depth 8.07 2021-10-11T01:17:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915060.08 epoch sec; seqNo:485; 4061602.71 north; 594530.40 east 2021-10-11T01:17:43Z- AHRS_M2 msg: 1633915060.46 epoch sec; seqNo:468 2021-10-11T01:17:43Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 3.42 psi 2021-10-11T01:17:43Z- handleDepth()-Depth_Keller msg: 1633915060478 epoch sec; seqNo:486; depth 8.10 2021-10-11T01:17:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915060.49 epoch sec; seqNo:486; 4061602.33 north; 594530.40 east 2021-10-11T01:17:44Z- AHRS_M2 msg: 1633915060.86 epoch sec; seqNo:469 2021-10-11T01:17:44Z- AHRS_M2 msg: -0.19 phi; -0.10 theta; 3.42 psi 2021-10-11T01:17:44Z- handleDepth()-Depth_Keller msg: 1633915060867 epoch sec; seqNo:487; depth 8.12 2021-10-11T01:17:44Z- handleDvl() - RDI_Pathfinder msg: 1633915060.90 epoch sec; seqNo:110 2021-10-11T01:17:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:17:44Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-11T01:17:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915060.91 epoch sec; seqNo:487; 4061601.95 north; 594530.40 east 2021-10-11T01:17:44Z- AHRS_M2 msg: 1633915061.27 epoch sec; seqNo:470 2021-10-11T01:17:44Z- AHRS_M2 msg: -0.19 phi; -0.10 theta; 3.42 psi 2021-10-11T01:17:44Z- handleDepth()-Depth_Keller msg: 1633915061275 epoch sec; seqNo:488; depth 8.16 2021-10-11T01:17:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915061.29 epoch sec; seqNo:488; 4061601.57 north; 594530.41 east 2021-10-11T01:17:45Z- AHRS_M2 msg: 1633915061.67 epoch sec; seqNo:471 2021-10-11T01:17:45Z- AHRS_M2 msg: -0.19 phi; -0.11 theta; 3.42 psi 2021-10-11T01:17:45Z- handleDepth()-Depth_Keller msg: 1633915061681 epoch sec; seqNo:489; depth 8.21 2021-10-11T01:17:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915061.69 epoch sec; seqNo:489; 4061601.19 north; 594530.41 east 2021-10-11T01:17:45Z- LcmTrn::handleMessages() - handling 37 messages took 0.64 ms and 124 calls... 2021-10-11T01:17:45Z- waiting for 1633915059.89, time is 1633915061.69 2021-10-11T01:17:45Z- LcmTrn::updateTrn() >>>> pose time 1633915061.69, meas time 1633915060.90 <<<< 2021-10-11T01:17:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633915060.90, ping # 0. 2021-10-11T01:17:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915060.90 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:45Z- TerrainNav::motionUpdate() - currEstimate = (4061601, 594530.41, 8.21) 2021-10-11T01:17:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:45Z- TerrainNav:: SubcloudNIS is 0.47, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:45Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-11T01:17:45Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-11T01:17:45Z- TNavBF::Projecting Measurements 2021-10-11T01:17:45Z- TNavFilter::Measurement from time = 1633915060.90 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-11T01:17:45Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:17:45Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:17:45Z- TNavBF:: beamIndex[1] = 0 2021-10-11T01:17:45Z- TNavBF:: beamIndex[2] = 0 2021-10-11T01:17:45Z- TNavBF:: beamIndex[3] = 0 2021-10-11T01:17:45Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:17:45Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:17:45Z- Filter 0 NorthBias: -20.8 EastBias: -40.9 DepthBias: -10.4 NorthVariance: 108.3 EastVariance: 638.8 DepthVariance: 1.4 this->DepthBiasCov: 1.4 2021-10-11T01:17:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:45Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:45Z- variances([0], [2], and psi_berg) = 108.331720 652.658001 0.000000 2021-10-11T01:17:45Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:45Z- LcmTrn::publishEstimates() - MLE : 4061576.69 594480.91 8.21 2021-10-11T01:17:45Z- LcmTrn::publishEstimates() - MMSE : 4061580.40 594489.67 -2.23 2021-10-11T01:17:45Z- LcmTrn::publishEstimates() - COVAR: 108.33 652.66 1.49 0.00 2021-10-11T01:17:45Z- AHRS_M2 msg: 1633915062.08 epoch sec; seqNo:472 2021-10-11T01:17:45Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 3.41 psi 2021-10-11T01:17:45Z- handleDepth()-Depth_Keller msg: 1633915062086 epoch sec; seqNo:490; depth 8.23 2021-10-11T01:17:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915062.11 epoch sec; seqNo:490; 4061600.81 north; 594530.42 east 2021-10-11T01:17:45Z- AHRS_M2 msg: 1633915062.48 epoch sec; seqNo:473 2021-10-11T01:17:45Z- AHRS_M2 msg: -0.21 phi; -0.13 theta; 3.40 psi 2021-10-11T01:17:45Z- handleDepth()-Depth_Keller msg: 1633915062490 epoch sec; seqNo:491; depth 8.25 2021-10-11T01:17:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915062.50 epoch sec; seqNo:491; 4061600.06 north; 594530.42 east 2021-10-11T01:17:46Z- AHRS_M2 msg: 1633915062.88 epoch sec; seqNo:474 2021-10-11T01:17:46Z- AHRS_M2 msg: -0.22 phi; -0.14 theta; 3.40 psi 2021-10-11T01:17:46Z- handleDepth()-Depth_Keller msg: 1633915062890 epoch sec; seqNo:492; depth 8.28 2021-10-11T01:17:46Z- handleDvl() - RDI_Pathfinder msg: 1633915062.92 epoch sec; seqNo:111 2021-10-11T01:17:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.99 , 88.16 , 73.04 , 89.25 2021-10-11T01:17:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.46 , 0.17 2021-10-11T01:17:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915062.96 epoch sec; seqNo:492; 4061600.06 north; 594530.42 east 2021-10-11T01:17:46Z- AHRS_M2 msg: 1633915063.30 epoch sec; seqNo:475 2021-10-11T01:17:46Z- AHRS_M2 msg: -0.24 phi; -0.14 theta; 3.39 psi 2021-10-11T01:17:46Z- handleDepth()-Depth_Keller msg: 1633915063439 epoch sec; seqNo:493; depth 8.34 2021-10-11T01:17:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915063.47 epoch sec; seqNo:493; 4061599.68 north; 594530.43 east 2021-10-11T01:17:47Z- AHRS_M2 msg: 1633915063.69 epoch sec; seqNo:476 2021-10-11T01:17:47Z- AHRS_M2 msg: -0.25 phi; -0.15 theta; 3.38 psi 2021-10-11T01:17:47Z- handleDepth()-Depth_Keller msg: 1633915063743 epoch sec; seqNo:494; depth 8.37 2021-10-11T01:17:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915063.76 epoch sec; seqNo:494; 4061599.28 north; 594529.21 east 2021-10-11T01:17:47Z- handleDepth()-Depth_Keller msg: 1633915064152 epoch sec; seqNo:495; depth 8.40 2021-10-11T01:17:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915064.16 epoch sec; seqNo:495; 4061598.91 north; 594529.22 east 2021-10-11T01:17:47Z- AHRS_M2 msg: 1633915064.51 epoch sec; seqNo:477 2021-10-11T01:17:47Z- AHRS_M2 msg: -0.26 phi; -0.16 theta; 3.38 psi 2021-10-11T01:17:47Z- handleDepth()-Depth_Keller msg: 1633915064540 epoch sec; seqNo:496; depth 8.46 2021-10-11T01:17:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915064.57 epoch sec; seqNo:496; 4061598.53 north; 594529.22 east 2021-10-11T01:17:48Z- AHRS_M2 msg: 1633915064.90 epoch sec; seqNo:478 2021-10-11T01:17:48Z- AHRS_M2 msg: -0.26 phi; -0.16 theta; 3.39 psi 2021-10-11T01:17:48Z- handleDepth()-Depth_Keller msg: 1633915064910 epoch sec; seqNo:497; depth 8.51 2021-10-11T01:17:48Z- handleDvl() - RDI_Pathfinder msg: 1633915064.94 epoch sec; seqNo:112 2021-10-11T01:17:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.58 , 94.82 , 0.00 , 92.65 2021-10-11T01:17:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , -0.17 , 0.46 2021-10-11T01:17:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915064.96 epoch sec; seqNo:497; 4061598.15 north; 594529.23 east 2021-10-11T01:17:48Z- AHRS_M2 msg: 1633915065.31 epoch sec; seqNo:479 2021-10-11T01:17:48Z- AHRS_M2 msg: -0.25 phi; -0.16 theta; 3.39 psi 2021-10-11T01:17:48Z- handleDepth()-Depth_Keller msg: 1633915065325 epoch sec; seqNo:498; depth 8.52 2021-10-11T01:17:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915065.35 epoch sec; seqNo:498; 4061597.77 north; 594529.23 east 2021-10-11T01:17:49Z- AHRS_M2 msg: 1633915065.71 epoch sec; seqNo:480 2021-10-11T01:17:49Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 3.40 psi 2021-10-11T01:17:49Z- handleDepth()-Depth_Keller msg: 1633915065716 epoch sec; seqNo:499; depth 8.58 2021-10-11T01:17:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915065.73 epoch sec; seqNo:499; 4061597.39 north; 594529.23 east 2021-10-11T01:17:49Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:17:49Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:17:49Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:17:49Z- AHRS_M2 msg: 1633915066.11 epoch sec; seqNo:481 2021-10-11T01:17:49Z- AHRS_M2 msg: -0.24 phi; -0.16 theta; 3.40 psi 2021-10-11T01:17:49Z- handleDepth()-Depth_Keller msg: 1633915066142 epoch sec; seqNo:500; depth 8.63 2021-10-11T01:17:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915066.15 epoch sec; seqNo:500; 4061597.01 north; 594529.24 east 2021-10-11T01:17:49Z- AHRS_M2 msg: 1633915066.52 epoch sec; seqNo:482 2021-10-11T01:17:49Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 3.41 psi 2021-10-11T01:17:49Z- handleDepth()-Depth_Keller msg: 1633915066524 epoch sec; seqNo:501; depth 8.70 2021-10-11T01:17:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915066.55 epoch sec; seqNo:501; 4061596.63 north; 594529.24 east 2021-10-11T01:17:50Z- AHRS_M2 msg: 1633915066.92 epoch sec; seqNo:483 2021-10-11T01:17:50Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.41 psi 2021-10-11T01:17:50Z- handleDepth()-Depth_Keller msg: 1633915066926 epoch sec; seqNo:502; depth 8.75 2021-10-11T01:17:50Z- handleDvl() - RDI_Pathfinder msg: 1633915066.96 epoch sec; seqNo:113 2021-10-11T01:17:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.99 , 92.10 , 72.22 , 98.22 2021-10-11T01:17:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , -0.19 , -0.18 2021-10-11T01:17:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915066.97 epoch sec; seqNo:502; 4061596.25 north; 594529.25 east 2021-10-11T01:17:50Z- LcmTrn::handleMessages() - handling 41 messages took 0.85 ms and 123 calls... 2021-10-11T01:17:50Z- waiting for 1633915064.69, time is 1633915066.97 2021-10-11T01:17:50Z- LcmTrn::updateTrn() equating pose 1633915066.97 and meas times 1633915066.97 2021-10-11T01:17:50Z- LcmTrn::updateTrn() >>>> pose time 1633915066.97, meas time 1633915066.97 <<<< 2021-10-11T01:17:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915066.97 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:50Z- TerrainNav::motionUpdate() - currEstimate = (4061596, 594529.25, 8.75) 2021-10-11T01:17:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:50Z- TerrainNav:: SubcloudNIS is 0.47, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:50Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915066.97 sec.; No relevant navigation data available 2021-10-11T01:17:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:50Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:50Z- variances([0], [2], and psi_berg) = 108.316075 687.869727 0.000000 2021-10-11T01:17:50Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:50Z- LcmTrn::publishEstimates() - MLE : 4061571.75 594479.75 8.75 2021-10-11T01:17:50Z- LcmTrn::publishEstimates() - MMSE : 4061575.46 594488.94 -1.69 2021-10-11T01:17:50Z- LcmTrn::publishEstimates() - COVAR: 108.32 687.87 1.75 0.00 2021-10-11T01:17:50Z- AHRS_M2 msg: 1633915067.32 epoch sec; seqNo:484 2021-10-11T01:17:50Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 3.41 psi 2021-10-11T01:17:50Z- handleDepth()-Depth_Keller msg: 1633915067333 epoch sec; seqNo:503; depth 8.82 2021-10-11T01:17:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915067.36 epoch sec; seqNo:503; 4061595.86 north; 594528.03 east 2021-10-11T01:17:51Z- AHRS_M2 msg: 1633915067.73 epoch sec; seqNo:485 2021-10-11T01:17:51Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 3.41 psi 2021-10-11T01:17:51Z- handleDepth()-Depth_Keller msg: 1633915067734 epoch sec; seqNo:504; depth 8.88 2021-10-11T01:17:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915067.76 epoch sec; seqNo:504; 4061595.10 north; 594528.04 east 2021-10-11T01:17:51Z- AHRS_M2 msg: 1633915068.13 epoch sec; seqNo:486 2021-10-11T01:17:51Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 3.40 psi 2021-10-11T01:17:51Z- handleDepth()-Depth_Keller msg: 1633915068139 epoch sec; seqNo:505; depth 8.93 2021-10-11T01:17:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915068.15 epoch sec; seqNo:505; 4061594.73 north; 594528.04 east 2021-10-11T01:17:51Z- AHRS_M2 msg: 1633915068.54 epoch sec; seqNo:487 2021-10-11T01:17:51Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 3.39 psi 2021-10-11T01:17:51Z- handleDepth()-Depth_Keller msg: 1633915068548 epoch sec; seqNo:506; depth 9.00 2021-10-11T01:17:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915068.56 epoch sec; seqNo:506; 4061594.35 north; 594528.05 east 2021-10-11T01:17:52Z- AHRS_M2 msg: 1633915068.94 epoch sec; seqNo:488 2021-10-11T01:17:52Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.38 psi 2021-10-11T01:17:52Z- handleDepth()-Depth_Keller msg: 1633915068952 epoch sec; seqNo:507; depth 9.06 2021-10-11T01:17:52Z- handleDvl() - RDI_Pathfinder msg: 1633915068.97 epoch sec; seqNo:114 2021-10-11T01:17:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.58 , 88.70 , 70.99 , 0.00 2021-10-11T01:17:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.19 , -0.14 2021-10-11T01:17:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915068.99 epoch sec; seqNo:507; 4061593.97 north; 594528.05 east 2021-10-11T01:17:52Z- AHRS_M2 msg: 1633915069.35 epoch sec; seqNo:489 2021-10-11T01:17:52Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.37 psi 2021-10-11T01:17:52Z- handleDepth()-Depth_Keller msg: 1633915069350 epoch sec; seqNo:508; depth 9.13 2021-10-11T01:17:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915069.37 epoch sec; seqNo:508; 4061593.59 north; 594528.05 east 2021-10-11T01:17:53Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:17:53Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:17:53Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:17:53Z- AHRS_M2 msg: 1633915069.74 epoch sec; seqNo:490 2021-10-11T01:17:53Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.37 psi 2021-10-11T01:17:53Z- handleDepth()-Depth_Keller msg: 1633915069772 epoch sec; seqNo:509; depth 9.19 2021-10-11T01:17:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915069.79 epoch sec; seqNo:509; 4061593.21 north; 594528.06 east 2021-10-11T01:17:53Z- AHRS_M2 msg: 1633915070.16 epoch sec; seqNo:491 2021-10-11T01:17:53Z- AHRS_M2 msg: -0.25 phi; -0.19 theta; 3.37 psi 2021-10-11T01:17:53Z- handleDepth()-Depth_Keller msg: 1633915070168 epoch sec; seqNo:510; depth 9.24 2021-10-11T01:17:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915070.18 epoch sec; seqNo:510; 4061592.83 north; 594528.06 east 2021-10-11T01:17:53Z- handleDepth()-Depth_Keller msg: 1633915070580 epoch sec; seqNo:511; depth 9.31 2021-10-11T01:17:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915070.59 epoch sec; seqNo:511; 4061592.45 north; 594528.07 east 2021-10-11T01:17:54Z- AHRS_M2 msg: 1633915070.97 epoch sec; seqNo:492 2021-10-11T01:17:54Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.37 psi 2021-10-11T01:17:54Z- handleDepth()-Depth_Keller msg: 1633915070980 epoch sec; seqNo:512; depth 9.38 2021-10-11T01:17:54Z- handleDvl() - RDI_Pathfinder msg: 1633915071.01 epoch sec; seqNo:115 2021-10-11T01:17:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.76 , 90.47 , 70.99 , 93.73 2021-10-11T01:17:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.18 , 0.09 2021-10-11T01:17:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915071.03 epoch sec; seqNo:512; 4061592.07 north; 594528.07 east 2021-10-11T01:17:54Z- AHRS_M2 msg: 1633915071.39 epoch sec; seqNo:493 2021-10-11T01:17:54Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.36 psi 2021-10-11T01:17:54Z- handleDepth()-Depth_Keller msg: 1633915071391 epoch sec; seqNo:513; depth 9.45 2021-10-11T01:17:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915071.43 epoch sec; seqNo:513; 4061591.69 north; 594528.08 east 2021-10-11T01:17:55Z- AHRS_M2 msg: 1633915071.79 epoch sec; seqNo:494 2021-10-11T01:17:55Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.36 psi 2021-10-11T01:17:55Z- handleDepth()-Depth_Keller msg: 1633915071795 epoch sec; seqNo:514; depth 9.52 2021-10-11T01:17:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915071.81 epoch sec; seqNo:514; 4061591.30 north; 594526.86 east 2021-10-11T01:17:55Z- LcmTrn::handleMessages() - handling 37 messages took 0.66 ms and 123 calls... 2021-10-11T01:17:55Z- waiting for 1633915069.97, time is 1633915071.81 2021-10-11T01:17:55Z- LcmTrn::updateTrn() >>>> pose time 1633915071.81, meas time 1633915071.01 <<<< 2021-10-11T01:17:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915071.01 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:17:55Z- TerrainNav::motionUpdate() - currEstimate = (4061591, 594526.86, 9.52) 2021-10-11T01:17:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:17:55Z- TerrainNav:: SubcloudNIS is 0.47, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:17:55Z- TNavBF::Projecting Measurements 2021-10-11T01:17:55Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:17:55Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:17:55Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:17:55Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:17:55Z- TNavFilter::4 good beams. 2021-10-11T01:17:55Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:17:55Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:17:55Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:17:55Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:17:55Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:17:55Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:17:55Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:17:55Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:55Z- TerrainMapOctree: (vehN, vehE ) = (4061592.12, 594527.25). 2021-10-11T01:17:55Z- TerrainMapOctree: Min Distance = 273.03. 2021-10-11T01:17:55Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:17:55Z- Forcing Subcloud Comparison 2021-10-11T01:17:55Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:17:55Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:55Z- Filter 0 partialDeltaRmsComputation: 5.030521 terrainVariance: 1.758002 1-SumSquareWeights: 0.991503 2021-10-11T01:17:55Z- Filter 0 meanExpectedMeasDiff: 1.809011 delta_rms_squared: 1.748087 alpha: 0.988688 2021-10-11T01:17:55Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:55Z- Filter 0 partialDeltaRmsComputation: 27.999138 terrainVariance: 5.975475 1-SumSquareWeights: 0.991503 2021-10-11T01:17:55Z- Filter 0 meanExpectedMeasDiff: -4.692938 delta_rms_squared: 5.965560 alpha: 0.996659 2021-10-11T01:17:55Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:55Z- Filter 0 partialDeltaRmsComputation: 61.210250 terrainVariance: 0.778606 1-SumSquareWeights: 0.991503 2021-10-11T01:17:55Z- Filter 0 meanExpectedMeasDiff: -7.773779 delta_rms_squared: 0.768691 alpha: 0.974642 2021-10-11T01:17:55Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:17:55Z- Filter 0 partialDeltaRmsComputation: 164.206051 terrainVariance: 0.414545 1-SumSquareWeights: 0.991503 2021-10-11T01:17:55Z- Filter 0 meanExpectedMeasDiff: 12.798106 delta_rms_squared: 0.404629 alpha: 0.952900 2021-10-11T01:17:55Z- Filter 0 SubcloudNIS: 0.483526 2021-10-11T01:17:55Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:17:55Z- TNavBF:: Filter 0 sumWeights = 0.000419 2021-10-11T01:17:55Z- Filter 0 NorthBias: -19.9 EastBias: -48.2 DepthBias: -10.6 NorthVariance: 81.5 EastVariance: 3.0 DepthVariance: 1.2 this->DepthBiasCov: 1.2 2021-10-11T01:17:55Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915071.01 sec. 2021-10-11T01:17:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:17:55Z- TNavBF::mmse selected from filter -1 2021-10-11T01:17:55Z- variances([0], [2], and psi_berg) = 81.572045 29.803747 0.000000 2021-10-11T01:17:55Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:17:55Z- LcmTrn::publishEstimates() - MLE : 4061566.80 594477.36 9.52 2021-10-11T01:17:55Z- LcmTrn::publishEstimates() - MMSE : 4061571.43 594478.95 -1.07 2021-10-11T01:17:55Z- LcmTrn::publishEstimates() - COVAR: 81.57 29.80 1.24 0.00 2021-10-11T01:17:55Z- AHRS_M2 msg: 1633915072.20 epoch sec; seqNo:495 2021-10-11T01:17:55Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.36 psi 2021-10-11T01:17:55Z- handleDepth()-Depth_Keller msg: 1633915072205 epoch sec; seqNo:515; depth 9.56 2021-10-11T01:17:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915072.22 epoch sec; seqNo:515; 4061590.92 north; 594526.86 east 2021-10-11T01:17:55Z- AHRS_M2 msg: 1633915072.60 epoch sec; seqNo:496 2021-10-11T01:17:55Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 3.35 psi 2021-10-11T01:17:55Z- handleDepth()-Depth_Keller msg: 1633915072605 epoch sec; seqNo:516; depth 9.65 2021-10-11T01:17:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915072.62 epoch sec; seqNo:516; 4061590.92 north; 594526.86 east 2021-10-11T01:17:56Z- AHRS_M2 msg: 1633915073.00 epoch sec; seqNo:497 2021-10-11T01:17:56Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.35 psi 2021-10-11T01:17:56Z- handleDepth()-Depth_Keller msg: 1633915073008 epoch sec; seqNo:517; depth 9.70 2021-10-11T01:17:56Z- handleDvl() - RDI_Pathfinder msg: 1633915073.03 epoch sec; seqNo:116 2021-10-11T01:17:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.17 , 89.31 , 70.99 , 93.67 2021-10-11T01:17:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.07 , 0.27 2021-10-11T01:17:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915073.06 epoch sec; seqNo:517; 4061590.54 north; 594526.87 east 2021-10-11T01:17:56Z- AHRS_M2 msg: 1633915073.41 epoch sec; seqNo:498 2021-10-11T01:17:56Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.34 psi 2021-10-11T01:17:56Z- handleDepth()-Depth_Keller msg: 1633915073415 epoch sec; seqNo:518; depth 9.79 2021-10-11T01:17:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915073.43 epoch sec; seqNo:518; 4061590.17 north; 594526.87 east 2021-10-11T01:17:57Z- AHRS_M2 msg: 1633915073.81 epoch sec; seqNo:499 2021-10-11T01:17:57Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.34 psi 2021-10-11T01:17:57Z- handleDepth()-Depth_Keller msg: 1633915073824 epoch sec; seqNo:519; depth 9.84 2021-10-11T01:17:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915073.83 epoch sec; seqNo:519; 4061589.79 north; 594526.88 east 2021-10-11T01:17:57Z- AHRS_M2 msg: 1633915074.21 epoch sec; seqNo:500 2021-10-11T01:17:57Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.34 psi 2021-10-11T01:17:57Z- handleDepth()-Depth_Keller msg: 1633915074218 epoch sec; seqNo:520; depth 9.90 2021-10-11T01:17:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915074.23 epoch sec; seqNo:520; 4061589.41 north; 594526.88 east 2021-10-11T01:17:57Z- AHRS_M2 msg: 1633915074.62 epoch sec; seqNo:501 2021-10-11T01:17:57Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.35 psi 2021-10-11T01:17:57Z- handleDepth()-Depth_Keller msg: 1633915074627 epoch sec; seqNo:521; depth 9.96 2021-10-11T01:17:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915074.64 epoch sec; seqNo:521; 4061589.03 north; 594526.88 east 2021-10-11T01:17:58Z- AHRS_M2 msg: 1633915075.02 epoch sec; seqNo:502 2021-10-11T01:17:58Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.35 psi 2021-10-11T01:17:58Z- handleDepth()-Depth_Keller msg: 1633915075029 epoch sec; seqNo:522; depth 10.04 2021-10-11T01:17:58Z- handleDvl() - RDI_Pathfinder msg: 1633915075.05 epoch sec; seqNo:117 2021-10-11T01:17:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.16 , 91.50 , 70.98 , 98.02 2021-10-11T01:17:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.22 , 0.12 2021-10-11T01:17:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915075.10 epoch sec; seqNo:522; 4061588.65 north; 594526.89 east 2021-10-11T01:17:58Z- AHRS_M2 msg: 1633915075.42 epoch sec; seqNo:503 2021-10-11T01:17:58Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.36 psi 2021-10-11T01:17:58Z- handleDepth()-Depth_Keller msg: 1633915075430 epoch sec; seqNo:523; depth 10.10 2021-10-11T01:17:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915075.46 epoch sec; seqNo:523; 4061588.27 north; 594526.89 east 2021-10-11T01:17:59Z- AHRS_M2 msg: 1633915075.83 epoch sec; seqNo:504 2021-10-11T01:17:59Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 3.37 psi 2021-10-11T01:17:59Z- handleDepth()-Depth_Keller msg: 1633915075844 epoch sec; seqNo:524; depth 10.16 2021-10-11T01:17:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915075.86 epoch sec; seqNo:524; 4061587.89 north; 594526.90 east 2021-10-11T01:17:59Z- AHRS_M2 msg: 1633915076.23 epoch sec; seqNo:505 2021-10-11T01:17:59Z- AHRS_M2 msg: -0.22 phi; -0.18 theta; 3.38 psi 2021-10-11T01:17:59Z- handleDepth()-Depth_Keller msg: 1633915076241 epoch sec; seqNo:525; depth 10.24 2021-10-11T01:17:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915076.25 epoch sec; seqNo:525; 4061587.51 north; 594526.90 east 2021-10-11T01:18:00Z- AHRS_M2 msg: 1633915076.65 epoch sec; seqNo:506 2021-10-11T01:18:00Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:00Z- handleDepth()-Depth_Keller msg: 1633915076862 epoch sec; seqNo:526; depth 10.30 2021-10-11T01:18:00Z- handleDvl() - RDI_Pathfinder msg: 1633915076.88 epoch sec; seqNo:118 2021-10-11T01:18:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.35 , 87.00 , 69.35 , 91.35 2021-10-11T01:18:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.06 , -0.25 2021-10-11T01:18:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915076.91 epoch sec; seqNo:526; 4061586.76 north; 594526.91 east 2021-10-11T01:18:00Z- AHRS_M2 msg: 1633915077.17 epoch sec; seqNo:507 2021-10-11T01:18:00Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:00Z- handleDepth()-Depth_Keller msg: 1633915077231 epoch sec; seqNo:527; depth 10.40 2021-10-11T01:18:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915077.26 epoch sec; seqNo:527; 4061586.36 north; 594525.69 east 2021-10-11T01:18:00Z- LcmTrn::handleMessages() - handling 42 messages took 0.74 ms and 127 calls... 2021-10-11T01:18:00Z- waiting for 1633915074.81, time is 1633915077.26 2021-10-11T01:18:00Z- LcmTrn::updateTrn() >>>> pose time 1633915077.26, meas time 1633915076.88 <<<< 2021-10-11T01:18:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915076.88 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:00Z- TerrainNav::motionUpdate() - currEstimate = (4061586, 594525.69, 10.40) 2021-10-11T01:18:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:00Z- TerrainNav:: SubcloudNIS is 0.48, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:00Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915076.88 sec.; No relevant navigation data available 2021-10-11T01:18:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:00Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:00Z- variances([0], [2], and psi_berg) = 81.632377 91.605059 0.000000 2021-10-11T01:18:00Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:00Z- LcmTrn::publishEstimates() - MLE : 4061561.86 594476.19 10.40 2021-10-11T01:18:00Z- LcmTrn::publishEstimates() - MMSE : 4061566.49 594478.44 -0.19 2021-10-11T01:18:00Z- LcmTrn::publishEstimates() - COVAR: 81.63 91.61 1.50 0.00 2021-10-11T01:18:00Z- AHRS_M2 msg: 1633915077.57 epoch sec; seqNo:508 2021-10-11T01:18:00Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:00Z- handleDepth()-Depth_Keller msg: 1633915077615 epoch sec; seqNo:528; depth 10.46 2021-10-11T01:18:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915077.63 epoch sec; seqNo:528; 4061585.98 north; 594525.70 east 2021-10-11T01:18:01Z- AHRS_M2 msg: 1633915077.97 epoch sec; seqNo:509 2021-10-11T01:18:01Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:01Z- handleDepth()-Depth_Keller msg: 1633915078008 epoch sec; seqNo:529; depth 10.51 2021-10-11T01:18:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915078.02 epoch sec; seqNo:529; 4061585.61 north; 594525.70 east 2021-10-11T01:18:01Z- AHRS_M2 msg: 1633915078.37 epoch sec; seqNo:510 2021-10-11T01:18:01Z- AHRS_M2 msg: -0.19 phi; -0.17 theta; 3.37 psi 2021-10-11T01:18:01Z- handleDepth()-Depth_Keller msg: 1633915078376 epoch sec; seqNo:530; depth 10.58 2021-10-11T01:18:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915078.39 epoch sec; seqNo:530; 4061585.23 north; 594525.71 east 2021-10-11T01:18:02Z- AHRS_M2 msg: 1633915078.84 epoch sec; seqNo:511 2021-10-11T01:18:02Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:02Z- handleDepth()-Depth_Keller msg: 1633915078852 epoch sec; seqNo:531; depth 10.62 2021-10-11T01:18:02Z- handleDvl() - RDI_Pathfinder msg: 1633915078.89 epoch sec; seqNo:119 2021-10-11T01:18:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.75 , 85.04 , 68.93 , 89.39 2021-10-11T01:18:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.17 , -0.05 2021-10-11T01:18:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915078.91 epoch sec; seqNo:531; 4061584.85 north; 594525.71 east 2021-10-11T01:18:02Z- AHRS_M2 msg: 1633915079.18 epoch sec; seqNo:512 2021-10-11T01:18:02Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:02Z- handleDepth()-Depth_Keller msg: 1633915079183 epoch sec; seqNo:532; depth 10.70 2021-10-11T01:18:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915079.23 epoch sec; seqNo:532; 4061584.47 north; 594525.71 east 2021-10-11T01:18:02Z- AHRS_M2 msg: 1633915079.58 epoch sec; seqNo:513 2021-10-11T01:18:02Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:02Z- handleDepth()-Depth_Keller msg: 1633915079591 epoch sec; seqNo:533; depth 10.75 2021-10-11T01:18:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915079.63 epoch sec; seqNo:533; 4061584.09 north; 594525.72 east 2021-10-11T01:18:03Z- AHRS_M2 msg: 1633915079.99 epoch sec; seqNo:514 2021-10-11T01:18:03Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 3.35 psi 2021-10-11T01:18:03Z- handleDepth()-Depth_Keller msg: 1633915080002 epoch sec; seqNo:534; depth 10.79 2021-10-11T01:18:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915080.06 epoch sec; seqNo:534; 4061583.71 north; 594525.72 east 2021-10-11T01:18:03Z- AHRS_M2 msg: 1633915080.39 epoch sec; seqNo:515 2021-10-11T01:18:03Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.35 psi 2021-10-11T01:18:03Z- handleDepth()-Depth_Keller msg: 1633915080394 epoch sec; seqNo:535; depth 10.85 2021-10-11T01:18:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915080.41 epoch sec; seqNo:535; 4061583.71 north; 594525.72 east 2021-10-11T01:18:04Z- AHRS_M2 msg: 1633915080.84 epoch sec; seqNo:516 2021-10-11T01:18:04Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:04Z- handleDepth()-Depth_Keller msg: 1633915080845 epoch sec; seqNo:536; depth 10.90 2021-10-11T01:18:04Z- handleDvl() - RDI_Pathfinder msg: 1633915080.87 epoch sec; seqNo:120 2021-10-11T01:18:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.93 , 86.12 , 69.34 , 90.47 2021-10-11T01:18:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.07 , 0.10 2021-10-11T01:18:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915080.90 epoch sec; seqNo:536; 4061583.33 north; 594525.73 east 2021-10-11T01:18:04Z- AHRS_M2 msg: 1633915081.20 epoch sec; seqNo:517 2021-10-11T01:18:04Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:04Z- handleDepth()-Depth_Keller msg: 1633915081211 epoch sec; seqNo:537; depth 10.96 2021-10-11T01:18:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:18:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:18:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:18:04Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:18:04Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:18:04Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:18:04Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:18:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:18:04Z- handleDvl() - RDI_Pathfinder msg: 1633915081.22 epoch sec; seqNo:121 2021-10-11T01:18:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:18:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.07 , 0.10 2021-10-11T01:18:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915081.26 epoch sec; seqNo:537; 4061582.95 north; 594525.73 east 2021-10-11T01:18:04Z- AHRS_M2 msg: 1633915081.60 epoch sec; seqNo:518 2021-10-11T01:18:04Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:04Z- handleDepth()-Depth_Keller msg: 1633915081605 epoch sec; seqNo:538; depth 11.03 2021-10-11T01:18:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915081.64 epoch sec; seqNo:538; 4061582.58 north; 594525.74 east 2021-10-11T01:18:05Z- AHRS_M2 msg: 1633915082.01 epoch sec; seqNo:519 2021-10-11T01:18:05Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.37 psi 2021-10-11T01:18:05Z- handleDepth()-Depth_Keller msg: 1633915082012 epoch sec; seqNo:539; depth 11.07 2021-10-11T01:18:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915082.06 epoch sec; seqNo:539; 4061582.18 north; 594524.52 east 2021-10-11T01:18:05Z- LcmTrn::handleMessages() - handling 39 messages took 0.93 ms and 120 calls... 2021-10-11T01:18:05Z- waiting for 1633915080.26, time is 1633915082.06 2021-10-11T01:18:05Z- LcmTrn::updateTrn() >>>> pose time 1633915082.06, meas time 1633915081.22 <<<< 2021-10-11T01:18:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1633915081.22, ping # 0. 2021-10-11T01:18:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915081.22 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:05Z- TerrainNav::motionUpdate() - currEstimate = (4061582, 594524.52, 11.07) 2021-10-11T01:18:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:05Z- TerrainNav:: SubcloudNIS is 0.48, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:05Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-11T01:18:05Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-11T01:18:05Z- TNavBF::Projecting Measurements 2021-10-11T01:18:05Z- TNavFilter::Measurement from time = 1633915081.22 sec, ping # 0 not included; there are no good beams from the sonar. 2021-10-11T01:18:05Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:05Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:05Z- TNavBF:: beamIndex[1] = 0 2021-10-11T01:18:05Z- TNavBF:: beamIndex[2] = 0 2021-10-11T01:18:05Z- TNavBF:: beamIndex[3] = 0 2021-10-11T01:18:05Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:05Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:05Z- Filter 0 NorthBias: -19.9 EastBias: -46.7 DepthBias: -10.6 NorthVariance: 81.7 EastVariance: 140.7 DepthVariance: 1.7 this->DepthBiasCov: 1.7 2021-10-11T01:18:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:05Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:05Z- variances([0], [2], and psi_berg) = 81.704412 162.351538 0.000000 2021-10-11T01:18:05Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:05Z- LcmTrn::publishEstimates() - MLE : 4061557.68 594475.02 11.07 2021-10-11T01:18:05Z- LcmTrn::publishEstimates() - MMSE : 4061562.30 594478.02 0.47 2021-10-11T01:18:05Z- LcmTrn::publishEstimates() - COVAR: 81.70 162.35 1.73 0.00 2021-10-11T01:18:05Z- AHRS_M2 msg: 1633915082.41 epoch sec; seqNo:520 2021-10-11T01:18:05Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 3.38 psi 2021-10-11T01:18:05Z- handleDepth()-Depth_Keller msg: 1633915082415 epoch sec; seqNo:540; depth 11.12 2021-10-11T01:18:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915082.43 epoch sec; seqNo:540; 4061581.80 north; 594524.52 east 2021-10-11T01:18:06Z- AHRS_M2 msg: 1633915082.86 epoch sec; seqNo:521 2021-10-11T01:18:06Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.38 psi 2021-10-11T01:18:06Z- handleDepth()-Depth_Keller msg: 1633915082869 epoch sec; seqNo:541; depth 11.17 2021-10-11T01:18:06Z- handleDvl() - RDI_Pathfinder msg: 1633915082.89 epoch sec; seqNo:122 2021-10-11T01:18:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.93 , 86.12 , 68.93 , 0.00 2021-10-11T01:18:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.09 2021-10-11T01:18:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915082.91 epoch sec; seqNo:541; 4061581.43 north; 594524.53 east 2021-10-11T01:18:06Z- AHRS_M2 msg: 1633915083.22 epoch sec; seqNo:522 2021-10-11T01:18:06Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.39 psi 2021-10-11T01:18:06Z- handleDepth()-Depth_Keller msg: 1633915083230 epoch sec; seqNo:542; depth 11.24 2021-10-11T01:18:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915083.25 epoch sec; seqNo:542; 4061581.05 north; 594524.53 east 2021-10-11T01:18:06Z- AHRS_M2 msg: 1633915083.62 epoch sec; seqNo:523 2021-10-11T01:18:06Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.39 psi 2021-10-11T01:18:07Z- handleDepth()-Depth_Keller msg: 1633915083629 epoch sec; seqNo:543; depth 11.29 2021-10-11T01:18:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915083.68 epoch sec; seqNo:543; 4061580.67 north; 594524.54 east 2021-10-11T01:18:07Z- AHRS_M2 msg: 1633915084.03 epoch sec; seqNo:524 2021-10-11T01:18:07Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.39 psi 2021-10-11T01:18:07Z- handleDepth()-Depth_Keller msg: 1633915084031 epoch sec; seqNo:544; depth 11.35 2021-10-11T01:18:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915084.04 epoch sec; seqNo:544; 4061580.29 north; 594524.54 east 2021-10-11T01:18:07Z- AHRS_M2 msg: 1633915084.43 epoch sec; seqNo:525 2021-10-11T01:18:07Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:07Z- handleDepth()-Depth_Keller msg: 1633915084440 epoch sec; seqNo:545; depth 11.41 2021-10-11T01:18:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915084.45 epoch sec; seqNo:545; 4061579.91 north; 594524.54 east 2021-10-11T01:18:08Z- handleDepth()-Depth_Keller msg: 1633915084872 epoch sec; seqNo:546; depth 11.46 2021-10-11T01:18:08Z- handleDvl() - RDI_Pathfinder msg: 1633915084.89 epoch sec; seqNo:123 2021-10-11T01:18:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.11 , 86.12 , 68.52 , 88.30 2021-10-11T01:18:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.06 , -0.10 2021-10-11T01:18:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915084.92 epoch sec; seqNo:546; 4061579.53 north; 594524.55 east 2021-10-11T01:18:08Z- AHRS_M2 msg: 1633915085.24 epoch sec; seqNo:526 2021-10-11T01:18:08Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:08Z- handleDepth()-Depth_Keller msg: 1633915085244 epoch sec; seqNo:547; depth 11.53 2021-10-11T01:18:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915085.26 epoch sec; seqNo:547; 4061579.15 north; 594524.55 east 2021-10-11T01:18:09Z- AHRS_M2 msg: 1633915085.65 epoch sec; seqNo:527 2021-10-11T01:18:09Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:09Z- handleDepth()-Depth_Keller msg: 1633915085656 epoch sec; seqNo:548; depth 11.59 2021-10-11T01:18:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915085.67 epoch sec; seqNo:548; 4061578.77 north; 594524.56 east 2021-10-11T01:18:09Z- AHRS_M2 msg: 1633915086.04 epoch sec; seqNo:528 2021-10-11T01:18:09Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.41 psi 2021-10-11T01:18:09Z- handleDepth()-Depth_Keller msg: 1633915086054 epoch sec; seqNo:549; depth 11.63 2021-10-11T01:18:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915086.07 epoch sec; seqNo:549; 4061578.39 north; 594524.56 east 2021-10-11T01:18:09Z- AHRS_M2 msg: 1633915086.45 epoch sec; seqNo:529 2021-10-11T01:18:09Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.41 psi 2021-10-11T01:18:09Z- handleDepth()-Depth_Keller msg: 1633915086451 epoch sec; seqNo:550; depth 11.69 2021-10-11T01:18:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915086.47 epoch sec; seqNo:550; 4061578.02 north; 594524.57 east 2021-10-11T01:18:10Z- AHRS_M2 msg: 1633915086.85 epoch sec; seqNo:530 2021-10-11T01:18:10Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:10Z- handleDepth()-Depth_Keller msg: 1633915086864 epoch sec; seqNo:551; depth 11.75 2021-10-11T01:18:10Z- handleDvl() - RDI_Pathfinder msg: 1633915086.90 epoch sec; seqNo:124 2021-10-11T01:18:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.88 , 85.04 , 68.11 , 87.21 2021-10-11T01:18:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.14 , -0.23 2021-10-11T01:18:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915086.91 epoch sec; seqNo:551; 4061577.26 north; 594524.57 east 2021-10-11T01:18:10Z- AHRS_M2 msg: 1633915087.26 epoch sec; seqNo:531 2021-10-11T01:18:10Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:10Z- handleDepth()-Depth_Keller msg: 1633915087272 epoch sec; seqNo:552; depth 11.79 2021-10-11T01:18:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915087.29 epoch sec; seqNo:552; 4061577.24 north; 594523.35 east 2021-10-11T01:18:10Z- LcmTrn::handleMessages() - handling 41 messages took 0.86 ms and 123 calls... 2021-10-11T01:18:10Z- waiting for 1633915085.06, time is 1633915087.29 2021-10-11T01:18:10Z- LcmTrn::updateTrn() >>>> pose time 1633915087.29, meas time 1633915086.90 <<<< 2021-10-11T01:18:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915086.90 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:10Z- TerrainNav::motionUpdate() - currEstimate = (4061577, 594523.35, 11.79) 2021-10-11T01:18:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:10Z- TerrainNav:: SubcloudNIS is 0.48, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:10Z- TNavBF::Projecting Measurements 2021-10-11T01:18:10Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:18:10Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:18:10Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:18:10Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:18:10Z- TNavFilter::4 good beams. 2021-10-11T01:18:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:10Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:10Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:18:10Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:18:10Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:18:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:10Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:10Z- TerrainMapOctree: (vehN, vehE ) = (4061577.62, 594523.44). 2021-10-11T01:18:10Z- TerrainMapOctree: Min Distance = 284.68. 2021-10-11T01:18:10Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:18:10Z- Forcing Subcloud Comparison 2021-10-11T01:18:10Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:18:10Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:10Z- Filter 0 partialDeltaRmsComputation: 0.726739 terrainVariance: 0.567063 1-SumSquareWeights: 0.984233 2021-10-11T01:18:10Z- Filter 0 meanExpectedMeasDiff: 0.399595 delta_rms_squared: 0.557221 alpha: 0.965351 2021-10-11T01:18:10Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:10Z- Filter 0 partialDeltaRmsComputation: 3.603797 terrainVariance: 2.502120 1-SumSquareWeights: 0.984233 2021-10-11T01:18:10Z- Filter 0 meanExpectedMeasDiff: -1.049608 delta_rms_squared: 2.492278 alpha: 0.992039 2021-10-11T01:18:10Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:10Z- Filter 0 partialDeltaRmsComputation: 70.443247 terrainVariance: 2.202064 1-SumSquareWeights: 0.984233 2021-10-11T01:18:10Z- Filter 0 meanExpectedMeasDiff: -8.260822 delta_rms_squared: 2.192221 alpha: 0.990959 2021-10-11T01:18:10Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:10Z- Filter 0 partialDeltaRmsComputation: 110.542806 terrainVariance: 0.319369 1-SumSquareWeights: 0.984233 2021-10-11T01:18:10Z- Filter 0 meanExpectedMeasDiff: 10.498735 delta_rms_squared: 0.309526 alpha: 0.939307 2021-10-11T01:18:10Z- Filter 0 SubcloudNIS: 0.461973 2021-10-11T01:18:10Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:18:10Z- TNavBF:: Filter 0 sumWeights = 0.001675 2021-10-11T01:18:10Z- Filter 0 NorthBias: -15.6 EastBias: -48.1 DepthBias: -10.9 NorthVariance: 87.7 EastVariance: 3.0 DepthVariance: 1.1 this->DepthBiasCov: 1.1 2021-10-11T01:18:10Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915086.90 sec. 2021-10-11T01:18:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:10Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:10Z- variances([0], [2], and psi_berg) = 87.730590 17.366538 0.000000 2021-10-11T01:18:10Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:10Z- LcmTrn::publishEstimates() - MLE : 4061558.74 594474.85 11.79 2021-10-11T01:18:10Z- LcmTrn::publishEstimates() - MMSE : 4061561.59 594475.40 0.93 2021-10-11T01:18:10Z- LcmTrn::publishEstimates() - COVAR: 87.73 17.37 1.17 0.00 2021-10-11T01:18:11Z- AHRS_M2 msg: 1633915087.66 epoch sec; seqNo:532 2021-10-11T01:18:11Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 3.39 psi 2021-10-11T01:18:11Z- handleDepth()-Depth_Keller msg: 1633915087677 epoch sec; seqNo:553; depth 11.86 2021-10-11T01:18:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915087.69 epoch sec; seqNo:553; 4061576.87 north; 594523.36 east 2021-10-11T01:18:11Z- AHRS_M2 msg: 1633915088.06 epoch sec; seqNo:533 2021-10-11T01:18:11Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 3.39 psi 2021-10-11T01:18:11Z- handleDepth()-Depth_Keller msg: 1633915088072 epoch sec; seqNo:554; depth 11.91 2021-10-11T01:18:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915088.11 epoch sec; seqNo:554; 4061576.11 north; 594523.37 east 2021-10-11T01:18:11Z- AHRS_M2 msg: 1633915088.47 epoch sec; seqNo:534 2021-10-11T01:18:11Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 3.38 psi 2021-10-11T01:18:11Z- handleDepth()-Depth_Keller msg: 1633915088474 epoch sec; seqNo:555; depth 11.98 2021-10-11T01:18:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915088.48 epoch sec; seqNo:555; 4061576.11 north; 594523.37 east 2021-10-11T01:18:12Z- AHRS_M2 msg: 1633915088.87 epoch sec; seqNo:535 2021-10-11T01:18:12Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 3.38 psi 2021-10-11T01:18:12Z- handleDepth()-Depth_Keller msg: 1633915088874 epoch sec; seqNo:556; depth 12.05 2021-10-11T01:18:12Z- handleDvl() - RDI_Pathfinder msg: 1633915088.90 epoch sec; seqNo:125 2021-10-11T01:18:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.88 , 83.95 , 68.11 , 87.21 2021-10-11T01:18:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.30 , 0.08 2021-10-11T01:18:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915088.92 epoch sec; seqNo:556; 4061575.73 north; 594523.37 east 2021-10-11T01:18:12Z- AHRS_M2 msg: 1633915089.27 epoch sec; seqNo:536 2021-10-11T01:18:12Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 3.37 psi 2021-10-11T01:18:12Z- handleDepth()-Depth_Keller msg: 1633915089284 epoch sec; seqNo:557; depth 12.08 2021-10-11T01:18:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915089.31 epoch sec; seqNo:557; 4061575.35 north; 594523.37 east 2021-10-11T01:18:13Z- AHRS_M2 msg: 1633915089.68 epoch sec; seqNo:537 2021-10-11T01:18:13Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 3.37 psi 2021-10-11T01:18:13Z- handleDepth()-Depth_Keller msg: 1633915089681 epoch sec; seqNo:558; depth 12.14 2021-10-11T01:18:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915089.70 epoch sec; seqNo:558; 4061574.97 north; 594523.38 east 2021-10-11T01:18:13Z- AHRS_M2 msg: 1633915090.09 epoch sec; seqNo:538 2021-10-11T01:18:13Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 3.36 psi 2021-10-11T01:18:13Z- handleDepth()-Depth_Keller msg: 1633915090192 epoch sec; seqNo:559; depth 12.20 2021-10-11T01:18:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915090.20 epoch sec; seqNo:559; 4061574.58 north; 594522.16 east 2021-10-11T01:18:13Z- AHRS_M2 msg: 1633915090.49 epoch sec; seqNo:539 2021-10-11T01:18:13Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:13Z- handleDepth()-Depth_Keller msg: 1633915090581 epoch sec; seqNo:560; depth 12.27 2021-10-11T01:18:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915090.59 epoch sec; seqNo:560; 4061574.20 north; 594522.17 east 2021-10-11T01:18:14Z- AHRS_M2 msg: 1633915090.89 epoch sec; seqNo:540 2021-10-11T01:18:14Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:14Z- handleDepth()-Depth_Keller msg: 1633915090916 epoch sec; seqNo:561; depth 12.34 2021-10-11T01:18:14Z- handleDvl() - RDI_Pathfinder msg: 1633915090.97 epoch sec; seqNo:126 2021-10-11T01:18:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.47 , 85.04 , 68.93 , 89.39 2021-10-11T01:18:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.03 , 0.34 2021-10-11T01:18:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915091.00 epoch sec; seqNo:561; 4061573.82 north; 594522.17 east 2021-10-11T01:18:14Z- AHRS_M2 msg: 1633915091.30 epoch sec; seqNo:541 2021-10-11T01:18:14Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 3.36 psi 2021-10-11T01:18:14Z- handleDepth()-Depth_Keller msg: 1633915091338 epoch sec; seqNo:562; depth 12.38 2021-10-11T01:18:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915091.38 epoch sec; seqNo:562; 4061573.44 north; 594522.17 east 2021-10-11T01:18:15Z- AHRS_M2 msg: 1633915091.70 epoch sec; seqNo:542 2021-10-11T01:18:15Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.37 psi 2021-10-11T01:18:15Z- handleDepth()-Depth_Keller msg: 1633915091729 epoch sec; seqNo:563; depth 12.44 2021-10-11T01:18:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915091.74 epoch sec; seqNo:563; 4061573.44 north; 594522.17 east 2021-10-11T01:18:15Z- AHRS_M2 msg: 1633915092.10 epoch sec; seqNo:543 2021-10-11T01:18:15Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.37 psi 2021-10-11T01:18:15Z- handleDepth()-Depth_Keller msg: 1633915092115 epoch sec; seqNo:564; depth 12.49 2021-10-11T01:18:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915092.14 epoch sec; seqNo:564; 4061573.06 north; 594522.18 east 2021-10-11T01:18:15Z- AHRS_M2 msg: 1633915092.51 epoch sec; seqNo:544 2021-10-11T01:18:15Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.37 psi 2021-10-11T01:18:15Z- handleDepth()-Depth_Keller msg: 1633915092511 epoch sec; seqNo:565; depth 12.54 2021-10-11T01:18:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915092.53 epoch sec; seqNo:565; 4061572.68 north; 594522.18 east 2021-10-11T01:18:16Z- LcmTrn::handleMessages() - handling 41 messages took 0.95 ms and 122 calls... 2021-10-11T01:18:16Z- waiting for 1633915090.29, time is 1633915092.53 2021-10-11T01:18:16Z- LcmTrn::updateTrn() >>>> pose time 1633915092.53, meas time 1633915090.97 <<<< 2021-10-11T01:18:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915090.97 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:16Z- TerrainNav::motionUpdate() - currEstimate = (4061573, 594522.18, 12.54) 2021-10-11T01:18:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:16Z- TerrainNav:: SubcloudNIS is 0.46, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:16Z- TNavBF::Projecting Measurements 2021-10-11T01:18:16Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:18:16Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:18:16Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:18:16Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:18:16Z- TNavFilter::4 good beams. 2021-10-11T01:18:16Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:16Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:16Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:18:16Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:18:16Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:18:16Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:16Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:16Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:16Z- TerrainMapOctree: (vehN, vehE ) = (4061574.04, 594522.53). 2021-10-11T01:18:16Z- TerrainMapOctree: Min Distance = 287.58. 2021-10-11T01:18:16Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:18:16Z- Forcing Subcloud Comparison 2021-10-11T01:18:16Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:18:16Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:16Z- Filter 0 partialDeltaRmsComputation: 0.602683 terrainVariance: 0.205616 1-SumSquareWeights: 0.982337 2021-10-11T01:18:16Z- Filter 0 meanExpectedMeasDiff: 0.630132 delta_rms_squared: 0.195793 alpha: 0.907319 2021-10-11T01:18:16Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:16Z- Filter 0 partialDeltaRmsComputation: 3.512886 terrainVariance: 1.268635 1-SumSquareWeights: 0.982337 2021-10-11T01:18:16Z- Filter 0 meanExpectedMeasDiff: -1.498083 delta_rms_squared: 1.258811 alpha: 0.984360 2021-10-11T01:18:16Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:16Z- Filter 0 partialDeltaRmsComputation: 59.786407 terrainVariance: 1.090581 1-SumSquareWeights: 0.982337 2021-10-11T01:18:16Z- Filter 0 meanExpectedMeasDiff: -7.661320 delta_rms_squared: 1.080758 alpha: 0.981831 2021-10-11T01:18:16Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:16Z- Filter 0 partialDeltaRmsComputation: 171.805620 terrainVariance: 0.035716 1-SumSquareWeights: 0.982337 2021-10-11T01:18:16Z- Filter 0 meanExpectedMeasDiff: 13.106102 delta_rms_squared: 0.025892 alpha: 0.564199 2021-10-11T01:18:16Z- Filter 0 SubcloudNIS: 0.453634 2021-10-11T01:18:16Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:18:16Z- TNavBF:: Filter 0 sumWeights = 0.002663 2021-10-11T01:18:16Z- Filter 0 NorthBias: -11.8 EastBias: -47.9 DepthBias: -10.8 NorthVariance: 124.0 EastVariance: 2.2 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-11T01:18:16Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915090.97 sec. 2021-10-11T01:18:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:16Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:16Z- variances([0], [2], and psi_berg) = 124.039880 27.212886 0.000000 2021-10-11T01:18:16Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:16Z- LcmTrn::publishEstimates() - MLE : 4061554.18 594474.68 12.54 2021-10-11T01:18:16Z- LcmTrn::publishEstimates() - MMSE : 4061560.92 594474.52 1.75 2021-10-11T01:18:16Z- LcmTrn::publishEstimates() - COVAR: 124.04 27.21 0.98 0.00 2021-10-11T01:18:16Z- AHRS_M2 msg: 1633915092.91 epoch sec; seqNo:545 2021-10-11T01:18:16Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:16Z- handleDepth()-Depth_Keller msg: 1633915092921 epoch sec; seqNo:566; depth 12.60 2021-10-11T01:18:16Z- handleDvl() - RDI_Pathfinder msg: 1633915092.94 epoch sec; seqNo:127 2021-10-11T01:18:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.47 , 85.04 , 68.52 , 89.39 2021-10-11T01:18:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.22 , 0.13 2021-10-11T01:18:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915092.97 epoch sec; seqNo:566; 4061572.31 north; 594522.19 east 2021-10-11T01:18:16Z- AHRS_M2 msg: 1633915093.32 epoch sec; seqNo:546 2021-10-11T01:18:16Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 3.39 psi 2021-10-11T01:18:16Z- handleDepth()-Depth_Keller msg: 1633915093327 epoch sec; seqNo:567; depth 12.67 2021-10-11T01:18:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915093.35 epoch sec; seqNo:567; 4061571.93 north; 594522.19 east 2021-10-11T01:18:17Z- AHRS_M2 msg: 1633915093.72 epoch sec; seqNo:547 2021-10-11T01:18:17Z- AHRS_M2 msg: -0.23 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:17Z- handleDepth()-Depth_Keller msg: 1633915093730 epoch sec; seqNo:568; depth 12.73 2021-10-11T01:18:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915093.74 epoch sec; seqNo:568; 4061571.55 north; 594522.20 east 2021-10-11T01:18:17Z- AHRS_M2 msg: 1633915094.12 epoch sec; seqNo:548 2021-10-11T01:18:17Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:17Z- handleDepth()-Depth_Keller msg: 1633915094134 epoch sec; seqNo:569; depth 12.78 2021-10-11T01:18:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915094.15 epoch sec; seqNo:569; 4061571.17 north; 594522.20 east 2021-10-11T01:18:17Z- AHRS_M2 msg: 1633915094.53 epoch sec; seqNo:549 2021-10-11T01:18:17Z- AHRS_M2 msg: -0.22 phi; -0.16 theta; 3.41 psi 2021-10-11T01:18:17Z- handleDepth()-Depth_Keller msg: 1633915094530 epoch sec; seqNo:570; depth 12.85 2021-10-11T01:18:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915094.54 epoch sec; seqNo:570; 4061570.79 north; 594522.20 east 2021-10-11T01:18:18Z- AHRS_M2 msg: 1633915094.93 epoch sec; seqNo:550 2021-10-11T01:18:18Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.41 psi 2021-10-11T01:18:18Z- handleDepth()-Depth_Keller msg: 1633915094934 epoch sec; seqNo:571; depth 12.90 2021-10-11T01:18:18Z- handleDvl() - RDI_Pathfinder msg: 1633915094.96 epoch sec; seqNo:128 2021-10-11T01:18:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.65 , 83.95 , 68.52 , 88.30 2021-10-11T01:18:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.12 , -0.21 2021-10-11T01:18:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915094.99 epoch sec; seqNo:571; 4061570.41 north; 594522.21 east 2021-10-11T01:18:18Z- AHRS_M2 msg: 1633915095.33 epoch sec; seqNo:551 2021-10-11T01:18:18Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.41 psi 2021-10-11T01:18:18Z- handleDepth()-Depth_Keller msg: 1633915095344 epoch sec; seqNo:572; depth 12.97 2021-10-11T01:18:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915095.36 epoch sec; seqNo:572; 4061570.03 north; 594522.21 east 2021-10-11T01:18:19Z- AHRS_M2 msg: 1633915095.74 epoch sec; seqNo:552 2021-10-11T01:18:19Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:19Z- handleDepth()-Depth_Keller msg: 1633915095748 epoch sec; seqNo:573; depth 13.03 2021-10-11T01:18:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915095.77 epoch sec; seqNo:573; 4061569.65 north; 594522.22 east 2021-10-11T01:18:19Z- AHRS_M2 msg: 1633915096.14 epoch sec; seqNo:553 2021-10-11T01:18:19Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 3.40 psi 2021-10-11T01:18:19Z- handleDepth()-Depth_Keller msg: 1633915096152 epoch sec; seqNo:574; depth 13.07 2021-10-11T01:18:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915096.17 epoch sec; seqNo:574; 4061569.28 north; 594522.22 east 2021-10-11T01:18:19Z- AHRS_M2 msg: 1633915096.55 epoch sec; seqNo:554 2021-10-11T01:18:19Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:19Z- handleDepth()-Depth_Keller msg: 1633915096552 epoch sec; seqNo:575; depth 13.14 2021-10-11T01:18:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915096.56 epoch sec; seqNo:575; 4061568.90 north; 594522.22 east 2021-10-11T01:18:20Z- AHRS_M2 msg: 1633915096.95 epoch sec; seqNo:555 2021-10-11T01:18:20Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:20Z- handleDepth()-Depth_Keller msg: 1633915096961 epoch sec; seqNo:576; depth 13.18 2021-10-11T01:18:20Z- handleDvl() - RDI_Pathfinder msg: 1633915096.98 epoch sec; seqNo:129 2021-10-11T01:18:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.41 , 81.77 , 68.52 , 87.21 2021-10-11T01:18:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.19 , -0.08 2021-10-11T01:18:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915097.00 epoch sec; seqNo:576; 4061568.50 north; 594521.01 east 2021-10-11T01:18:20Z- AHRS_M2 msg: 1633915097.35 epoch sec; seqNo:556 2021-10-11T01:18:20Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:20Z- handleDepth()-Depth_Keller msg: 1633915097359 epoch sec; seqNo:577; depth 13.26 2021-10-11T01:18:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915097.38 epoch sec; seqNo:577; 4061568.13 north; 594521.01 east 2021-10-11T01:18:21Z- AHRS_M2 msg: 1633915097.76 epoch sec; seqNo:557 2021-10-11T01:18:21Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 3.37 psi 2021-10-11T01:18:21Z- handleDepth()-Depth_Keller msg: 1633915097767 epoch sec; seqNo:578; depth 13.29 2021-10-11T01:18:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915097.78 epoch sec; seqNo:578; 4061568.13 north; 594521.01 east 2021-10-11T01:18:21Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls... 2021-10-11T01:18:21Z- waiting for 1633915095.53, time is 1633915097.78 2021-10-11T01:18:21Z- LcmTrn::updateTrn() >>>> pose time 1633915097.78, meas time 1633915096.98 <<<< 2021-10-11T01:18:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915096.98 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:21Z- TerrainNav::motionUpdate() - currEstimate = (4061568, 594521.01, 13.29) 2021-10-11T01:18:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:21Z- TerrainNav:: SubcloudNIS is 0.45, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:21Z- TNavBF::Projecting Measurements 2021-10-11T01:18:21Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:18:21Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:18:21Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:18:21Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:18:21Z- TNavFilter::4 good beams. 2021-10-11T01:18:21Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:21Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:21Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:18:21Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:18:21Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:18:21Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:21Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:21Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:21Z- TerrainMapOctree: (vehN, vehE ) = (4061568.82, 594521.19). 2021-10-11T01:18:21Z- TerrainMapOctree: Min Distance = 291.86. 2021-10-11T01:18:21Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:18:21Z- Forcing Subcloud Comparison 2021-10-11T01:18:21Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:18:21Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:21Z- Filter 0 partialDeltaRmsComputation: 0.178697 terrainVariance: 0.178672 1-SumSquareWeights: 0.986239 2021-10-11T01:18:21Z- Filter 0 meanExpectedMeasDiff: 0.005051 delta_rms_squared: 0.168809 alpha: 0.894073 2021-10-11T01:18:21Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:21Z- Filter 0 partialDeltaRmsComputation: 24.010820 terrainVariance: 1.833681 1-SumSquareWeights: 0.986239 2021-10-11T01:18:21Z- Filter 0 meanExpectedMeasDiff: -4.709261 delta_rms_squared: 1.823819 alpha: 0.989153 2021-10-11T01:18:21Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:21Z- Filter 0 partialDeltaRmsComputation: 55.452240 terrainVariance: 2.311906 1-SumSquareWeights: 0.986239 2021-10-11T01:18:21Z- Filter 0 meanExpectedMeasDiff: -7.289742 delta_rms_squared: 2.302044 alpha: 0.991387 2021-10-11T01:18:21Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:21Z- Filter 0 partialDeltaRmsComputation: 139.257056 terrainVariance: 0.043432 1-SumSquareWeights: 0.986239 2021-10-11T01:18:21Z- Filter 0 meanExpectedMeasDiff: 11.798882 delta_rms_squared: 0.033570 alpha: 0.626656 2021-10-11T01:18:21Z- Filter 0 SubcloudNIS: 0.489958 2021-10-11T01:18:21Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:18:21Z- TNavBF:: Filter 0 sumWeights = 0.001941 2021-10-11T01:18:21Z- Filter 0 NorthBias: -8.9 EastBias: -47.7 DepthBias: -11.1 NorthVariance: 92.0 EastVariance: 2.1 DepthVariance: 0.8 this->DepthBiasCov: 0.8 2021-10-11T01:18:21Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915096.98 sec. 2021-10-11T01:18:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:21Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:21Z- variances([0], [2], and psi_berg) = 92.021477 15.775559 0.000000 2021-10-11T01:18:21Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:21Z- LcmTrn::publishEstimates() - MLE : 4061549.63 594473.51 13.29 2021-10-11T01:18:21Z- LcmTrn::publishEstimates() - MMSE : 4061559.23 594473.46 2.20 2021-10-11T01:18:21Z- LcmTrn::publishEstimates() - COVAR: 92.02 15.78 0.86 0.00 2021-10-11T01:18:21Z- AHRS_M2 msg: 1633915098.16 epoch sec; seqNo:558 2021-10-11T01:18:21Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 3.37 psi 2021-10-11T01:18:21Z- handleDepth()-Depth_Keller msg: 1633915098183 epoch sec; seqNo:579; depth 13.33 2021-10-11T01:18:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915098.19 epoch sec; seqNo:579; 4061567.75 north; 594521.02 east 2021-10-11T01:18:21Z- AHRS_M2 msg: 1633915098.57 epoch sec; seqNo:559 2021-10-11T01:18:21Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 3.36 psi 2021-10-11T01:18:21Z- handleDepth()-Depth_Keller msg: 1633915098576 epoch sec; seqNo:580; depth 13.38 2021-10-11T01:18:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915098.60 epoch sec; seqNo:580; 4061567.37 north; 594521.02 east 2021-10-11T01:18:22Z- AHRS_M2 msg: 1633915098.97 epoch sec; seqNo:560 2021-10-11T01:18:22Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 3.36 psi 2021-10-11T01:18:22Z- handleDepth()-Depth_Keller msg: 1633915098976 epoch sec; seqNo:581; depth 13.43 2021-10-11T01:18:22Z- handleDvl() - RDI_Pathfinder msg: 1633915099.00 epoch sec; seqNo:130 2021-10-11T01:18:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.23 , 85.03 , 67.70 , 88.30 2021-10-11T01:18:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.01 , 0.24 2021-10-11T01:18:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915099.03 epoch sec; seqNo:581; 4061566.99 north; 594521.03 east 2021-10-11T01:18:22Z- AHRS_M2 msg: 1633915099.38 epoch sec; seqNo:561 2021-10-11T01:18:22Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 3.36 psi 2021-10-11T01:18:22Z- handleDepth()-Depth_Keller msg: 1633915099380 epoch sec; seqNo:582; depth 13.49 2021-10-11T01:18:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915099.40 epoch sec; seqNo:582; 4061566.61 north; 594521.03 east 2021-10-11T01:18:23Z- AHRS_M2 msg: 1633915099.78 epoch sec; seqNo:562 2021-10-11T01:18:23Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 3.37 psi 2021-10-11T01:18:23Z- handleDepth()-Depth_Keller msg: 1633915099781 epoch sec; seqNo:583; depth 13.56 2021-10-11T01:18:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915099.80 epoch sec; seqNo:583; 4061566.61 north; 594521.03 east 2021-10-11T01:18:23Z- AHRS_M2 msg: 1633915100.18 epoch sec; seqNo:563 2021-10-11T01:18:23Z- AHRS_M2 msg: -0.24 phi; -0.17 theta; 3.37 psi 2021-10-11T01:18:23Z- handleDepth()-Depth_Keller msg: 1633915100190 epoch sec; seqNo:584; depth 13.59 2021-10-11T01:18:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915100.20 epoch sec; seqNo:584; 4061566.23 north; 594521.03 east 2021-10-11T01:18:23Z- AHRS_M2 msg: 1633915100.59 epoch sec; seqNo:564 2021-10-11T01:18:23Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:23Z- handleDepth()-Depth_Keller msg: 1633915100592 epoch sec; seqNo:585; depth 13.65 2021-10-11T01:18:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915100.61 epoch sec; seqNo:585; 4061565.85 north; 594521.04 east 2021-10-11T01:18:24Z- AHRS_M2 msg: 1633915100.99 epoch sec; seqNo:565 2021-10-11T01:18:24Z- AHRS_M2 msg: -0.23 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:24Z- handleDepth()-Depth_Keller msg: 1633915101004 epoch sec; seqNo:586; depth 13.71 2021-10-11T01:18:24Z- handleDvl() - RDI_Pathfinder msg: 1633915101.03 epoch sec; seqNo:131 2021-10-11T01:18:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.82 , 85.03 , 67.70 , 88.30 2021-10-11T01:18:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.26 , -0.04 2021-10-11T01:18:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915101.05 epoch sec; seqNo:586; 4061565.47 north; 594521.04 east 2021-10-11T01:18:24Z- AHRS_M2 msg: 1633915101.39 epoch sec; seqNo:566 2021-10-11T01:18:24Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:24Z- handleDepth()-Depth_Keller msg: 1633915101400 epoch sec; seqNo:587; depth 13.75 2021-10-11T01:18:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915101.42 epoch sec; seqNo:587; 4061565.09 north; 594521.05 east 2021-10-11T01:18:25Z- AHRS_M2 msg: 1633915101.80 epoch sec; seqNo:567 2021-10-11T01:18:25Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.40 psi 2021-10-11T01:18:25Z- handleDepth()-Depth_Keller msg: 1633915101809 epoch sec; seqNo:588; depth 13.82 2021-10-11T01:18:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915101.82 epoch sec; seqNo:588; 4061564.72 north; 594521.05 east 2021-10-11T01:18:25Z- AHRS_M2 msg: 1633915102.20 epoch sec; seqNo:568 2021-10-11T01:18:25Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.40 psi 2021-10-11T01:18:25Z- handleDepth()-Depth_Keller msg: 1633915102212 epoch sec; seqNo:589; depth 13.87 2021-10-11T01:18:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915102.31 epoch sec; seqNo:589; 4061563.96 north; 594521.06 east 2021-10-11T01:18:25Z- AHRS_M2 msg: 1633915102.61 epoch sec; seqNo:569 2021-10-11T01:18:25Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:25Z- handleDepth()-Depth_Keller msg: 1633915102612 epoch sec; seqNo:590; depth 13.94 2021-10-11T01:18:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915102.62 epoch sec; seqNo:590; 4061563.58 north; 594521.06 east 2021-10-11T01:18:26Z- AHRS_M2 msg: 1633915103.02 epoch sec; seqNo:570 2021-10-11T01:18:26Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:26Z- handleDepth()-Depth_Keller msg: 1633915103023 epoch sec; seqNo:591; depth 13.99 2021-10-11T01:18:26Z- handleDvl() - RDI_Pathfinder msg: 1633915103.04 epoch sec; seqNo:132 2021-10-11T01:18:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.00 , 77.54 , 67.29 , 0.00 2021-10-11T01:18:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.05 , -0.30 2021-10-11T01:18:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915103.08 epoch sec; seqNo:591; 4061563.20 north; 594521.07 east 2021-10-11T01:18:26Z- LcmTrn::handleMessages() - handling 42 messages took 0.84 ms and 125 calls... 2021-10-11T01:18:26Z- waiting for 1633915100.78, time is 1633915103.08 2021-10-11T01:18:26Z- LcmTrn::updateTrn() equating pose 1633915103.08 and meas times 1633915103.08 2021-10-11T01:18:26Z- LcmTrn::updateTrn() >>>> pose time 1633915103.08, meas time 1633915103.08 <<<< 2021-10-11T01:18:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915103.08 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:26Z- TerrainNav::motionUpdate() - currEstimate = (4061563, 594521.07, 13.99) 2021-10-11T01:18:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:26Z- TerrainNav:: SubcloudNIS is 0.49, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:26Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915103.08 sec.; No relevant navigation data available 2021-10-11T01:18:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:26Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:26Z- variances([0], [2], and psi_berg) = 92.057969 51.083299 0.000000 2021-10-11T01:18:26Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:26Z- LcmTrn::publishEstimates() - MLE : 4061544.70 594473.57 13.99 2021-10-11T01:18:26Z- LcmTrn::publishEstimates() - MMSE : 4061554.30 594473.89 2.90 2021-10-11T01:18:26Z- LcmTrn::publishEstimates() - COVAR: 92.06 51.08 1.11 0.00 2021-10-11T01:18:26Z- AHRS_M2 msg: 1633915103.41 epoch sec; seqNo:571 2021-10-11T01:18:26Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.39 psi 2021-10-11T01:18:26Z- handleDepth()-Depth_Keller msg: 1633915103493 epoch sec; seqNo:592; depth 14.05 2021-10-11T01:18:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915103.51 epoch sec; seqNo:592; 4061562.81 north; 594519.85 east 2021-10-11T01:18:27Z- AHRS_M2 msg: 1633915103.82 epoch sec; seqNo:572 2021-10-11T01:18:27Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:27Z- handleDepth()-Depth_Keller msg: 1633915103922 epoch sec; seqNo:593; depth 14.12 2021-10-11T01:18:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915103.95 epoch sec; seqNo:593; 4061562.43 north; 594519.86 east 2021-10-11T01:18:27Z- AHRS_M2 msg: 1633915104.22 epoch sec; seqNo:573 2021-10-11T01:18:27Z- AHRS_M2 msg: -0.22 phi; -0.17 theta; 3.38 psi 2021-10-11T01:18:27Z- handleDepth()-Depth_Keller msg: 1633915104256 epoch sec; seqNo:594; depth 14.18 2021-10-11T01:18:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915104.28 epoch sec; seqNo:594; 4061562.05 north; 594519.86 east 2021-10-11T01:18:27Z- AHRS_M2 msg: 1633915104.63 epoch sec; seqNo:574 2021-10-11T01:18:27Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 3.37 psi 2021-10-11T01:18:28Z- handleDepth()-Depth_Keller msg: 1633915104656 epoch sec; seqNo:595; depth 14.22 2021-10-11T01:18:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915104.68 epoch sec; seqNo:595; 4061561.67 north; 594519.86 east 2021-10-11T01:18:28Z- AHRS_M2 msg: 1633915105.04 epoch sec; seqNo:575 2021-10-11T01:18:28Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 3.36 psi 2021-10-11T01:18:28Z- handleDepth()-Depth_Keller msg: 1633915105068 epoch sec; seqNo:596; depth 14.29 2021-10-11T01:18:28Z- handleDvl() - RDI_Pathfinder msg: 1633915105.10 epoch sec; seqNo:133 2021-10-11T01:18:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.01 , 0.00 , 66.61 , 81.56 2021-10-11T01:18:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.27 , 0.01 2021-10-11T01:18:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915105.12 epoch sec; seqNo:596; 4061561.29 north; 594519.87 east 2021-10-11T01:18:28Z- AHRS_M2 msg: 1633915105.43 epoch sec; seqNo:576 2021-10-11T01:18:28Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 3.35 psi 2021-10-11T01:18:28Z- handleDepth()-Depth_Keller msg: 1633915105441 epoch sec; seqNo:597; depth 14.35 2021-10-11T01:18:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915105.47 epoch sec; seqNo:597; 4061560.91 north; 594519.87 east 2021-10-11T01:18:29Z- AHRS_M2 msg: 1633915105.84 epoch sec; seqNo:577 2021-10-11T01:18:29Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 3.34 psi 2021-10-11T01:18:29Z- handleDepth()-Depth_Keller msg: 1633915105843 epoch sec; seqNo:598; depth 14.41 2021-10-11T01:18:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915105.86 epoch sec; seqNo:598; 4061560.53 north; 594519.88 east 2021-10-11T01:18:29Z- AHRS_M2 msg: 1633915106.24 epoch sec; seqNo:578 2021-10-11T01:18:29Z- AHRS_M2 msg: -0.23 phi; -0.18 theta; 3.34 psi 2021-10-11T01:18:29Z- handleDepth()-Depth_Keller msg: 1633915106258 epoch sec; seqNo:599; depth 14.45 2021-10-11T01:18:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915106.28 epoch sec; seqNo:599; 4061560.16 north; 594519.88 east 2021-10-11T01:18:30Z- AHRS_M2 msg: 1633915106.65 epoch sec; seqNo:579 2021-10-11T01:18:30Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 3.33 psi 2021-10-11T01:18:30Z- handleDepth()-Depth_Keller msg: 1633915106651 epoch sec; seqNo:600; depth 14.52 2021-10-11T01:18:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915106.66 epoch sec; seqNo:600; 4061559.76 north; 594518.66 east 2021-10-11T01:18:30Z- AHRS_M2 msg: 1633915107.05 epoch sec; seqNo:580 2021-10-11T01:18:30Z- AHRS_M2 msg: -0.24 phi; -0.18 theta; 3.33 psi 2021-10-11T01:18:30Z- handleDepth()-Depth_Keller msg: 1633915107062 epoch sec; seqNo:601; depth 14.58 2021-10-11T01:18:30Z- handleDvl() - RDI_Pathfinder msg: 1633915107.11 epoch sec; seqNo:134 2021-10-11T01:18:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.59 , 81.77 , 66.87 , 87.21 2021-10-11T01:18:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.04 , 0.28 2021-10-11T01:18:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915107.12 epoch sec; seqNo:601; 4061559.38 north; 594518.67 east 2021-10-11T01:18:30Z- AHRS_M2 msg: 1633915107.46 epoch sec; seqNo:581 2021-10-11T01:18:30Z- AHRS_M2 msg: -0.24 phi; -0.19 theta; 3.33 psi 2021-10-11T01:18:30Z- handleDepth()-Depth_Keller msg: 1633915107462 epoch sec; seqNo:602; depth 14.65 2021-10-11T01:18:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915107.53 epoch sec; seqNo:602; 4061559.01 north; 594518.67 east 2021-10-11T01:18:31Z- handleDepth()-Depth_Keller msg: 1633915107880 epoch sec; seqNo:603; depth 14.72 2021-10-11T01:18:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915107.89 epoch sec; seqNo:603; 4061558.63 north; 594518.68 east 2021-10-11T01:18:31Z- LcmTrn::handleMessages() - handling 37 messages took 0.85 ms and 119 calls... 2021-10-11T01:18:31Z- waiting for 1633915106.08, time is 1633915107.89 2021-10-11T01:18:31Z- LcmTrn::updateTrn() >>>> pose time 1633915107.89, meas time 1633915107.11 <<<< 2021-10-11T01:18:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915107.11 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:31Z- TerrainNav::motionUpdate() - currEstimate = (4061559, 594518.68, 14.72) 2021-10-11T01:18:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:31Z- TerrainNav:: SubcloudNIS is 0.49, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:31Z- TNavBF::Projecting Measurements 2021-10-11T01:18:31Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:18:31Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:18:31Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:18:31Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:18:31Z- TNavFilter::4 good beams. 2021-10-11T01:18:31Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:31Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:31Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:18:31Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:18:31Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:18:31Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:31Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:31Z- TerrainMapOctree: (vehN, vehE ) = (4061559.38, 594519.07). 2021-10-11T01:18:31Z- TerrainMapOctree: Min Distance = 299.44. 2021-10-11T01:18:31Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:18:31Z- Forcing Subcloud Comparison 2021-10-11T01:18:31Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:18:31Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:31Z- Filter 0 partialDeltaRmsComputation: 0.931918 terrainVariance: 0.262523 1-SumSquareWeights: 0.987825 2021-10-11T01:18:31Z- Filter 0 meanExpectedMeasDiff: 0.818166 delta_rms_squared: 0.252645 alpha: 0.926644 2021-10-11T01:18:31Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:31Z- Filter 0 partialDeltaRmsComputation: 7.267251 terrainVariance: 1.415045 1-SumSquareWeights: 0.987825 2021-10-11T01:18:31Z- Filter 0 meanExpectedMeasDiff: -2.419133 delta_rms_squared: 1.405167 alpha: 0.985967 2021-10-11T01:18:31Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:31Z- Filter 0 partialDeltaRmsComputation: 82.697569 terrainVariance: 5.946644 1-SumSquareWeights: 0.987825 2021-10-11T01:18:31Z- Filter 0 meanExpectedMeasDiff: -8.760760 delta_rms_squared: 5.936766 alpha: 0.996642 2021-10-11T01:18:31Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:31Z- Filter 0 partialDeltaRmsComputation: 173.586659 terrainVariance: 0.146479 1-SumSquareWeights: 0.987825 2021-10-11T01:18:31Z- Filter 0 meanExpectedMeasDiff: 13.169669 delta_rms_squared: 0.136601 alpha: 0.872287 2021-10-11T01:18:31Z- Filter 0 SubcloudNIS: 0.519426 2021-10-11T01:18:31Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:18:31Z- TNavBF:: Filter 0 sumWeights = 0.000309 2021-10-11T01:18:31Z- Filter 0 NorthBias: -1.8 EastBias: -47.6 DepthBias: -11.0 NorthVariance: 62.2 EastVariance: 2.2 DepthVariance: 0.9 this->DepthBiasCov: 0.9 2021-10-11T01:18:31Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915107.11 sec. 2021-10-11T01:18:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:31Z- variances([0], [2], and psi_berg) = 62.209094 17.920278 0.000000 2021-10-11T01:18:31Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:31Z- LcmTrn::publishEstimates() - MLE : 4061556.13 594469.18 14.72 2021-10-11T01:18:31Z- LcmTrn::publishEstimates() - MMSE : 4061556.79 594471.23 3.72 2021-10-11T01:18:31Z- LcmTrn::publishEstimates() - COVAR: 62.21 17.92 0.93 0.00 2021-10-11T01:18:31Z- AHRS_M2 msg: 1633915108.27 epoch sec; seqNo:582 2021-10-11T01:18:31Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.35 psi 2021-10-11T01:18:31Z- handleDepth()-Depth_Keller msg: 1633915108275 epoch sec; seqNo:604; depth 14.77 2021-10-11T01:18:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915108.29 epoch sec; seqNo:604; 4061558.63 north; 594518.68 east 2021-10-11T01:18:32Z- AHRS_M2 msg: 1633915108.67 epoch sec; seqNo:583 2021-10-11T01:18:32Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.36 psi 2021-10-11T01:18:32Z- handleDepth()-Depth_Keller msg: 1633915108674 epoch sec; seqNo:605; depth 14.85 2021-10-11T01:18:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915108.68 epoch sec; seqNo:605; 4061558.25 north; 594518.68 east 2021-10-11T01:18:32Z- AHRS_M2 msg: 1633915109.07 epoch sec; seqNo:584 2021-10-11T01:18:32Z- AHRS_M2 msg: -0.23 phi; -0.19 theta; 3.36 psi 2021-10-11T01:18:32Z- handleDepth()-Depth_Keller msg: 1633915109082 epoch sec; seqNo:606; depth 14.92 2021-10-11T01:18:32Z- handleDvl() - RDI_Pathfinder msg: 1633915109.13 epoch sec; seqNo:135 2021-10-11T01:18:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.59 , 82.85 , 66.05 , 87.21 2021-10-11T01:18:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.21 , 0.08 2021-10-11T01:18:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915109.14 epoch sec; seqNo:606; 4061557.49 north; 594518.69 east 2021-10-11T01:18:32Z- AHRS_M2 msg: 1633915109.48 epoch sec; seqNo:585 2021-10-11T01:18:32Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 3.37 psi 2021-10-11T01:18:32Z- handleDepth()-Depth_Keller msg: 1633915109481 epoch sec; seqNo:607; depth 14.99 2021-10-11T01:18:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915109.51 epoch sec; seqNo:607; 4061557.49 north; 594518.69 east 2021-10-11T01:18:33Z- AHRS_M2 msg: 1633915109.88 epoch sec; seqNo:586 2021-10-11T01:18:33Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 3.38 psi 2021-10-11T01:18:33Z- handleDepth()-Depth_Keller msg: 1633915109884 epoch sec; seqNo:608; depth 15.06 2021-10-11T01:18:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915109.91 epoch sec; seqNo:608; 4061556.73 north; 594518.70 east 2021-10-11T01:18:33Z- AHRS_M2 msg: 1633915110.29 epoch sec; seqNo:587 2021-10-11T01:18:33Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 3.39 psi 2021-10-11T01:18:33Z- handleDepth()-Depth_Keller msg: 1633915110294 epoch sec; seqNo:609; depth 15.12 2021-10-11T01:18:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915110.31 epoch sec; seqNo:609; 4061556.35 north; 594518.70 east 2021-10-11T01:18:34Z- AHRS_M2 msg: 1633915110.69 epoch sec; seqNo:588 2021-10-11T01:18:34Z- AHRS_M2 msg: -0.17 phi; -0.19 theta; 3.40 psi 2021-10-11T01:18:34Z- handleDepth()-Depth_Keller msg: 1633915110696 epoch sec; seqNo:610; depth 15.19 2021-10-11T01:18:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915110.71 epoch sec; seqNo:610; 4061555.98 north; 594518.71 east 2021-10-11T01:18:34Z- AHRS_M2 msg: 1633915111.09 epoch sec; seqNo:589 2021-10-11T01:18:34Z- AHRS_M2 msg: -0.15 phi; -0.18 theta; 3.41 psi 2021-10-11T01:18:34Z- handleDepth()-Depth_Keller msg: 1633915111100 epoch sec; seqNo:611; depth 15.27 2021-10-11T01:18:34Z- handleDvl() - RDI_Pathfinder msg: 1633915111.14 epoch sec; seqNo:136 2021-10-11T01:18:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.18 , 80.68 , 65.64 , 86.12 2021-10-11T01:18:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.17 2021-10-11T01:18:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915111.16 epoch sec; seqNo:611; 4061555.60 north; 594518.71 east 2021-10-11T01:18:34Z- AHRS_M2 msg: 1633915111.49 epoch sec; seqNo:590 2021-10-11T01:18:34Z- AHRS_M2 msg: -0.13 phi; -0.18 theta; 3.42 psi 2021-10-11T01:18:34Z- handleDepth()-Depth_Keller msg: 1633915111500 epoch sec; seqNo:612; depth 15.36 2021-10-11T01:18:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915111.52 epoch sec; seqNo:612; 4061555.22 north; 594518.71 east 2021-10-11T01:18:35Z- AHRS_M2 msg: 1633915111.90 epoch sec; seqNo:591 2021-10-11T01:18:35Z- AHRS_M2 msg: -0.10 phi; -0.18 theta; 3.43 psi 2021-10-11T01:18:35Z- handleDepth()-Depth_Keller msg: 1633915111902 epoch sec; seqNo:613; depth 15.42 2021-10-11T01:18:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915111.93 epoch sec; seqNo:613; 4061554.84 north; 594518.72 east 2021-10-11T01:18:35Z- AHRS_M2 msg: 1633915112.30 epoch sec; seqNo:592 2021-10-11T01:18:35Z- AHRS_M2 msg: -0.06 phi; -0.18 theta; 3.44 psi 2021-10-11T01:18:35Z- handleDepth()-Depth_Keller msg: 1633915112308 epoch sec; seqNo:614; depth 15.49 2021-10-11T01:18:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915112.33 epoch sec; seqNo:614; 4061554.46 north; 594518.72 east 2021-10-11T01:18:36Z- AHRS_M2 msg: 1633915112.72 epoch sec; seqNo:593 2021-10-11T01:18:36Z- AHRS_M2 msg: -0.03 phi; -0.18 theta; 3.46 psi 2021-10-11T01:18:36Z- handleDepth()-Depth_Keller msg: 1633915112725 epoch sec; seqNo:615; depth 15.57 2021-10-11T01:18:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915112.74 epoch sec; seqNo:615; 4061554.08 north; 594518.73 east 2021-10-11T01:18:36Z- AHRS_M2 msg: 1633915113.11 epoch sec; seqNo:594 2021-10-11T01:18:36Z- AHRS_M2 msg: 0.01 phi; -0.18 theta; 3.48 psi 2021-10-11T01:18:36Z- handleDepth()-Depth_Keller msg: 1633915113114 epoch sec; seqNo:616; depth 15.65 2021-10-11T01:18:36Z- handleDvl() - RDI_Pathfinder msg: 1633915113.14 epoch sec; seqNo:137 2021-10-11T01:18:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.99 , 72.61 , 64.40 , 83.94 2021-10-11T01:18:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.13 , 0.08 2021-10-11T01:18:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915113.17 epoch sec; seqNo:616; 4061553.69 north; 594517.51 east 2021-10-11T01:18:36Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls... 2021-10-11T01:18:36Z- waiting for 1633915110.89, time is 1633915113.17 2021-10-11T01:18:36Z- LcmTrn::updateTrn() equating pose 1633915113.17 and meas times 1633915113.17 2021-10-11T01:18:36Z- LcmTrn::updateTrn() >>>> pose time 1633915113.17, meas time 1633915113.17 <<<< 2021-10-11T01:18:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915113.17 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:36Z- TerrainNav::motionUpdate() - currEstimate = (4061554, 594517.51, 15.65) 2021-10-11T01:18:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:36Z- TerrainNav:: SubcloudNIS is 0.52, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:36Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915113.17 sec.; No relevant navigation data available 2021-10-11T01:18:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:36Z- variances([0], [2], and psi_berg) = 62.246085 55.485665 0.000000 2021-10-11T01:18:36Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:36Z- LcmTrn::publishEstimates() - MLE : 4061551.19 594468.01 15.65 2021-10-11T01:18:36Z- LcmTrn::publishEstimates() - MMSE : 4061551.85 594470.46 4.64 2021-10-11T01:18:36Z- LcmTrn::publishEstimates() - COVAR: 62.25 55.49 1.19 0.00 2021-10-11T01:18:36Z- AHRS_M2 msg: 1633915113.51 epoch sec; seqNo:595 2021-10-11T01:18:36Z- AHRS_M2 msg: 0.04 phi; -0.18 theta; 3.51 psi 2021-10-11T01:18:36Z- handleDepth()-Depth_Keller msg: 1633915113518 epoch sec; seqNo:617; depth 15.71 2021-10-11T01:18:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915113.54 epoch sec; seqNo:617; 4061553.69 north; 594517.51 east 2021-10-11T01:18:37Z- AHRS_M2 msg: 1633915113.92 epoch sec; seqNo:596 2021-10-11T01:18:37Z- AHRS_M2 msg: 0.07 phi; -0.18 theta; 3.54 psi 2021-10-11T01:18:37Z- handleDepth()-Depth_Keller msg: 1633915113924 epoch sec; seqNo:618; depth 15.77 2021-10-11T01:18:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915113.93 epoch sec; seqNo:618; 4061553.31 north; 594517.51 east 2021-10-11T01:18:37Z- AHRS_M2 msg: 1633915114.34 epoch sec; seqNo:597 2021-10-11T01:18:37Z- AHRS_M2 msg: 0.10 phi; -0.18 theta; 3.57 psi 2021-10-11T01:18:37Z- handleDepth()-Depth_Keller msg: 1633915114349 epoch sec; seqNo:619; depth 15.84 2021-10-11T01:18:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915114.37 epoch sec; seqNo:619; 4061552.93 north; 594517.52 east 2021-10-11T01:18:38Z- AHRS_M2 msg: 1633915114.73 epoch sec; seqNo:598 2021-10-11T01:18:38Z- AHRS_M2 msg: 0.13 phi; -0.18 theta; 3.61 psi 2021-10-11T01:18:38Z- handleDepth()-Depth_Keller msg: 1633915114733 epoch sec; seqNo:620; depth 15.90 2021-10-11T01:18:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915114.74 epoch sec; seqNo:620; 4061552.93 north; 594517.52 east 2021-10-11T01:18:38Z- AHRS_M2 msg: 1633915115.13 epoch sec; seqNo:599 2021-10-11T01:18:38Z- AHRS_M2 msg: 0.15 phi; -0.18 theta; 3.65 psi 2021-10-11T01:18:38Z- handleDepth()-Depth_Keller msg: 1633915115142 epoch sec; seqNo:621; depth 15.97 2021-10-11T01:18:38Z- handleDvl() - RDI_Pathfinder msg: 1633915115.17 epoch sec; seqNo:138 2021-10-11T01:18:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.50 , 68.09 , 63.58 , 82.85 2021-10-11T01:18:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.11 , 0.14 2021-10-11T01:18:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915115.18 epoch sec; seqNo:621; 4061552.55 north; 594517.52 east 2021-10-11T01:18:38Z- AHRS_M2 msg: 1633915115.53 epoch sec; seqNo:600 2021-10-11T01:18:38Z- AHRS_M2 msg: 0.16 phi; -0.18 theta; 3.69 psi 2021-10-11T01:18:38Z- handleDepth()-Depth_Keller msg: 1633915115540 epoch sec; seqNo:622; depth 16.04 2021-10-11T01:18:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915115.57 epoch sec; seqNo:622; 4061552.17 north; 594517.53 east 2021-10-11T01:18:39Z- AHRS_M2 msg: 1633915115.94 epoch sec; seqNo:601 2021-10-11T01:18:39Z- AHRS_M2 msg: 0.17 phi; -0.18 theta; 3.73 psi 2021-10-11T01:18:39Z- handleDepth()-Depth_Keller msg: 1633915115944 epoch sec; seqNo:623; depth 16.10 2021-10-11T01:18:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915115.96 epoch sec; seqNo:623; 4061551.79 north; 594517.53 east 2021-10-11T01:18:39Z- AHRS_M2 msg: 1633915116.34 epoch sec; seqNo:602 2021-10-11T01:18:39Z- AHRS_M2 msg: 0.17 phi; -0.17 theta; 3.77 psi 2021-10-11T01:18:39Z- handleDepth()-Depth_Keller msg: 1633915116349 epoch sec; seqNo:624; depth 16.16 2021-10-11T01:18:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915116.36 epoch sec; seqNo:624; 4061551.78 north; 594516.31 east 2021-10-11T01:18:40Z- AHRS_M2 msg: 1633915116.74 epoch sec; seqNo:603 2021-10-11T01:18:40Z- AHRS_M2 msg: 0.17 phi; -0.17 theta; 3.81 psi 2021-10-11T01:18:40Z- handleDepth()-Depth_Keller msg: 1633915116875 epoch sec; seqNo:625; depth 16.22 2021-10-11T01:18:40Z- handleDvl() - RDI_Pathfinder msg: 1633915116.90 epoch sec; seqNo:139 2021-10-11T01:18:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.89 , 65.22 , 65.22 , 79.17 2021-10-11T01:18:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.20 , -0.07 2021-10-11T01:18:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915116.91 epoch sec; seqNo:625; 4061551.40 north; 594516.32 east 2021-10-11T01:18:40Z- AHRS_M2 msg: 1633915117.15 epoch sec; seqNo:604 2021-10-11T01:18:40Z- AHRS_M2 msg: 0.18 phi; -0.17 theta; 3.85 psi 2021-10-11T01:18:40Z- handleDepth()-Depth_Keller msg: 1633915117277 epoch sec; seqNo:626; depth 16.30 2021-10-11T01:18:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915117.29 epoch sec; seqNo:626; 4061551.02 north; 594516.32 east 2021-10-11T01:18:40Z- AHRS_M2 msg: 1633915117.55 epoch sec; seqNo:605 2021-10-11T01:18:40Z- AHRS_M2 msg: 0.18 phi; -0.17 theta; 3.88 psi 2021-10-11T01:18:40Z- handleDepth()-Depth_Keller msg: 1633915117588 epoch sec; seqNo:627; depth 16.35 2021-10-11T01:18:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915117.61 epoch sec; seqNo:627; 4061550.64 north; 594516.32 east 2021-10-11T01:18:41Z- AHRS_M2 msg: 1633915117.96 epoch sec; seqNo:606 2021-10-11T01:18:41Z- AHRS_M2 msg: 0.17 phi; -0.17 theta; 3.92 psi 2021-10-11T01:18:41Z- handleDepth()-Depth_Keller msg: 1633915117993 epoch sec; seqNo:628; depth 16.41 2021-10-11T01:18:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915118.01 epoch sec; seqNo:628; 4061550.64 north; 594516.32 east 2021-10-11T01:18:41Z- AHRS_M2 msg: 1633915118.37 epoch sec; seqNo:607 2021-10-11T01:18:41Z- AHRS_M2 msg: 0.17 phi; -0.16 theta; 3.95 psi 2021-10-11T01:18:41Z- handleDepth()-Depth_Keller msg: 1633915118395 epoch sec; seqNo:629; depth 16.46 2021-10-11T01:18:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915118.41 epoch sec; seqNo:629; 4061550.27 north; 594516.33 east 2021-10-11T01:18:41Z- LcmTrn::handleMessages() - handling 41 messages took 0.85 ms and 124 calls... 2021-10-11T01:18:41Z- waiting for 1633915116.17, time is 1633915118.41 2021-10-11T01:18:41Z- LcmTrn::updateTrn() >>>> pose time 1633915118.41, meas time 1633915116.90 <<<< 2021-10-11T01:18:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915116.90 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:41Z- TerrainNav::motionUpdate() - currEstimate = (4061550, 594516.33, 16.46) 2021-10-11T01:18:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:41Z- TerrainNav:: SubcloudNIS is 0.52, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:41Z- TNavBF::Projecting Measurements 2021-10-11T01:18:41Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:18:41Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:18:41Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:18:41Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:18:41Z- TNavFilter::4 good beams. 2021-10-11T01:18:41Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:41Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:41Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:18:41Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:18:41Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:18:41Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:41Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:41Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:41Z- TerrainMapOctree: (vehN, vehE ) = (4061551.25, 594516.67). 2021-10-11T01:18:41Z- TerrainMapOctree: Min Distance = 306.50. 2021-10-11T01:18:41Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:18:41Z- Forcing Subcloud Comparison 2021-10-11T01:18:41Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:18:41Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:41Z- Filter 0 partialDeltaRmsComputation: 19.621213 terrainVariance: 0.310560 1-SumSquareWeights: 0.979049 2021-10-11T01:18:41Z- Filter 0 meanExpectedMeasDiff: 4.394389 delta_rms_squared: 0.300769 alpha: 0.937650 2021-10-11T01:18:41Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:41Z- Filter 0 partialDeltaRmsComputation: 72.080033 terrainVariance: 0.025390 1-SumSquareWeights: 0.979049 2021-10-11T01:18:41Z- Filter 0 meanExpectedMeasDiff: -8.488501 delta_rms_squared: 0.015599 alpha: 0.438187 2021-10-11T01:18:42Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:42Z- Filter 0 partialDeltaRmsComputation: 12.074857 terrainVariance: 0.988642 1-SumSquareWeights: 0.979049 2021-10-11T01:18:42Z- Filter 0 meanExpectedMeasDiff: 3.329597 delta_rms_squared: 0.978852 alpha: 0.979977 2021-10-11T01:18:42Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:42Z- Filter 0 partialDeltaRmsComputation: 5.623606 terrainVariance: 1.718057 1-SumSquareWeights: 0.979049 2021-10-11T01:18:42Z- Filter 0 meanExpectedMeasDiff: 1.976246 delta_rms_squared: 1.708266 alpha: 0.988428 2021-10-11T01:18:42Z- Filter 0 SubcloudNIS: 0.519227 2021-10-11T01:18:42Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:18:42Z- TNavBF:: Filter 0 sumWeights = 0.041580 2021-10-11T01:18:42Z- Filter 0 NorthBias: -3.1 EastBias: -47.7 DepthBias: -11.1 NorthVariance: 16.4 EastVariance: 3.3 DepthVariance: 0.9 this->DepthBiasCov: 0.8 2021-10-11T01:18:42Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915116.90 sec. 2021-10-11T01:18:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:42Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:42Z- variances([0], [2], and psi_berg) = 16.463161 21.129198 0.000000 2021-10-11T01:18:42Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:42Z- LcmTrn::publishEstimates() - MLE : 4061547.77 594466.83 16.46 2021-10-11T01:18:42Z- LcmTrn::publishEstimates() - MMSE : 4061547.14 594468.84 5.40 2021-10-11T01:18:42Z- LcmTrn::publishEstimates() - COVAR: 16.46 21.13 0.91 0.00 2021-10-11T01:18:42Z- AHRS_M2 msg: 1633915118.77 epoch sec; seqNo:608 2021-10-11T01:18:42Z- AHRS_M2 msg: 0.16 phi; -0.16 theta; 3.99 psi 2021-10-11T01:18:42Z- handleDepth()-Depth_Keller msg: 1633915118802 epoch sec; seqNo:630; depth 16.52 2021-10-11T01:18:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915118.84 epoch sec; seqNo:630; 4061549.89 north; 594516.33 east 2021-10-11T01:18:42Z- AHRS_M2 msg: 1633915119.17 epoch sec; seqNo:609 2021-10-11T01:18:42Z- AHRS_M2 msg: 0.16 phi; -0.16 theta; 4.02 psi 2021-10-11T01:18:42Z- handleDepth()-Depth_Keller msg: 1633915119179 epoch sec; seqNo:631; depth 16.59 2021-10-11T01:18:42Z- handleDvl() - RDI_Pathfinder msg: 1633915119.21 epoch sec; seqNo:140 2021-10-11T01:18:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.54 , 63.94 , 65.31 , 76.94 2021-10-11T01:18:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , -0.17 2021-10-11T01:18:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915119.27 epoch sec; seqNo:631; 4061549.87 north; 594515.11 east 2021-10-11T01:18:42Z- AHRS_M2 msg: 1633915119.57 epoch sec; seqNo:610 2021-10-11T01:18:42Z- AHRS_M2 msg: 0.16 phi; -0.16 theta; 4.05 psi 2021-10-11T01:18:42Z- handleDepth()-Depth_Keller msg: 1633915119580 epoch sec; seqNo:632; depth 16.65 2021-10-11T01:18:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915119.61 epoch sec; seqNo:632; 4061549.49 north; 594515.12 east 2021-10-11T01:18:43Z- AHRS_M2 msg: 1633915119.98 epoch sec; seqNo:611 2021-10-11T01:18:43Z- AHRS_M2 msg: 0.16 phi; -0.16 theta; 4.08 psi 2021-10-11T01:18:43Z- handleDepth()-Depth_Keller msg: 1633915119982 epoch sec; seqNo:633; depth 16.69 2021-10-11T01:18:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915119.99 epoch sec; seqNo:633; 4061549.12 north; 594515.12 east 2021-10-11T01:18:43Z- AHRS_M2 msg: 1633915120.38 epoch sec; seqNo:612 2021-10-11T01:18:43Z- AHRS_M2 msg: 0.15 phi; -0.16 theta; 4.11 psi 2021-10-11T01:18:43Z- handleDepth()-Depth_Keller msg: 1633915120393 epoch sec; seqNo:634; depth 16.75 2021-10-11T01:18:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915120.40 epoch sec; seqNo:634; 4061549.12 north; 594515.12 east 2021-10-11T01:18:44Z- AHRS_M2 msg: 1633915120.83 epoch sec; seqNo:613 2021-10-11T01:18:44Z- AHRS_M2 msg: 0.16 phi; -0.16 theta; 4.14 psi 2021-10-11T01:18:44Z- handleDepth()-Depth_Keller msg: 1633915120841 epoch sec; seqNo:635; depth 16.81 2021-10-11T01:18:44Z- handleDvl() - RDI_Pathfinder msg: 1633915120.87 epoch sec; seqNo:141 2021-10-11T01:18:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.07 , 64.00 , 64.97 , 74.39 2021-10-11T01:18:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.05 , -0.11 2021-10-11T01:18:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915120.88 epoch sec; seqNo:635; 4061548.74 north; 594515.12 east 2021-10-11T01:18:44Z- AHRS_M2 msg: 1633915121.19 epoch sec; seqNo:614 2021-10-11T01:18:44Z- AHRS_M2 msg: 0.15 phi; -0.15 theta; 4.18 psi 2021-10-11T01:18:44Z- handleDepth()-Depth_Keller msg: 1633915121198 epoch sec; seqNo:636; depth 16.89 2021-10-11T01:18:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915121.21 epoch sec; seqNo:636; 4061548.72 north; 594513.90 east 2021-10-11T01:18:44Z- AHRS_M2 msg: 1633915121.59 epoch sec; seqNo:615 2021-10-11T01:18:44Z- AHRS_M2 msg: 0.16 phi; -0.15 theta; 4.21 psi 2021-10-11T01:18:44Z- handleDepth()-Depth_Keller msg: 1633915121603 epoch sec; seqNo:637; depth 16.92 2021-10-11T01:18:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915121.62 epoch sec; seqNo:637; 4061548.34 north; 594513.91 east 2021-10-11T01:18:45Z- AHRS_M2 msg: 1633915122.00 epoch sec; seqNo:616 2021-10-11T01:18:45Z- AHRS_M2 msg: 0.16 phi; -0.15 theta; 4.25 psi 2021-10-11T01:18:45Z- handleDepth()-Depth_Keller msg: 1633915122012 epoch sec; seqNo:638; depth 17.00 2021-10-11T01:18:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915122.02 epoch sec; seqNo:638; 4061548.34 north; 594513.91 east 2021-10-11T01:18:45Z- AHRS_M2 msg: 1633915122.40 epoch sec; seqNo:617 2021-10-11T01:18:45Z- AHRS_M2 msg: 0.16 phi; -0.15 theta; 4.28 psi 2021-10-11T01:18:45Z- handleDepth()-Depth_Keller msg: 1633915122408 epoch sec; seqNo:639; depth 17.07 2021-10-11T01:18:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915122.42 epoch sec; seqNo:639; 4061547.97 north; 594513.91 east 2021-10-11T01:18:46Z- AHRS_M2 msg: 1633915122.84 epoch sec; seqNo:618 2021-10-11T01:18:46Z- AHRS_M2 msg: 0.16 phi; -0.14 theta; 4.31 psi 2021-10-11T01:18:46Z- handleDepth()-Depth_Keller msg: 1633915122843 epoch sec; seqNo:640; depth 17.12 2021-10-11T01:18:46Z- handleDvl() - RDI_Pathfinder msg: 1633915122.88 epoch sec; seqNo:142 2021-10-11T01:18:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.34 , 63.02 , 64.65 , 73.74 2021-10-11T01:18:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.01 , -0.11 2021-10-11T01:18:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915122.90 epoch sec; seqNo:640; 4061547.95 north; 594512.69 east 2021-10-11T01:18:46Z- AHRS_M2 msg: 1633915123.21 epoch sec; seqNo:619 2021-10-11T01:18:46Z- AHRS_M2 msg: 0.16 phi; -0.14 theta; 4.34 psi 2021-10-11T01:18:46Z- handleDepth()-Depth_Keller msg: 1633915123218 epoch sec; seqNo:641; depth 17.17 2021-10-11T01:18:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915123.24 epoch sec; seqNo:641; 4061547.95 north; 594512.69 east 2021-10-11T01:18:46Z- AHRS_M2 msg: 1633915123.62 epoch sec; seqNo:620 2021-10-11T01:18:46Z- AHRS_M2 msg: 0.16 phi; -0.14 theta; 4.37 psi 2021-10-11T01:18:46Z- handleDepth()-Depth_Keller msg: 1633915123621 epoch sec; seqNo:642; depth 17.24 2021-10-11T01:18:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915123.63 epoch sec; seqNo:642; 4061547.95 north; 594512.69 east 2021-10-11T01:18:47Z- LcmTrn::handleMessages() - handling 42 messages took 0.73 ms and 127 calls... 2021-10-11T01:18:47Z- waiting for 1633915121.41, time is 1633915123.63 2021-10-11T01:18:47Z- LcmTrn::updateTrn() >>>> pose time 1633915123.63, meas time 1633915122.88 <<<< 2021-10-11T01:18:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915122.88 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:47Z- TerrainNav::motionUpdate() - currEstimate = (4061548, 594512.69, 17.24) 2021-10-11T01:18:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:47Z- TerrainNav:: SubcloudNIS is 0.52, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:47Z- TNavBF::Projecting Measurements 2021-10-11T01:18:47Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:18:47Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:18:47Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:18:47Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:18:47Z- TNavFilter::4 good beams. 2021-10-11T01:18:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:47Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:47Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:18:47Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:18:47Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:18:47Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:47Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:47Z- TerrainMapOctree: (vehN, vehE ) = (4061548.28, 594513.21). 2021-10-11T01:18:47Z- TerrainMapOctree: Min Distance = 311.06. 2021-10-11T01:18:47Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:18:47Z- Forcing Subcloud Comparison 2021-10-11T01:18:47Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:18:47Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:47Z- Filter 0 partialDeltaRmsComputation: 9.968709 terrainVariance: 0.297553 1-SumSquareWeights: 0.977319 2021-10-11T01:18:47Z- Filter 0 meanExpectedMeasDiff: 3.109848 delta_rms_squared: 0.287780 alpha: 0.935019 2021-10-11T01:18:47Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:47Z- Filter 0 partialDeltaRmsComputation: 34.762934 terrainVariance: 0.255217 1-SumSquareWeights: 0.977319 2021-10-11T01:18:47Z- Filter 0 meanExpectedMeasDiff: -5.874327 delta_rms_squared: 0.245444 alpha: 0.924654 2021-10-11T01:18:47Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:47Z- Filter 0 partialDeltaRmsComputation: 19.969478 terrainVariance: 0.214782 1-SumSquareWeights: 0.977319 2021-10-11T01:18:47Z- Filter 0 meanExpectedMeasDiff: 4.444626 delta_rms_squared: 0.205008 alpha: 0.911114 2021-10-11T01:18:47Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:47Z- Filter 0 partialDeltaRmsComputation: 42.705509 terrainVariance: 0.689588 1-SumSquareWeights: 0.977319 2021-10-11T01:18:47Z- Filter 0 meanExpectedMeasDiff: -6.481969 delta_rms_squared: 0.679815 alpha: 0.971421 2021-10-11T01:18:47Z- Filter 0 SubcloudNIS: 0.575274 2021-10-11T01:18:47Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:18:47Z- TNavBF:: Filter 0 sumWeights = 0.006958 2021-10-11T01:18:47Z- Filter 0 NorthBias: -3.2 EastBias: -47.1 DepthBias: -11.6 NorthVariance: 10.5 EastVariance: 24.1 DepthVariance: 0.8 this->DepthBiasCov: 0.7 2021-10-11T01:18:47Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915122.88 sec. 2021-10-11T01:18:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:47Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:47Z- variances([0], [2], and psi_berg) = 10.497067 31.982898 0.000000 2021-10-11T01:18:47Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:47Z- LcmTrn::publishEstimates() - MLE : 4061545.45 594465.19 17.24 2021-10-11T01:18:47Z- LcmTrn::publishEstimates() - MMSE : 4061544.78 594465.69 5.62 2021-10-11T01:18:47Z- LcmTrn::publishEstimates() - COVAR: 10.50 31.98 0.80 0.00 2021-10-11T01:18:47Z- AHRS_M2 msg: 1633915124.02 epoch sec; seqNo:621 2021-10-11T01:18:47Z- AHRS_M2 msg: 0.16 phi; -0.13 theta; 4.40 psi 2021-10-11T01:18:47Z- handleDepth()-Depth_Keller msg: 1633915124040 epoch sec; seqNo:643; depth 17.28 2021-10-11T01:18:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915124.05 epoch sec; seqNo:643; 4061547.56 north; 594511.48 east 2021-10-11T01:18:47Z- AHRS_M2 msg: 1633915124.42 epoch sec; seqNo:622 2021-10-11T01:18:47Z- AHRS_M2 msg: 0.16 phi; -0.13 theta; 4.43 psi 2021-10-11T01:18:47Z- handleDepth()-Depth_Keller msg: 1633915124432 epoch sec; seqNo:644; depth 17.37 2021-10-11T01:18:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915124.45 epoch sec; seqNo:644; 4061547.56 north; 594511.48 east 2021-10-11T01:18:48Z- AHRS_M2 msg: 1633915124.84 epoch sec; seqNo:623 2021-10-11T01:18:48Z- AHRS_M2 msg: 0.15 phi; -0.13 theta; 4.45 psi 2021-10-11T01:18:48Z- handleDepth()-Depth_Keller msg: 1633915124849 epoch sec; seqNo:645; depth 17.43 2021-10-11T01:18:48Z- handleDvl() - RDI_Pathfinder msg: 1633915124.88 epoch sec; seqNo:143 2021-10-11T01:18:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.33 , 62.37 , 64.64 , 70.16 2021-10-11T01:18:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.01 , 0.03 2021-10-11T01:18:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915124.90 epoch sec; seqNo:645; 4061547.56 north; 594511.48 east 2021-10-11T01:18:48Z- AHRS_M2 msg: 1633915125.23 epoch sec; seqNo:624 2021-10-11T01:18:48Z- AHRS_M2 msg: 0.15 phi; -0.13 theta; 4.48 psi 2021-10-11T01:18:48Z- handleDepth()-Depth_Keller msg: 1633915125249 epoch sec; seqNo:646; depth 17.49 2021-10-11T01:18:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915125.28 epoch sec; seqNo:646; 4061547.18 north; 594511.48 east 2021-10-11T01:18:49Z- AHRS_M2 msg: 1633915125.63 epoch sec; seqNo:625 2021-10-11T01:18:49Z- AHRS_M2 msg: 0.14 phi; -0.13 theta; 4.51 psi 2021-10-11T01:18:49Z- handleDepth()-Depth_Keller msg: 1633915125640 epoch sec; seqNo:647; depth 17.55 2021-10-11T01:18:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915125.65 epoch sec; seqNo:647; 4061547.17 north; 594510.26 east 2021-10-11T01:18:49Z- AHRS_M2 msg: 1633915126.04 epoch sec; seqNo:626 2021-10-11T01:18:49Z- AHRS_M2 msg: 0.14 phi; -0.13 theta; 4.54 psi 2021-10-11T01:18:49Z- handleDepth()-Depth_Keller msg: 1633915126045 epoch sec; seqNo:648; depth 17.60 2021-10-11T01:18:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915126.06 epoch sec; seqNo:648; 4061547.17 north; 594510.26 east 2021-10-11T01:18:49Z- AHRS_M2 msg: 1633915126.44 epoch sec; seqNo:627 2021-10-11T01:18:49Z- AHRS_M2 msg: 0.14 phi; -0.13 theta; 4.57 psi 2021-10-11T01:18:49Z- handleDepth()-Depth_Keller msg: 1633915126454 epoch sec; seqNo:649; depth 17.65 2021-10-11T01:18:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915126.47 epoch sec; seqNo:649; 4061547.17 north; 594510.26 east 2021-10-11T01:18:50Z- AHRS_M2 msg: 1633915126.85 epoch sec; seqNo:628 2021-10-11T01:18:50Z- AHRS_M2 msg: 0.14 phi; -0.12 theta; 4.60 psi 2021-10-11T01:18:50Z- handleDepth()-Depth_Keller msg: 1633915126855 epoch sec; seqNo:650; depth 17.72 2021-10-11T01:18:50Z- handleDvl() - RDI_Pathfinder msg: 1633915126.89 epoch sec; seqNo:144 2021-10-11T01:18:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.04 , 62.69 , 64.64 , 68.86 2021-10-11T01:18:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.17 , 0.04 2021-10-11T01:18:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915126.91 epoch sec; seqNo:650; 4061547.15 north; 594509.04 east 2021-10-11T01:18:50Z- AHRS_M2 msg: 1633915127.25 epoch sec; seqNo:629 2021-10-11T01:18:50Z- AHRS_M2 msg: 0.14 phi; -0.12 theta; 4.64 psi 2021-10-11T01:18:50Z- handleDepth()-Depth_Keller msg: 1633915127257 epoch sec; seqNo:651; depth 17.77 2021-10-11T01:18:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915127.30 epoch sec; seqNo:651; 4061546.77 north; 594509.04 east 2021-10-11T01:18:51Z- AHRS_M2 msg: 1633915127.66 epoch sec; seqNo:630 2021-10-11T01:18:51Z- AHRS_M2 msg: 0.15 phi; -0.12 theta; 4.71 psi 2021-10-11T01:18:51Z- handleDepth()-Depth_Keller msg: 1633915127666 epoch sec; seqNo:652; depth 17.83 2021-10-11T01:18:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915127.68 epoch sec; seqNo:652; 4061546.77 north; 594509.04 east 2021-10-11T01:18:51Z- AHRS_M2 msg: 1633915128.07 epoch sec; seqNo:631 2021-10-11T01:18:51Z- AHRS_M2 msg: 0.15 phi; -0.12 theta; 4.75 psi 2021-10-11T01:18:51Z- handleDepth()-Depth_Keller msg: 1633915128082 epoch sec; seqNo:653; depth 17.88 2021-10-11T01:18:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915128.10 epoch sec; seqNo:653; 4061546.77 north; 594509.04 east 2021-10-11T01:18:51Z- AHRS_M2 msg: 1633915128.46 epoch sec; seqNo:632 2021-10-11T01:18:51Z- AHRS_M2 msg: 0.15 phi; -0.11 theta; 4.78 psi 2021-10-11T01:18:51Z- handleDepth()-Depth_Keller msg: 1633915128466 epoch sec; seqNo:654; depth 17.93 2021-10-11T01:18:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915128.48 epoch sec; seqNo:654; 4061546.76 north; 594507.82 east 2021-10-11T01:18:52Z- AHRS_M2 msg: 1633915128.87 epoch sec; seqNo:633 2021-10-11T01:18:52Z- AHRS_M2 msg: 0.15 phi; -0.11 theta; 4.81 psi 2021-10-11T01:18:52Z- handleDepth()-Depth_Keller msg: 1633915128873 epoch sec; seqNo:655; depth 17.97 2021-10-11T01:18:52Z- handleDvl() - RDI_Pathfinder msg: 1633915128.89 epoch sec; seqNo:145 2021-10-11T01:18:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.33 , 62.04 , 64.63 , 0.00 2021-10-11T01:18:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.13 , -0.05 2021-10-11T01:18:52Z- LcmTrn::handleMessages() - handling 41 messages took 0.76 ms and 125 calls... 2021-10-11T01:18:52Z- waiting for 1633915126.63, time is 1633915128.89 2021-10-11T01:18:52Z- LcmTrn::updateTrn() equating pose 1633915128.89 and meas times 1633915128.89 2021-10-11T01:18:52Z- LcmTrn::updateTrn() >>>> pose time 1633915128.89, meas time 1633915128.89 <<<< 2021-10-11T01:18:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915128.89 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:52Z- TerrainNav::motionUpdate() - currEstimate = (4061547, 594507.82, 17.97) 2021-10-11T01:18:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:52Z- TerrainNav:: SubcloudNIS is 0.58, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:52Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915128.89 sec.; No relevant navigation data available 2021-10-11T01:18:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:52Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:52Z- variances([0], [2], and psi_berg) = 10.534708 54.138233 0.000000 2021-10-11T01:18:52Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:52Z- LcmTrn::publishEstimates() - MLE : 4061544.26 594460.32 17.97 2021-10-11T01:18:52Z- LcmTrn::publishEstimates() - MMSE : 4061543.59 594461.06 6.35 2021-10-11T01:18:52Z- LcmTrn::publishEstimates() - COVAR: 10.53 54.14 1.06 0.00 2021-10-11T01:18:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915128.93 epoch sec; seqNo:655; 4061546.76 north; 594507.82 east 2021-10-11T01:18:52Z- AHRS_M2 msg: 1633915129.28 epoch sec; seqNo:634 2021-10-11T01:18:52Z- AHRS_M2 msg: 0.14 phi; -0.11 theta; 4.84 psi 2021-10-11T01:18:52Z- handleDepth()-Depth_Keller msg: 1633915129284 epoch sec; seqNo:656; depth 18.04 2021-10-11T01:18:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915129.30 epoch sec; seqNo:656; 4061546.76 north; 594507.82 east 2021-10-11T01:18:53Z- AHRS_M2 msg: 1633915129.67 epoch sec; seqNo:635 2021-10-11T01:18:53Z- AHRS_M2 msg: 0.13 phi; -0.11 theta; 4.86 psi 2021-10-11T01:18:53Z- handleDepth()-Depth_Keller msg: 1633915129690 epoch sec; seqNo:657; depth 18.09 2021-10-11T01:18:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915129.70 epoch sec; seqNo:657; 4061546.76 north; 594507.82 east 2021-10-11T01:18:53Z- AHRS_M2 msg: 1633915130.09 epoch sec; seqNo:636 2021-10-11T01:18:53Z- AHRS_M2 msg: 0.12 phi; -0.11 theta; 4.89 psi 2021-10-11T01:18:53Z- handleDepth()-Depth_Keller msg: 1633915130238 epoch sec; seqNo:658; depth 18.13 2021-10-11T01:18:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915130.25 epoch sec; seqNo:658; 4061546.75 north; 594506.60 east 2021-10-11T01:18:53Z- AHRS_M2 msg: 1633915130.48 epoch sec; seqNo:637 2021-10-11T01:18:53Z- AHRS_M2 msg: 0.11 phi; -0.11 theta; 4.91 psi 2021-10-11T01:18:53Z- handleDepth()-Depth_Keller msg: 1633915130508 epoch sec; seqNo:659; depth 18.21 2021-10-11T01:18:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915130.53 epoch sec; seqNo:659; 4061546.75 north; 594506.60 east 2021-10-11T01:18:54Z- AHRS_M2 msg: 1633915130.89 epoch sec; seqNo:638 2021-10-11T01:18:54Z- AHRS_M2 msg: 0.10 phi; -0.12 theta; 4.93 psi 2021-10-11T01:18:54Z- handleDepth()-Depth_Keller msg: 1633915130924 epoch sec; seqNo:660; depth 18.23 2021-10-11T01:18:54Z- handleDvl() - RDI_Pathfinder msg: 1633915130.95 epoch sec; seqNo:146 2021-10-11T01:18:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.67 , 62.03 , 64.30 , 66.58 2021-10-11T01:18:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.00 , 0.06 2021-10-11T01:18:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915130.97 epoch sec; seqNo:660; 4061546.75 north; 594506.60 east 2021-10-11T01:18:54Z- AHRS_M2 msg: 1633915131.30 epoch sec; seqNo:639 2021-10-11T01:18:54Z- AHRS_M2 msg: 0.08 phi; -0.12 theta; 4.95 psi 2021-10-11T01:18:54Z- handleDepth()-Depth_Keller msg: 1633915131347 epoch sec; seqNo:661; depth 18.28 2021-10-11T01:18:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915131.38 epoch sec; seqNo:661; 4061546.75 north; 594506.60 east 2021-10-11T01:18:55Z- AHRS_M2 msg: 1633915131.69 epoch sec; seqNo:640 2021-10-11T01:18:55Z- AHRS_M2 msg: 0.07 phi; -0.12 theta; 4.97 psi 2021-10-11T01:18:55Z- handleDepth()-Depth_Keller msg: 1633915131705 epoch sec; seqNo:662; depth 18.32 2021-10-11T01:18:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915131.73 epoch sec; seqNo:662; 4061546.73 north; 594505.38 east 2021-10-11T01:18:55Z- AHRS_M2 msg: 1633915132.11 epoch sec; seqNo:641 2021-10-11T01:18:55Z- AHRS_M2 msg: 0.06 phi; -0.13 theta; 4.99 psi 2021-10-11T01:18:55Z- handleDepth()-Depth_Keller msg: 1633915132110 epoch sec; seqNo:663; depth 18.37 2021-10-11T01:18:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915132.12 epoch sec; seqNo:663; 4061547.11 north; 594505.38 east 2021-10-11T01:18:55Z- AHRS_M2 msg: 1633915132.53 epoch sec; seqNo:642 2021-10-11T01:18:55Z- AHRS_M2 msg: 0.05 phi; -0.13 theta; 5.01 psi 2021-10-11T01:18:55Z- handleDepth()-Depth_Keller msg: 1633915132540 epoch sec; seqNo:664; depth 18.42 2021-10-11T01:18:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915132.56 epoch sec; seqNo:664; 4061547.11 north; 594505.38 east 2021-10-11T01:18:56Z- AHRS_M2 msg: 1633915132.91 epoch sec; seqNo:643 2021-10-11T01:18:56Z- AHRS_M2 msg: 0.04 phi; -0.14 theta; 5.03 psi 2021-10-11T01:18:56Z- handleDepth()-Depth_Keller msg: 1633915132911 epoch sec; seqNo:665; depth 18.48 2021-10-11T01:18:56Z- handleDvl() - RDI_Pathfinder msg: 1633915132.94 epoch sec; seqNo:147 2021-10-11T01:18:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.00 , 64.30 , 63.38 , 66.76 2021-10-11T01:18:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.02 , 0.01 2021-10-11T01:18:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915132.96 epoch sec; seqNo:665; 4061547.11 north; 594505.38 east 2021-10-11T01:18:56Z- AHRS_M2 msg: 1633915133.31 epoch sec; seqNo:644 2021-10-11T01:18:56Z- AHRS_M2 msg: 0.03 phi; -0.14 theta; 5.05 psi 2021-10-11T01:18:56Z- handleDepth()-Depth_Keller msg: 1633915133326 epoch sec; seqNo:666; depth 18.51 2021-10-11T01:18:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915133.36 epoch sec; seqNo:666; 4061547.10 north; 594504.16 east 2021-10-11T01:18:57Z- AHRS_M2 msg: 1633915133.71 epoch sec; seqNo:645 2021-10-11T01:18:57Z- AHRS_M2 msg: 0.02 phi; -0.15 theta; 5.07 psi 2021-10-11T01:18:57Z- handleDepth()-Depth_Keller msg: 1633915133721 epoch sec; seqNo:667; depth 18.55 2021-10-11T01:18:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915133.74 epoch sec; seqNo:667; 4061547.48 north; 594504.15 east 2021-10-11T01:18:57Z- LcmTrn::handleMessages() - handling 39 messages took 0.88 ms and 121 calls... 2021-10-11T01:18:57Z- waiting for 1633915131.89, time is 1633915133.74 2021-10-11T01:18:57Z- LcmTrn::updateTrn() >>>> pose time 1633915133.74, meas time 1633915132.94 <<<< 2021-10-11T01:18:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915132.94 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:18:57Z- TerrainNav::motionUpdate() - currEstimate = (4061547, 594504.15, 18.55) 2021-10-11T01:18:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:18:57Z- TerrainNav:: SubcloudNIS is 0.58, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:18:57Z- TNavBF::Projecting Measurements 2021-10-11T01:18:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:18:57Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:18:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:18:57Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:18:57Z- TNavFilter::4 good beams. 2021-10-11T01:18:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:18:57Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:18:57Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:18:57Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:18:57Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:18:57Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:18:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:18:57Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:57Z- TerrainMapOctree: (vehN, vehE ) = (4061547.36, 594504.76). 2021-10-11T01:18:57Z- TerrainMapOctree: Min Distance = 318.13. 2021-10-11T01:18:57Z- TerrainMapOctree: Using tile 5. 2021-10-11T01:18:57Z- Forcing Subcloud Comparison 2021-10-11T01:18:57Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:18:57Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:57Z- Filter 0 partialDeltaRmsComputation: 31.424933 terrainVariance: 0.159177 1-SumSquareWeights: 0.975582 2021-10-11T01:18:57Z- Filter 0 meanExpectedMeasDiff: 5.591579 delta_rms_squared: 0.149422 alpha: 0.881951 2021-10-11T01:18:57Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:57Z- Filter 0 partialDeltaRmsComputation: 29.271481 terrainVariance: 0.125255 1-SumSquareWeights: 0.975582 2021-10-11T01:18:57Z- Filter 0 meanExpectedMeasDiff: -5.398724 delta_rms_squared: 0.115499 alpha: 0.852397 2021-10-11T01:18:57Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:57Z- Filter 0 partialDeltaRmsComputation: 26.522301 terrainVariance: 0.947242 1-SumSquareWeights: 0.975582 2021-10-11T01:18:57Z- Filter 0 meanExpectedMeasDiff: 5.057179 delta_rms_squared: 0.937486 alpha: 0.979112 2021-10-11T01:18:57Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:18:57Z- Filter 0 partialDeltaRmsComputation: 73.964274 terrainVariance: 0.158419 1-SumSquareWeights: 0.975582 2021-10-11T01:18:57Z- Filter 0 meanExpectedMeasDiff: -8.591033 delta_rms_squared: 0.148663 alpha: 0.881421 2021-10-11T01:18:57Z- Filter 0 SubcloudNIS: 0.652332 2021-10-11T01:18:57Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:18:57Z- TNavBF:: Filter 0 sumWeights = 0.000889 2021-10-11T01:18:57Z- Filter 0 NorthBias: -4.8 EastBias: -22.3 DepthBias: -11.5 NorthVariance: 12.7 EastVariance: 1760.0 DepthVariance: 2.2 this->DepthBiasCov: 0.8 2021-10-11T01:18:57Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915132.94 sec. 2021-10-11T01:18:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:18:57Z- TNavBF::mmse selected from filter -1 2021-10-11T01:18:57Z- variances([0], [2], and psi_berg) = 12.674408 1753.549097 0.000000 2021-10-11T01:18:57Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:18:57Z- LcmTrn::publishEstimates() - MLE : 4061543.98 594553.65 18.55 2021-10-11T01:18:57Z- LcmTrn::publishEstimates() - MMSE : 4061542.66 594481.75 7.02 2021-10-11T01:18:57Z- LcmTrn::publishEstimates() - COVAR: 12.67 1753.55 2.27 0.00 2021-10-11T01:18:57Z- AHRS_M2 msg: 1633915134.12 epoch sec; seqNo:646 2021-10-11T01:18:57Z- AHRS_M2 msg: 0.01 phi; -0.16 theta; 5.08 psi 2021-10-11T01:18:57Z- handleDepth()-Depth_Keller msg: 1633915134140 epoch sec; seqNo:668; depth 18.58 2021-10-11T01:18:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915134.16 epoch sec; seqNo:668; 4061547.48 north; 594504.15 east 2021-10-11T01:18:57Z- AHRS_M2 msg: 1633915134.53 epoch sec; seqNo:647 2021-10-11T01:18:57Z- AHRS_M2 msg: 0.01 phi; -0.16 theta; 5.10 psi 2021-10-11T01:18:57Z- handleDepth()-Depth_Keller msg: 1633915134537 epoch sec; seqNo:669; depth 18.65 2021-10-11T01:18:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915134.56 epoch sec; seqNo:669; 4061547.48 north; 594504.15 east 2021-10-11T01:18:58Z- AHRS_M2 msg: 1633915134.93 epoch sec; seqNo:648 2021-10-11T01:18:58Z- AHRS_M2 msg: -0.00 phi; -0.17 theta; 5.12 psi 2021-10-11T01:18:58Z- handleDepth()-Depth_Keller msg: 1633915134931 epoch sec; seqNo:670; depth 18.70 2021-10-11T01:18:58Z- handleDvl() - RDI_Pathfinder msg: 1633915134.95 epoch sec; seqNo:148 2021-10-11T01:18:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.84 , 66.76 , 62.46 , 67.69 2021-10-11T01:18:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.04 , -0.08 2021-10-11T01:18:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915134.98 epoch sec; seqNo:670; 4061547.86 north; 594504.15 east 2021-10-11T01:18:58Z- AHRS_M2 msg: 1633915135.34 epoch sec; seqNo:649 2021-10-11T01:18:58Z- AHRS_M2 msg: -0.01 phi; -0.18 theta; 5.13 psi 2021-10-11T01:18:58Z- handleDepth()-Depth_Keller msg: 1633915135344 epoch sec; seqNo:671; depth 18.74 2021-10-11T01:18:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915135.36 epoch sec; seqNo:671; 4061547.84 north; 594502.93 east 2021-10-11T01:18:59Z- AHRS_M2 msg: 1633915135.73 epoch sec; seqNo:650 2021-10-11T01:18:59Z- AHRS_M2 msg: -0.02 phi; -0.19 theta; 5.15 psi 2021-10-11T01:18:59Z- handleDepth()-Depth_Keller msg: 1633915135739 epoch sec; seqNo:672; depth 18.79 2021-10-11T01:18:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915135.76 epoch sec; seqNo:672; 4061547.84 north; 594502.93 east 2021-10-11T01:18:59Z- AHRS_M2 msg: 1633915136.14 epoch sec; seqNo:651 2021-10-11T01:18:59Z- AHRS_M2 msg: -0.02 phi; -0.19 theta; 5.16 psi 2021-10-11T01:18:59Z- handleDepth()-Depth_Keller msg: 1633915136142 epoch sec; seqNo:673; depth 18.84 2021-10-11T01:18:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915136.15 epoch sec; seqNo:673; 4061547.84 north; 594502.93 east 2021-10-11T01:18:59Z- AHRS_M2 msg: 1633915136.54 epoch sec; seqNo:652 2021-10-11T01:18:59Z- AHRS_M2 msg: -0.02 phi; -0.20 theta; 5.18 psi 2021-10-11T01:18:59Z- handleDepth()-Depth_Keller msg: 1633915136552 epoch sec; seqNo:674; depth 18.90 2021-10-11T01:18:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915136.57 epoch sec; seqNo:674; 4061548.22 north; 594502.93 east 2021-10-11T01:19:00Z- AHRS_M2 msg: 1633915136.94 epoch sec; seqNo:653 2021-10-11T01:19:00Z- AHRS_M2 msg: -0.03 phi; -0.21 theta; 5.19 psi 2021-10-11T01:19:00Z- handleDepth()-Depth_Keller msg: 1633915136950 epoch sec; seqNo:675; depth 18.95 2021-10-11T01:19:00Z- handleDvl() - RDI_Pathfinder msg: 1633915136.98 epoch sec; seqNo:149 2021-10-11T01:19:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.30 , 67.99 , 61.22 , 70.45 2021-10-11T01:19:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.03 , -0.09 2021-10-11T01:19:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915137.00 epoch sec; seqNo:675; 4061548.21 north; 594501.70 east 2021-10-11T01:19:00Z- AHRS_M2 msg: 1633915137.35 epoch sec; seqNo:654 2021-10-11T01:19:00Z- AHRS_M2 msg: -0.04 phi; -0.21 theta; 5.21 psi 2021-10-11T01:19:00Z- handleDepth()-Depth_Keller msg: 1633915137356 epoch sec; seqNo:676; depth 19.01 2021-10-11T01:19:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915137.38 epoch sec; seqNo:676; 4061548.21 north; 594501.70 east 2021-10-11T01:19:01Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:19:01Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:19:01Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:19:01Z- AHRS_M2 msg: 1633915137.74 epoch sec; seqNo:655 2021-10-11T01:19:01Z- AHRS_M2 msg: -0.04 phi; -0.21 theta; 5.21 psi 2021-10-11T01:19:01Z- handleDepth()-Depth_Keller msg: 1633915137780 epoch sec; seqNo:677; depth 19.07 2021-10-11T01:19:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915137.80 epoch sec; seqNo:677; 4061548.59 north; 594501.70 east 2021-10-11T01:19:01Z- AHRS_M2 msg: 1633915138.16 epoch sec; seqNo:656 2021-10-11T01:19:01Z- AHRS_M2 msg: -0.05 phi; -0.22 theta; 5.23 psi 2021-10-11T01:19:01Z- handleDepth()-Depth_Keller msg: 1633915138165 epoch sec; seqNo:678; depth 19.14 2021-10-11T01:19:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915138.18 epoch sec; seqNo:678; 4061548.59 north; 594501.70 east 2021-10-11T01:19:01Z- AHRS_M2 msg: 1633915138.56 epoch sec; seqNo:657 2021-10-11T01:19:01Z- AHRS_M2 msg: -0.06 phi; -0.23 theta; 5.24 psi 2021-10-11T01:19:01Z- handleDepth()-Depth_Keller msg: 1633915138573 epoch sec; seqNo:679; depth 19.20 2021-10-11T01:19:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915138.59 epoch sec; seqNo:679; 4061548.97 north; 594501.70 east 2021-10-11T01:19:02Z- AHRS_M2 msg: 1633915138.97 epoch sec; seqNo:658 2021-10-11T01:19:02Z- AHRS_M2 msg: -0.07 phi; -0.24 theta; 5.24 psi 2021-10-11T01:19:02Z- handleDepth()-Depth_Keller msg: 1633915138973 epoch sec; seqNo:680; depth 19.26 2021-10-11T01:19:02Z- handleDvl() - RDI_Pathfinder msg: 1633915139.00 epoch sec; seqNo:150 2021-10-11T01:19:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.38 , 68.91 , 59.68 , 72.61 2021-10-11T01:19:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.02 , -0.03 2021-10-11T01:19:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915139.02 epoch sec; seqNo:680; 4061548.95 north; 594500.48 east 2021-10-11T01:19:02Z- LcmTrn::handleMessages() - handling 42 messages took 0.67 ms and 128 calls... 2021-10-11T01:19:02Z- waiting for 1633915136.74, time is 1633915139.02 2021-10-11T01:19:02Z- LcmTrn::updateTrn() equating pose 1633915139.02 and meas times 1633915139.02 2021-10-11T01:19:02Z- LcmTrn::updateTrn() >>>> pose time 1633915139.02, meas time 1633915139.02 <<<< 2021-10-11T01:19:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915139.02 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:02Z- TerrainNav::motionUpdate() - currEstimate = (4061549, 594500.48, 19.26) 2021-10-11T01:19:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:02Z- TerrainNav:: SubcloudNIS is 0.65, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:02Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915139.02 sec.; No relevant navigation data available 2021-10-11T01:19:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:02Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:02Z- variances([0], [2], and psi_berg) = 12.718978 1737.338758 0.000000 2021-10-11T01:19:02Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:19:02Z- LcmTrn::publishEstimates() - MLE : 4061545.45 594549.98 19.26 2021-10-11T01:19:02Z- LcmTrn::publishEstimates() - MMSE : 4061544.14 594477.72 7.72 2021-10-11T01:19:02Z- LcmTrn::publishEstimates() - COVAR: 12.72 1737.34 2.46 0.00 2021-10-11T01:19:02Z- handleDepth()-Depth_Keller msg: 1633915139396 epoch sec; seqNo:681; depth 19.35 2021-10-11T01:19:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:19:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:19:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:19:02Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:19:02Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:19:02Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:19:02Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:19:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:19:02Z- handleDvl() - RDI_Pathfinder msg: 1633915139.40 epoch sec; seqNo:151 2021-10-11T01:19:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:19:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.02 , -0.03 2021-10-11T01:19:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915139.42 epoch sec; seqNo:681; 4061548.95 north; 594500.48 east 2021-10-11T01:19:03Z- AHRS_M2 msg: 1633915139.78 epoch sec; seqNo:659 2021-10-11T01:19:03Z- AHRS_M2 msg: -0.09 phi; -0.25 theta; 5.26 psi 2021-10-11T01:19:03Z- handleDepth()-Depth_Keller msg: 1633915139792 epoch sec; seqNo:682; depth 19.42 2021-10-11T01:19:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915139.81 epoch sec; seqNo:682; 4061549.33 north; 594500.47 east 2021-10-11T01:19:03Z- AHRS_M2 msg: 1633915140.18 epoch sec; seqNo:660 2021-10-11T01:19:03Z- AHRS_M2 msg: -0.10 phi; -0.26 theta; 5.27 psi 2021-10-11T01:19:03Z- handleDepth()-Depth_Keller msg: 1633915140199 epoch sec; seqNo:683; depth 19.49 2021-10-11T01:19:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915140.21 epoch sec; seqNo:683; 4061549.33 north; 594500.47 east 2021-10-11T01:19:03Z- AHRS_M2 msg: 1633915140.58 epoch sec; seqNo:661 2021-10-11T01:19:03Z- AHRS_M2 msg: -0.11 phi; -0.27 theta; 5.28 psi 2021-10-11T01:19:03Z- handleDepth()-Depth_Keller msg: 1633915140596 epoch sec; seqNo:684; depth 19.56 2021-10-11T01:19:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915140.61 epoch sec; seqNo:684; 4061549.70 north; 594499.25 east 2021-10-11T01:19:04Z- AHRS_M2 msg: 1633915140.99 epoch sec; seqNo:662 2021-10-11T01:19:04Z- AHRS_M2 msg: -0.12 phi; -0.27 theta; 5.29 psi 2021-10-11T01:19:04Z- handleDepth()-Depth_Keller msg: 1633915140996 epoch sec; seqNo:685; depth 19.63 2021-10-11T01:19:04Z- handleDvl() - RDI_Pathfinder msg: 1633915141.02 epoch sec; seqNo:152 2021-10-11T01:19:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.83 , 0.00 , 59.37 , 74.44 2021-10-11T01:19:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.00 2021-10-11T01:19:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915141.05 epoch sec; seqNo:685; 4061549.70 north; 594499.25 east 2021-10-11T01:19:04Z- AHRS_M2 msg: 1633915141.39 epoch sec; seqNo:663 2021-10-11T01:19:04Z- AHRS_M2 msg: -0.12 phi; -0.28 theta; 5.30 psi 2021-10-11T01:19:04Z- handleDepth()-Depth_Keller msg: 1633915141400 epoch sec; seqNo:686; depth 19.73 2021-10-11T01:19:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915141.42 epoch sec; seqNo:686; 4061549.70 north; 594499.25 east 2021-10-11T01:19:05Z- AHRS_M2 msg: 1633915141.79 epoch sec; seqNo:664 2021-10-11T01:19:05Z- AHRS_M2 msg: -0.13 phi; -0.28 theta; 5.31 psi 2021-10-11T01:19:05Z- handleDepth()-Depth_Keller msg: 1633915141799 epoch sec; seqNo:687; depth 19.79 2021-10-11T01:19:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915141.82 epoch sec; seqNo:687; 4061550.08 north; 594499.24 east 2021-10-11T01:19:05Z- AHRS_M2 msg: 1633915142.20 epoch sec; seqNo:665 2021-10-11T01:19:05Z- AHRS_M2 msg: -0.13 phi; -0.29 theta; 5.33 psi 2021-10-11T01:19:05Z- handleDepth()-Depth_Keller msg: 1633915142204 epoch sec; seqNo:688; depth 19.88 2021-10-11T01:19:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915142.21 epoch sec; seqNo:688; 4061550.08 north; 594499.24 east 2021-10-11T01:19:05Z- AHRS_M2 msg: 1633915142.60 epoch sec; seqNo:666 2021-10-11T01:19:05Z- AHRS_M2 msg: -0.13 phi; -0.29 theta; 5.34 psi 2021-10-11T01:19:05Z- handleDepth()-Depth_Keller msg: 1633915142609 epoch sec; seqNo:689; depth 19.97 2021-10-11T01:19:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915142.62 epoch sec; seqNo:689; 4061550.44 north; 594498.02 east 2021-10-11T01:19:06Z- AHRS_M2 msg: 1633915143.01 epoch sec; seqNo:667 2021-10-11T01:19:06Z- AHRS_M2 msg: -0.13 phi; -0.29 theta; 5.35 psi 2021-10-11T01:19:06Z- handleDepth()-Depth_Keller msg: 1633915143092 epoch sec; seqNo:690; depth 20.06 2021-10-11T01:19:06Z- handleDvl() - RDI_Pathfinder msg: 1633915143.12 epoch sec; seqNo:153 2021-10-11T01:19:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 64.91 , 0.00 , 59.06 , 0.00 2021-10-11T01:19:06Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-11T01:19:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915143.13 epoch sec; seqNo:690; 4061550.44 north; 594498.02 east 2021-10-11T01:19:06Z- AHRS_M2 msg: 1633915143.41 epoch sec; seqNo:668 2021-10-11T01:19:06Z- AHRS_M2 msg: -0.14 phi; -0.30 theta; 5.36 psi 2021-10-11T01:19:06Z- handleDepth()-Depth_Keller msg: 1633915143499 epoch sec; seqNo:691; depth 20.16 2021-10-11T01:19:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915143.51 epoch sec; seqNo:691; 4061550.82 north; 594498.01 east 2021-10-11T01:19:07Z- AHRS_M2 msg: 1633915143.81 epoch sec; seqNo:669 2021-10-11T01:19:07Z- AHRS_M2 msg: -0.14 phi; -0.30 theta; 5.36 psi 2021-10-11T01:19:07Z- handleDepth()-Depth_Keller msg: 1633915143855 epoch sec; seqNo:692; depth 20.23 2021-10-11T01:19:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915143.87 epoch sec; seqNo:692; 4061550.82 north; 594498.01 east 2021-10-11T01:19:07Z- AHRS_M2 msg: 1633915144.22 epoch sec; seqNo:670 2021-10-11T01:19:07Z- AHRS_M2 msg: -0.15 phi; -0.30 theta; 5.37 psi 2021-10-11T01:19:07Z- LcmTrn::handleMessages() - handling 39 messages took 0.83 ms and 122 calls... 2021-10-11T01:19:07Z- waiting for 1633915142.02, time is 1633915144.22 2021-10-11T01:19:07Z- LcmTrn::updateTrn() >>>> pose time 1633915144.22, meas time 1633915143.12 <<<< 2021-10-11T01:19:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915143.12 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:07Z- TerrainNav::motionUpdate() - currEstimate = (4061551, 594498.01, 20.23) 2021-10-11T01:19:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:07Z- TerrainNav:: SubcloudNIS is 0.65, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:07Z- TerrainNav::motionUpdate() - Invalid velocity 2021-10-11T01:19:07Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2021-10-11T01:19:07Z- TNavBF::Projecting Measurements 2021-10-11T01:19:07Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:19:07Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:19:07Z- TNavFilter::Excluded 2 beam(s) from correlation due to poor sonar data. 2021-10-11T01:19:07Z- TNavFilter::2 good beams. 2021-10-11T01:19:07Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:19:07Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:19:07Z- TNavBF:: beamIndex[1] = 2 2021-10-11T01:19:07Z- TNavBF:: beamIndex[2] = 0 2021-10-11T01:19:07Z- TNavBF:: beamIndex[3] = 0 2021-10-11T01:19:07Z- TNavBF:: *** beamsVF.Ncols() = 2 *** 2021-10-11T01:19:07Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:19:07Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:07Z- TerrainMapOctree: (vehN, vehE ) = (4061550.42, 594498.54). 2021-10-11T01:19:07Z- TerrainMapOctree: Min Distance = 318.75. 2021-10-11T01:19:07Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:19:07Z- TerrainMapOctree: Switching to tile 4. 2021-10-11T01:19:09Z- TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo took 1.239134 seconds. 2021-10-11T01:19:09Z- Forcing Subcloud Comparison 2021-10-11T01:19:09Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:19:09Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:09Z- Filter 0 partialDeltaRmsComputation: 76.305756 terrainVariance: 1.741323 1-SumSquareWeights: 0.981003 2021-10-11T01:19:09Z- Filter 0 meanExpectedMeasDiff: 8.635070 delta_rms_squared: 1.731513 alpha: 0.988581 2021-10-11T01:19:09Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:09Z- Filter 0 partialDeltaRmsComputation: 19.124078 terrainVariance: 0.585238 1-SumSquareWeights: 0.981003 2021-10-11T01:19:09Z- Filter 0 meanExpectedMeasDiff: -4.305675 delta_rms_squared: 0.575428 alpha: 0.966411 2021-10-11T01:19:09Z- Filter 0 SubcloudNIS: 0.999742 2021-10-11T01:19:09Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:19:09Z- TNavBF:: Filter 0 sumWeights = 0.012184 2021-10-11T01:19:09Z- Filter 0 NorthBias: -6.5 EastBias: -45.8 DepthBias: -11.8 NorthVariance: 14.6 EastVariance: 105.0 DepthVariance: 1.0 this->DepthBiasCov: 0.9 2021-10-11T01:19:09Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915143.12 sec. 2021-10-11T01:19:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:09Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:09Z- variances([0], [2], and psi_berg) = 14.661664 109.532825 0.000000 2021-10-11T01:19:09Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:19:09Z- LcmTrn::publishEstimates() - MLE : 4061547.32 594451.51 20.23 2021-10-11T01:19:09Z- LcmTrn::publishEstimates() - MMSE : 4061544.32 594452.29 8.41 2021-10-11T01:19:09Z- LcmTrn::publishEstimates() - COVAR: 14.66 109.53 1.05 0.00 2021-10-11T01:19:09Z- handleDepth()-Depth_Keller msg: 1633915144255 epoch sec; seqNo:693; depth 20.34 2021-10-11T01:19:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915144.28 epoch sec; seqNo:693; 4061551.19 north; 594496.79 east 2021-10-11T01:19:09Z- AHRS_M2 msg: 1633915144.62 epoch sec; seqNo:671 2021-10-11T01:19:09Z- AHRS_M2 msg: -0.15 phi; -0.30 theta; 5.37 psi 2021-10-11T01:19:09Z- handleDepth()-Depth_Keller msg: 1633915144636 epoch sec; seqNo:694; depth 20.42 2021-10-11T01:19:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915144.65 epoch sec; seqNo:694; 4061551.19 north; 594496.79 east 2021-10-11T01:19:09Z- AHRS_M2 msg: 1633915145.03 epoch sec; seqNo:672 2021-10-11T01:19:09Z- AHRS_M2 msg: -0.16 phi; -0.32 theta; 5.38 psi 2021-10-11T01:19:09Z- handleDepth()-Depth_Keller msg: 1633915145037 epoch sec; seqNo:695; depth 20.52 2021-10-11T01:19:09Z- handleDvl() - RDI_Pathfinder msg: 1633915145.07 epoch sec; seqNo:154 2021-10-11T01:19:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 63.98 , 0.00 , 57.42 , 0.00 2021-10-11T01:19:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-11T01:19:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915145.10 epoch sec; seqNo:695; 4061551.19 north; 594496.79 east 2021-10-11T01:19:09Z- AHRS_M2 msg: 1633915145.44 epoch sec; seqNo:673 2021-10-11T01:19:09Z- AHRS_M2 msg: -0.16 phi; -0.32 theta; 5.38 psi 2021-10-11T01:19:09Z- handleDepth()-Depth_Keller msg: 1633915145445 epoch sec; seqNo:696; depth 20.64 2021-10-11T01:19:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915145.46 epoch sec; seqNo:696; 4061551.57 north; 594496.79 east 2021-10-11T01:19:09Z- AHRS_M2 msg: 1633915145.83 epoch sec; seqNo:674 2021-10-11T01:19:09Z- AHRS_M2 msg: -0.16 phi; -0.33 theta; 5.38 psi 2021-10-11T01:19:09Z- handleDepth()-Depth_Keller msg: 1633915145845 epoch sec; seqNo:697; depth 20.71 2021-10-11T01:19:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915145.86 epoch sec; seqNo:697; 4061551.57 north; 594496.79 east 2021-10-11T01:19:09Z- AHRS_M2 msg: 1633915146.24 epoch sec; seqNo:675 2021-10-11T01:19:09Z- AHRS_M2 msg: -0.17 phi; -0.33 theta; 5.39 psi 2021-10-11T01:19:09Z- handleDepth()-Depth_Keller msg: 1633915146244 epoch sec; seqNo:698; depth 20.82 2021-10-11T01:19:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915146.26 epoch sec; seqNo:698; 4061551.93 north; 594495.56 east 2021-10-11T01:19:10Z- AHRS_M2 msg: 1633915146.64 epoch sec; seqNo:676 2021-10-11T01:19:10Z- AHRS_M2 msg: -0.17 phi; -0.34 theta; 5.39 psi 2021-10-11T01:19:10Z- handleDepth()-Depth_Keller msg: 1633915146645 epoch sec; seqNo:699; depth 20.92 2021-10-11T01:19:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915146.66 epoch sec; seqNo:699; 4061551.93 north; 594495.56 east 2021-10-11T01:19:10Z- AHRS_M2 msg: 1633915147.05 epoch sec; seqNo:677 2021-10-11T01:19:10Z- AHRS_M2 msg: -0.17 phi; -0.34 theta; 5.40 psi 2021-10-11T01:19:10Z- handleDepth()-Depth_Keller msg: 1633915147060 epoch sec; seqNo:700; depth 21.04 2021-10-11T01:19:10Z- handleDvl() - RDI_Pathfinder msg: 1633915147.09 epoch sec; seqNo:155 2021-10-11T01:19:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.98 , 74.23 , 57.42 , 0.00 2021-10-11T01:19:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.10 2021-10-11T01:19:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915147.12 epoch sec; seqNo:700; 4061552.31 north; 594495.56 east 2021-10-11T01:19:10Z- AHRS_M2 msg: 1633915147.45 epoch sec; seqNo:678 2021-10-11T01:19:10Z- AHRS_M2 msg: -0.18 phi; -0.34 theta; 5.40 psi 2021-10-11T01:19:10Z- handleDepth()-Depth_Keller msg: 1633915147456 epoch sec; seqNo:701; depth 21.16 2021-10-11T01:19:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915147.48 epoch sec; seqNo:701; 4061552.31 north; 594495.56 east 2021-10-11T01:19:11Z- AHRS_M2 msg: 1633915147.85 epoch sec; seqNo:679 2021-10-11T01:19:11Z- AHRS_M2 msg: -0.18 phi; -0.34 theta; 5.41 psi 2021-10-11T01:19:11Z- handleDepth()-Depth_Keller msg: 1633915147864 epoch sec; seqNo:702; depth 21.25 2021-10-11T01:19:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915147.88 epoch sec; seqNo:702; 4061552.31 north; 594495.56 east 2021-10-11T01:19:11Z- AHRS_M2 msg: 1633915148.26 epoch sec; seqNo:680 2021-10-11T01:19:11Z- AHRS_M2 msg: -0.19 phi; -0.34 theta; 5.41 psi 2021-10-11T01:19:11Z- handleDepth()-Depth_Keller msg: 1633915148266 epoch sec; seqNo:703; depth 21.36 2021-10-11T01:19:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915148.28 epoch sec; seqNo:703; 4061552.67 north; 594494.33 east 2021-10-11T01:19:12Z- AHRS_M2 msg: 1633915148.66 epoch sec; seqNo:681 2021-10-11T01:19:12Z- AHRS_M2 msg: -0.19 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:12Z- handleDepth()-Depth_Keller msg: 1633915148669 epoch sec; seqNo:704; depth 21.46 2021-10-11T01:19:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915148.69 epoch sec; seqNo:704; 4061552.67 north; 594494.33 east 2021-10-11T01:19:12Z- AHRS_M2 msg: 1633915149.07 epoch sec; seqNo:682 2021-10-11T01:19:12Z- AHRS_M2 msg: -0.20 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:12Z- handleDepth()-Depth_Keller msg: 1633915149080 epoch sec; seqNo:705; depth 21.57 2021-10-11T01:19:12Z- handleDvl() - RDI_Pathfinder msg: 1633915149.11 epoch sec; seqNo:156 2021-10-11T01:19:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.36 , 75.66 , 57.21 , 0.00 2021-10-11T01:19:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.03 , 0.00 2021-10-11T01:19:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915149.14 epoch sec; seqNo:705; 4061553.05 north; 594494.33 east 2021-10-11T01:19:12Z- AHRS_M2 msg: 1633915149.47 epoch sec; seqNo:683 2021-10-11T01:19:12Z- AHRS_M2 msg: -0.20 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:12Z- handleDepth()-Depth_Keller msg: 1633915149513 epoch sec; seqNo:706; depth 21.68 2021-10-11T01:19:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915149.54 epoch sec; seqNo:706; 4061553.05 north; 594494.33 east 2021-10-11T01:19:13Z- AHRS_M2 msg: 1633915149.87 epoch sec; seqNo:684 2021-10-11T01:19:13Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:13Z- handleDepth()-Depth_Keller msg: 1633915149925 epoch sec; seqNo:707; depth 21.81 2021-10-11T01:19:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915149.95 epoch sec; seqNo:707; 4061553.43 north; 594494.32 east 2021-10-11T01:19:13Z- AHRS_M2 msg: 1633915150.28 epoch sec; seqNo:685 2021-10-11T01:19:13Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:13Z- handleDepth()-Depth_Keller msg: 1633915150288 epoch sec; seqNo:708; depth 21.93 2021-10-11T01:19:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915150.30 epoch sec; seqNo:708; 4061553.42 north; 594493.10 east 2021-10-11T01:19:14Z- AHRS_M2 msg: 1633915150.68 epoch sec; seqNo:686 2021-10-11T01:19:14Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:14Z- handleDepth()-Depth_Keller msg: 1633915150697 epoch sec; seqNo:709; depth 22.03 2021-10-11T01:19:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915150.71 epoch sec; seqNo:709; 4061553.80 north; 594493.10 east 2021-10-11T01:19:14Z- LcmTrn::handleMessages() - handling 53 messages took 0.80 ms and 137 calls... 2021-10-11T01:19:14Z- waiting for 1633915147.22, time is 1633915150.71 2021-10-11T01:19:14Z- LcmTrn::updateTrn() >>>> pose time 1633915150.71, meas time 1633915149.11 <<<< 2021-10-11T01:19:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915149.11 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:14Z- TerrainNav::motionUpdate() - currEstimate = (4061554, 594493.10, 22.03) 2021-10-11T01:19:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:14Z- TerrainNav:: SubcloudNIS is 1.00, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:14Z- TNavBF::Projecting Measurements 2021-10-11T01:19:14Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:19:14Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:19:14Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:19:14Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-11T01:19:14Z- TNavFilter::3 good beams. 2021-10-11T01:19:14Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:19:14Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:19:14Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:19:14Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:19:14Z- TNavBF:: beamIndex[3] = 0 2021-10-11T01:19:14Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-11T01:19:14Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:19:14Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:14Z- TerrainMapOctree: (vehN, vehE ) = (4061553.06, 594494.31). 2021-10-11T01:19:14Z- TerrainMapOctree: Min Distance = 313.80. 2021-10-11T01:19:14Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:19:14Z- Forcing Subcloud Comparison 2021-10-11T01:19:14Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:19:14Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:14Z- Filter 0 partialDeltaRmsComputation: 108.927644 terrainVariance: 0.577522 1-SumSquareWeights: 0.981516 2021-10-11T01:19:14Z- Filter 0 meanExpectedMeasDiff: 10.409136 delta_rms_squared: 0.567707 alpha: 0.965969 2021-10-11T01:19:14Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:14Z- Filter 0 partialDeltaRmsComputation: 79.897256 terrainVariance: 0.614169 1-SumSquareWeights: 0.981516 2021-10-11T01:19:14Z- Filter 0 meanExpectedMeasDiff: -8.904105 delta_rms_squared: 0.604354 alpha: 0.967967 2021-10-11T01:19:14Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:14Z- Filter 0 partialDeltaRmsComputation: 37.609803 terrainVariance: 0.328714 1-SumSquareWeights: 0.981516 2021-10-11T01:19:14Z- Filter 0 meanExpectedMeasDiff: -6.105824 delta_rms_squared: 0.318899 alpha: 0.940985 2021-10-11T01:19:14Z- Filter 0 SubcloudNIS: 0.942679 2021-10-11T01:19:14Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:19:14Z- TNavBF:: Filter 0 sumWeights = 0.000021 2021-10-11T01:19:14Z- Filter 0 NorthBias: -10.0 EastBias: -46.6 DepthBias: -12.5 NorthVariance: 11.7 EastVariance: 6.8 DepthVariance: 0.9 this->DepthBiasCov: 0.8 2021-10-11T01:19:14Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915149.11 sec. 2021-10-11T01:19:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:14Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:14Z- variances([0], [2], and psi_berg) = 11.713770 14.475776 0.000000 2021-10-11T01:19:14Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:19:14Z- LcmTrn::publishEstimates() - MLE : 4061544.30 594445.60 22.03 2021-10-11T01:19:14Z- LcmTrn::publishEstimates() - MMSE : 4061543.75 594446.63 9.49 2021-10-11T01:19:14Z- LcmTrn::publishEstimates() - COVAR: 11.71 14.48 0.94 0.00 2021-10-11T01:19:14Z- AHRS_M2 msg: 1633915151.09 epoch sec; seqNo:687 2021-10-11T01:19:14Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:14Z- handleDepth()-Depth_Keller msg: 1633915151097 epoch sec; seqNo:710; depth 22.14 2021-10-11T01:19:14Z- handleDvl() - RDI_Pathfinder msg: 1633915151.12 epoch sec; seqNo:157 2021-10-11T01:19:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.44 , 76.58 , 56.90 , 0.00 2021-10-11T01:19:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.05 2021-10-11T01:19:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915151.14 epoch sec; seqNo:710; 4061553.80 north; 594493.10 east 2021-10-11T01:19:14Z- AHRS_M2 msg: 1633915151.49 epoch sec; seqNo:688 2021-10-11T01:19:14Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:14Z- handleDepth()-Depth_Keller msg: 1633915151496 epoch sec; seqNo:711; depth 22.25 2021-10-11T01:19:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915151.51 epoch sec; seqNo:711; 4061554.18 north; 594493.10 east 2021-10-11T01:19:15Z- AHRS_M2 msg: 1633915151.89 epoch sec; seqNo:689 2021-10-11T01:19:15Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:15Z- handleDepth()-Depth_Keller msg: 1633915151898 epoch sec; seqNo:712; depth 22.36 2021-10-11T01:19:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915151.92 epoch sec; seqNo:712; 4061554.18 north; 594493.10 east 2021-10-11T01:19:15Z- AHRS_M2 msg: 1633915152.30 epoch sec; seqNo:690 2021-10-11T01:19:15Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:15Z- handleDepth()-Depth_Keller msg: 1633915152304 epoch sec; seqNo:713; depth 22.49 2021-10-11T01:19:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915152.32 epoch sec; seqNo:713; 4061554.54 north; 594491.87 east 2021-10-11T01:19:16Z- handleDepth()-Depth_Keller msg: 1633915152724 epoch sec; seqNo:714; depth 22.60 2021-10-11T01:19:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915152.73 epoch sec; seqNo:714; 4061554.92 north; 594491.87 east 2021-10-11T01:19:16Z- AHRS_M2 msg: 1633915153.11 epoch sec; seqNo:691 2021-10-11T01:19:16Z- AHRS_M2 msg: -0.20 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:16Z- handleDepth()-Depth_Keller msg: 1633915153113 epoch sec; seqNo:715; depth 22.72 2021-10-11T01:19:16Z- handleDvl() - RDI_Pathfinder msg: 1633915153.13 epoch sec; seqNo:158 2021-10-11T01:19:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.82 , 76.58 , 55.67 , 79.35 2021-10-11T01:19:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.04 , 0.12 2021-10-11T01:19:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915153.15 epoch sec; seqNo:715; 4061554.92 north; 594491.87 east 2021-10-11T01:19:16Z- AHRS_M2 msg: 1633915153.51 epoch sec; seqNo:692 2021-10-11T01:19:16Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:16Z- handleDepth()-Depth_Keller msg: 1633915153514 epoch sec; seqNo:716; depth 22.84 2021-10-11T01:19:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915153.54 epoch sec; seqNo:716; 4061555.30 north; 594491.86 east 2021-10-11T01:19:17Z- AHRS_M2 msg: 1633915153.91 epoch sec; seqNo:693 2021-10-11T01:19:17Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:17Z- handleDepth()-Depth_Keller msg: 1633915153919 epoch sec; seqNo:717; depth 22.94 2021-10-11T01:19:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915153.93 epoch sec; seqNo:717; 4061555.30 north; 594491.86 east 2021-10-11T01:19:17Z- AHRS_M2 msg: 1633915154.32 epoch sec; seqNo:694 2021-10-11T01:19:17Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:17Z- handleDepth()-Depth_Keller msg: 1633915154323 epoch sec; seqNo:718; depth 23.05 2021-10-11T01:19:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915154.33 epoch sec; seqNo:718; 4061555.67 north; 594490.64 east 2021-10-11T01:19:18Z- AHRS_M2 msg: 1633915154.72 epoch sec; seqNo:695 2021-10-11T01:19:18Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:18Z- handleDepth()-Depth_Keller msg: 1633915154739 epoch sec; seqNo:719; depth 23.15 2021-10-11T01:19:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915154.76 epoch sec; seqNo:719; 4061556.04 north; 594490.63 east 2021-10-11T01:19:18Z- AHRS_M2 msg: 1633915155.12 epoch sec; seqNo:696 2021-10-11T01:19:18Z- AHRS_M2 msg: -0.21 phi; -0.34 theta; 5.42 psi 2021-10-11T01:19:18Z- handleDepth()-Depth_Keller msg: 1633915155130 epoch sec; seqNo:720; depth 23.28 2021-10-11T01:19:18Z- handleDvl() - RDI_Pathfinder msg: 1633915155.16 epoch sec; seqNo:159 2021-10-11T01:19:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.03 , 0.00 , 55.19 , 79.21 2021-10-11T01:19:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.08 , 0.02 2021-10-11T01:19:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915155.17 epoch sec; seqNo:720; 4061556.04 north; 594490.63 east 2021-10-11T01:19:18Z- AHRS_M2 msg: 1633915155.53 epoch sec; seqNo:697 2021-10-11T01:19:18Z- AHRS_M2 msg: -0.21 phi; -0.33 theta; 5.42 psi 2021-10-11T01:19:18Z- handleDepth()-Depth_Keller msg: 1633915155534 epoch sec; seqNo:721; depth 23.38 2021-10-11T01:19:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915155.55 epoch sec; seqNo:721; 4061556.42 north; 594490.63 east 2021-10-11T01:19:19Z- AHRS_M2 msg: 1633915155.94 epoch sec; seqNo:698 2021-10-11T01:19:19Z- AHRS_M2 msg: -0.22 phi; -0.33 theta; 5.42 psi 2021-10-11T01:19:19Z- handleDepth()-Depth_Keller msg: 1633915155942 epoch sec; seqNo:722; depth 23.48 2021-10-11T01:19:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915155.95 epoch sec; seqNo:722; 4061556.42 north; 594490.63 east 2021-10-11T01:19:19Z- LcmTrn::handleMessages() - handling 41 messages took 0.69 ms and 127 calls... 2021-10-11T01:19:19Z- waiting for 1633915153.71, time is 1633915155.95 2021-10-11T01:19:19Z- LcmTrn::updateTrn() >>>> pose time 1633915155.95, meas time 1633915155.16 <<<< 2021-10-11T01:19:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915155.16 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:19Z- TerrainNav::motionUpdate() - currEstimate = (4061556, 594490.63, 23.48) 2021-10-11T01:19:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:19Z- TerrainNav:: SubcloudNIS is 0.94, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:19Z- TNavBF::Projecting Measurements 2021-10-11T01:19:19Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:19:19Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:19:19Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:19:19Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-11T01:19:19Z- TNavFilter::3 good beams. 2021-10-11T01:19:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:19:19Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:19:19Z- TNavBF:: beamIndex[1] = 2 2021-10-11T01:19:19Z- TNavBF:: beamIndex[2] = 3 2021-10-11T01:19:19Z- TNavBF:: beamIndex[3] = 0 2021-10-11T01:19:19Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-11T01:19:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:19:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:19Z- TerrainMapOctree: (vehN, vehE ) = (4061556.03, 594491.00). 2021-10-11T01:19:19Z- TerrainMapOctree: Min Distance = 309.37. 2021-10-11T01:19:19Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:19:19Z- Forcing Subcloud Comparison 2021-10-11T01:19:19Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:19:19Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:19Z- Filter 0 partialDeltaRmsComputation: 91.982775 terrainVariance: 0.418647 1-SumSquareWeights: 0.979858 2021-10-11T01:19:19Z- Filter 0 meanExpectedMeasDiff: 9.568915 delta_rms_squared: 0.408848 alpha: 0.953363 2021-10-11T01:19:19Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:19Z- Filter 0 partialDeltaRmsComputation: 49.010637 terrainVariance: 0.148725 1-SumSquareWeights: 0.979858 2021-10-11T01:19:19Z- Filter 0 meanExpectedMeasDiff: -6.990130 delta_rms_squared: 0.138926 alpha: 0.874155 2021-10-11T01:19:19Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:19Z- Filter 0 partialDeltaRmsComputation: 32.619507 terrainVariance: 0.096160 1-SumSquareWeights: 0.979858 2021-10-11T01:19:19Z- Filter 0 meanExpectedMeasDiff: 5.702924 delta_rms_squared: 0.086361 alpha: 0.811961 2021-10-11T01:19:19Z- Filter 0 SubcloudNIS: 1.216727 2021-10-11T01:19:19Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:19:19Z- TNavBF:: Filter 0 sumWeights = 0.000137 2021-10-11T01:19:19Z- Filter 0 NorthBias: -11.8 EastBias: -47.0 DepthBias: -12.0 NorthVariance: 9.0 EastVariance: 3.5 DepthVariance: 0.8 this->DepthBiasCov: 0.7 2021-10-11T01:19:19Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915155.16 sec. 2021-10-11T01:19:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:19Z- variances([0], [2], and psi_berg) = 8.987506 10.130770 0.000000 2021-10-11T01:19:19Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:19:19Z- LcmTrn::publishEstimates() - MLE : 4061546.92 594443.13 23.48 2021-10-11T01:19:19Z- LcmTrn::publishEstimates() - MMSE : 4061544.58 594443.74 11.51 2021-10-11T01:19:19Z- LcmTrn::publishEstimates() - COVAR: 8.99 10.13 0.84 0.00 2021-10-11T01:19:19Z- AHRS_M2 msg: 1633915156.34 epoch sec; seqNo:699 2021-10-11T01:19:19Z- AHRS_M2 msg: -0.22 phi; -0.33 theta; 5.42 psi 2021-10-11T01:19:19Z- handleDepth()-Depth_Keller msg: 1633915156342 epoch sec; seqNo:723; depth 23.58 2021-10-11T01:19:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915156.36 epoch sec; seqNo:723; 4061556.80 north; 594490.63 east 2021-10-11T01:19:20Z- AHRS_M2 msg: 1633915156.74 epoch sec; seqNo:700 2021-10-11T01:19:20Z- AHRS_M2 msg: -0.22 phi; -0.33 theta; 5.42 psi 2021-10-11T01:19:20Z- handleDepth()-Depth_Keller msg: 1633915156753 epoch sec; seqNo:724; depth 23.69 2021-10-11T01:19:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915156.82 epoch sec; seqNo:724; 4061556.79 north; 594489.41 east 2021-10-11T01:19:20Z- AHRS_M2 msg: 1633915157.15 epoch sec; seqNo:701 2021-10-11T01:19:20Z- AHRS_M2 msg: -0.22 phi; -0.32 theta; 5.42 psi 2021-10-11T01:19:20Z- handleDepth()-Depth_Keller msg: 1633915157151 epoch sec; seqNo:725; depth 23.79 2021-10-11T01:19:20Z- handleDvl() - RDI_Pathfinder msg: 1633915157.18 epoch sec; seqNo:160 2021-10-11T01:19:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.97 , 76.27 , 55.66 , 0.00 2021-10-11T01:19:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.00 , -0.09 2021-10-11T01:19:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915157.21 epoch sec; seqNo:725; 4061557.17 north; 594489.40 east 2021-10-11T01:19:20Z- AHRS_M2 msg: 1633915157.56 epoch sec; seqNo:702 2021-10-11T01:19:20Z- AHRS_M2 msg: -0.23 phi; -0.32 theta; 5.42 psi 2021-10-11T01:19:20Z- handleDepth()-Depth_Keller msg: 1633915157561 epoch sec; seqNo:726; depth 23.90 2021-10-11T01:19:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915157.58 epoch sec; seqNo:726; 4061557.55 north; 594489.40 east 2021-10-11T01:19:21Z- AHRS_M2 msg: 1633915157.95 epoch sec; seqNo:703 2021-10-11T01:19:21Z- AHRS_M2 msg: -0.22 phi; -0.32 theta; 5.42 psi 2021-10-11T01:19:21Z- handleDepth()-Depth_Keller msg: 1633915157957 epoch sec; seqNo:727; depth 23.99 2021-10-11T01:19:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915157.97 epoch sec; seqNo:727; 4061557.55 north; 594489.40 east 2021-10-11T01:19:21Z- AHRS_M2 msg: 1633915158.36 epoch sec; seqNo:704 2021-10-11T01:19:21Z- AHRS_M2 msg: -0.22 phi; -0.31 theta; 5.42 psi 2021-10-11T01:19:21Z- handleDepth()-Depth_Keller msg: 1633915158369 epoch sec; seqNo:728; depth 24.07 2021-10-11T01:19:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915158.38 epoch sec; seqNo:728; 4061557.92 north; 594489.39 east 2021-10-11T01:19:22Z- AHRS_M2 msg: 1633915158.79 epoch sec; seqNo:705 2021-10-11T01:19:22Z- AHRS_M2 msg: -0.22 phi; -0.31 theta; 5.42 psi 2021-10-11T01:19:22Z- handleDepth()-Depth_Keller msg: 1633915158828 epoch sec; seqNo:729; depth 24.19 2021-10-11T01:19:22Z- handleDvl() - RDI_Pathfinder msg: 1633915158.86 epoch sec; seqNo:161 2021-10-11T01:19:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.04 , 76.88 , 55.35 , 0.00 2021-10-11T01:19:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.09 , -0.07 2021-10-11T01:19:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915158.88 epoch sec; seqNo:729; 4061557.91 north; 594488.17 east 2021-10-11T01:19:22Z- AHRS_M2 msg: 1633915159.17 epoch sec; seqNo:706 2021-10-11T01:19:22Z- AHRS_M2 msg: -0.22 phi; -0.30 theta; 5.42 psi 2021-10-11T01:19:22Z- handleDepth()-Depth_Keller msg: 1633915159181 epoch sec; seqNo:730; depth 24.30 2021-10-11T01:19:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915159.20 epoch sec; seqNo:730; 4061558.29 north; 594488.17 east 2021-10-11T01:19:22Z- AHRS_M2 msg: 1633915159.57 epoch sec; seqNo:707 2021-10-11T01:19:22Z- AHRS_M2 msg: -0.22 phi; -0.30 theta; 5.42 psi 2021-10-11T01:19:22Z- handleDepth()-Depth_Keller msg: 1633915159575 epoch sec; seqNo:731; depth 24.39 2021-10-11T01:19:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915159.59 epoch sec; seqNo:731; 4061558.29 north; 594488.17 east 2021-10-11T01:19:23Z- AHRS_M2 msg: 1633915159.97 epoch sec; seqNo:708 2021-10-11T01:19:23Z- AHRS_M2 msg: -0.21 phi; -0.30 theta; 5.42 psi 2021-10-11T01:19:23Z- handleDepth()-Depth_Keller msg: 1633915159980 epoch sec; seqNo:732; depth 24.46 2021-10-11T01:19:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915159.99 epoch sec; seqNo:732; 4061558.67 north; 594488.16 east 2021-10-11T01:19:23Z- AHRS_M2 msg: 1633915160.38 epoch sec; seqNo:709 2021-10-11T01:19:23Z- AHRS_M2 msg: -0.21 phi; -0.29 theta; 5.42 psi 2021-10-11T01:19:23Z- handleDepth()-Depth_Keller msg: 1633915160382 epoch sec; seqNo:733; depth 24.58 2021-10-11T01:19:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915160.39 epoch sec; seqNo:733; 4061558.66 north; 594486.94 east 2021-10-11T01:19:24Z- AHRS_M2 msg: 1633915160.84 epoch sec; seqNo:710 2021-10-11T01:19:24Z- AHRS_M2 msg: -0.20 phi; -0.29 theta; 5.42 psi 2021-10-11T01:19:24Z- handleDepth()-Depth_Keller msg: 1633915160851 epoch sec; seqNo:734; depth 24.66 2021-10-11T01:19:24Z- handleDvl() - RDI_Pathfinder msg: 1633915160.88 epoch sec; seqNo:162 2021-10-11T01:19:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.08 , 73.48 , 54.02 , 71.44 2021-10-11T01:19:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.10 , 0.02 2021-10-11T01:19:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915160.90 epoch sec; seqNo:734; 4061559.03 north; 594486.94 east 2021-10-11T01:19:24Z- handleDepth()-Depth_Keller msg: 1633915161213 epoch sec; seqNo:735; depth 24.77 2021-10-11T01:19:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915161.24 epoch sec; seqNo:735; 4061559.03 north; 594486.94 east 2021-10-11T01:19:24Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls... 2021-10-11T01:19:24Z- waiting for 1633915158.95, time is 1633915161.24 2021-10-11T01:19:24Z- LcmTrn::updateTrn() >>>> pose time 1633915161.24, meas time 1633915160.88 <<<< 2021-10-11T01:19:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915160.88 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:24Z- TerrainNav::motionUpdate() - currEstimate = (4061559, 594486.94, 24.77) 2021-10-11T01:19:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:24Z- TerrainNav:: SubcloudNIS is 1.22, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:24Z- TNavBF::Projecting Measurements 2021-10-11T01:19:24Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:19:24Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:19:24Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:19:24Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:19:24Z- TNavFilter::4 good beams. 2021-10-11T01:19:24Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:19:24Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:19:24Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:19:24Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:19:24Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:19:24Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:19:24Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:19:24Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:24Z- TerrainMapOctree: (vehN, vehE ) = (4061558.86, 594487.19). 2021-10-11T01:19:24Z- TerrainMapOctree: Min Distance = 304.62. 2021-10-11T01:19:24Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:19:24Z- Forcing Subcloud Comparison 2021-10-11T01:19:24Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:19:24Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:24Z- Filter 0 partialDeltaRmsComputation: 79.300945 terrainVariance: 0.495032 1-SumSquareWeights: 0.976085 2021-10-11T01:19:24Z- Filter 0 meanExpectedMeasDiff: 8.877269 delta_rms_squared: 0.485271 alpha: 0.960417 2021-10-11T01:19:24Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:24Z- Filter 0 partialDeltaRmsComputation: 56.230974 terrainVariance: 0.482203 1-SumSquareWeights: 0.976085 2021-10-11T01:19:24Z- Filter 0 meanExpectedMeasDiff: -7.466510 delta_rms_squared: 0.472442 alpha: 0.959386 2021-10-11T01:19:24Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:24Z- Filter 0 partialDeltaRmsComputation: 19.700052 terrainVariance: 0.448945 1-SumSquareWeights: 0.976085 2021-10-11T01:19:24Z- Filter 0 meanExpectedMeasDiff: -4.387608 delta_rms_squared: 0.439184 alpha: 0.956444 2021-10-11T01:19:24Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:24Z- Filter 0 partialDeltaRmsComputation: 5.877010 terrainVariance: 0.089184 1-SumSquareWeights: 0.976085 2021-10-11T01:19:24Z- Filter 0 meanExpectedMeasDiff: 2.405790 delta_rms_squared: 0.079423 alpha: 0.798839 2021-10-11T01:19:24Z- Filter 0 SubcloudNIS: 1.365313 2021-10-11T01:19:24Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:19:24Z- TNavBF:: Filter 0 sumWeights = 0.000206 2021-10-11T01:19:24Z- Filter 0 NorthBias: -13.7 EastBias: -46.7 DepthBias: -12.1 NorthVariance: 7.5 EastVariance: 5.0 DepthVariance: 0.7 this->DepthBiasCov: 0.7 2021-10-11T01:19:24Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915160.88 sec. 2021-10-11T01:19:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:24Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:24Z- variances([0], [2], and psi_berg) = 7.551197 10.410513 0.000000 2021-10-11T01:19:24Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:19:24Z- LcmTrn::publishEstimates() - MLE : 4061544.53 594438.44 24.77 2021-10-11T01:19:24Z- LcmTrn::publishEstimates() - MMSE : 4061545.38 594440.26 12.72 2021-10-11T01:19:24Z- LcmTrn::publishEstimates() - COVAR: 7.55 10.41 0.75 0.00 2021-10-11T01:19:24Z- AHRS_M2 msg: 1633915161.59 epoch sec; seqNo:711 2021-10-11T01:19:24Z- AHRS_M2 msg: -0.20 phi; -0.29 theta; 5.42 psi 2021-10-11T01:19:24Z- handleDepth()-Depth_Keller msg: 1633915161604 epoch sec; seqNo:736; depth 24.87 2021-10-11T01:19:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915161.62 epoch sec; seqNo:736; 4061559.41 north; 594486.94 east 2021-10-11T01:19:25Z- AHRS_M2 msg: 1633915162.00 epoch sec; seqNo:712 2021-10-11T01:19:25Z- AHRS_M2 msg: -0.20 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:25Z- handleDepth()-Depth_Keller msg: 1633915162008 epoch sec; seqNo:737; depth 24.96 2021-10-11T01:19:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915162.03 epoch sec; seqNo:737; 4061559.40 north; 594485.71 east 2021-10-11T01:19:25Z- AHRS_M2 msg: 1633915162.40 epoch sec; seqNo:713 2021-10-11T01:19:25Z- AHRS_M2 msg: -0.20 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:25Z- handleDepth()-Depth_Keller msg: 1633915162406 epoch sec; seqNo:738; depth 25.04 2021-10-11T01:19:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915162.42 epoch sec; seqNo:738; 4061559.78 north; 594485.71 east 2021-10-11T01:19:26Z- handleDepth()-Depth_Keller msg: 1633915162859 epoch sec; seqNo:739; depth 25.12 2021-10-11T01:19:26Z- handleDvl() - RDI_Pathfinder msg: 1633915162.88 epoch sec; seqNo:163 2021-10-11T01:19:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.81 , 0.00 , 52.89 , 70.42 2021-10-11T01:19:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.06 , 0.06 2021-10-11T01:19:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915162.91 epoch sec; seqNo:739; 4061560.16 north; 594485.71 east 2021-10-11T01:19:26Z- AHRS_M2 msg: 1633915163.21 epoch sec; seqNo:714 2021-10-11T01:19:26Z- AHRS_M2 msg: -0.20 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:26Z- handleDepth()-Depth_Keller msg: 1633915163218 epoch sec; seqNo:740; depth 25.24 2021-10-11T01:19:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915163.24 epoch sec; seqNo:740; 4061560.16 north; 594485.71 east 2021-10-11T01:19:26Z- AHRS_M2 msg: 1633915163.61 epoch sec; seqNo:715 2021-10-11T01:19:26Z- AHRS_M2 msg: -0.20 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:26Z- handleDepth()-Depth_Keller msg: 1633915163616 epoch sec; seqNo:741; depth 25.31 2021-10-11T01:19:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915163.63 epoch sec; seqNo:741; 4061560.54 north; 594485.70 east 2021-10-11T01:19:27Z- AHRS_M2 msg: 1633915164.02 epoch sec; seqNo:716 2021-10-11T01:19:27Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:27Z- handleDepth()-Depth_Keller msg: 1633915164029 epoch sec; seqNo:742; depth 25.40 2021-10-11T01:19:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915164.04 epoch sec; seqNo:742; 4061560.52 north; 594484.48 east 2021-10-11T01:19:27Z- AHRS_M2 msg: 1633915164.42 epoch sec; seqNo:717 2021-10-11T01:19:27Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:27Z- handleDepth()-Depth_Keller msg: 1633915164426 epoch sec; seqNo:743; depth 25.49 2021-10-11T01:19:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915164.44 epoch sec; seqNo:743; 4061560.90 north; 594484.48 east 2021-10-11T01:19:28Z- AHRS_M2 msg: 1633915164.84 epoch sec; seqNo:718 2021-10-11T01:19:28Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:28Z- handleDepth()-Depth_Keller msg: 1633915164848 epoch sec; seqNo:744; depth 25.59 2021-10-11T01:19:28Z- handleDvl() - RDI_Pathfinder msg: 1633915164.87 epoch sec; seqNo:164 2021-10-11T01:19:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.21 , 72.02 , 53.43 , 70.57 2021-10-11T01:19:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.09 , 0.07 2021-10-11T01:19:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915164.91 epoch sec; seqNo:744; 4061560.90 north; 594484.48 east 2021-10-11T01:19:28Z- AHRS_M2 msg: 1633915165.32 epoch sec; seqNo:719 2021-10-11T01:19:28Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:28Z- handleDepth()-Depth_Keller msg: 1633915165326 epoch sec; seqNo:745; depth 25.68 2021-10-11T01:19:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915165.34 epoch sec; seqNo:745; 4061561.28 north; 594484.47 east 2021-10-11T01:19:28Z- AHRS_M2 msg: 1633915165.63 epoch sec; seqNo:720 2021-10-11T01:19:28Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:29Z- handleDepth()-Depth_Keller msg: 1633915165640 epoch sec; seqNo:746; depth 25.79 2021-10-11T01:19:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915165.65 epoch sec; seqNo:746; 4061561.27 north; 594483.25 east 2021-10-11T01:19:29Z- AHRS_M2 msg: 1633915166.04 epoch sec; seqNo:721 2021-10-11T01:19:29Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:29Z- handleDepth()-Depth_Keller msg: 1633915166048 epoch sec; seqNo:747; depth 25.85 2021-10-11T01:19:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915166.07 epoch sec; seqNo:747; 4061561.65 north; 594483.25 east 2021-10-11T01:19:29Z- AHRS_M2 msg: 1633915166.44 epoch sec; seqNo:722 2021-10-11T01:19:29Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:29Z- handleDepth()-Depth_Keller msg: 1633915166456 epoch sec; seqNo:748; depth 25.95 2021-10-11T01:19:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915166.48 epoch sec; seqNo:748; 4061561.65 north; 594483.25 east 2021-10-11T01:19:29Z- LcmTrn::handleMessages() - handling 40 messages took 0.84 ms and 123 calls... 2021-10-11T01:19:29Z- waiting for 1633915164.24, time is 1633915166.48 2021-10-11T01:19:29Z- LcmTrn::updateTrn() >>>> pose time 1633915166.48, meas time 1633915164.87 <<<< 2021-10-11T01:19:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915164.87 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:29Z- TerrainNav::motionUpdate() - currEstimate = (4061562, 594483.25, 25.95) 2021-10-11T01:19:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:29Z- TerrainNav:: SubcloudNIS is 1.37, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:29Z- TNavBF::Projecting Measurements 2021-10-11T01:19:29Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:19:29Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:19:29Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:19:29Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:19:29Z- TNavFilter::4 good beams. 2021-10-11T01:19:29Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:19:29Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:19:29Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:19:29Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:19:29Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:19:29Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:19:29Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:19:29Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:29Z- TerrainMapOctree: (vehN, vehE ) = (4061560.85, 594484.38). 2021-10-11T01:19:29Z- TerrainMapOctree: Min Distance = 301.19. 2021-10-11T01:19:29Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:19:30Z- Forcing Subcloud Comparison 2021-10-11T01:19:30Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:19:30Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:30Z- Filter 0 partialDeltaRmsComputation: 90.499505 terrainVariance: 0.414057 1-SumSquareWeights: 0.975434 2021-10-11T01:19:30Z- Filter 0 meanExpectedMeasDiff: 9.491335 delta_rms_squared: 0.404303 alpha: 0.952864 2021-10-11T01:19:30Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:30Z- Filter 0 partialDeltaRmsComputation: 63.596707 terrainVariance: 0.660469 1-SumSquareWeights: 0.975434 2021-10-11T01:19:30Z- Filter 0 meanExpectedMeasDiff: -7.933236 delta_rms_squared: 0.650714 alpha: 0.970181 2021-10-11T01:19:30Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:30Z- Filter 0 partialDeltaRmsComputation: 11.407078 terrainVariance: 0.491910 1-SumSquareWeights: 0.975434 2021-10-11T01:19:30Z- Filter 0 meanExpectedMeasDiff: -3.303811 delta_rms_squared: 0.482156 alpha: 0.960172 2021-10-11T01:19:30Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:30Z- Filter 0 partialDeltaRmsComputation: 9.735260 terrainVariance: 0.391962 1-SumSquareWeights: 0.975434 2021-10-11T01:19:30Z- Filter 0 meanExpectedMeasDiff: 3.056681 delta_rms_squared: 0.382208 alpha: 0.950274 2021-10-11T01:19:30Z- Filter 0 SubcloudNIS: 1.527915 2021-10-11T01:19:30Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:19:30Z- TNavBF:: Filter 0 sumWeights = 0.000085 2021-10-11T01:19:30Z- Filter 0 NorthBias: -16.0 EastBias: -46.5 DepthBias: -12.0 NorthVariance: 8.9 EastVariance: 7.4 DepthVariance: 0.7 this->DepthBiasCov: 0.6 2021-10-11T01:19:30Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915164.87 sec. 2021-10-11T01:19:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:30Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:30Z- variances([0], [2], and psi_berg) = 8.882051 19.592754 0.000000 2021-10-11T01:19:30Z- LcmTrn::publishEstimates() - reinits:0 filterstate:0 2021-10-11T01:19:30Z- LcmTrn::publishEstimates() - MLE : 4061543.15 594436.75 25.95 2021-10-11T01:19:30Z- LcmTrn::publishEstimates() - MMSE : 4061545.63 594436.85 13.94 2021-10-11T01:19:30Z- LcmTrn::publishEstimates() - COVAR: 8.88 19.59 0.79 0.00 2021-10-11T01:19:30Z- AHRS_M2 msg: 1633915166.86 epoch sec; seqNo:723 2021-10-11T01:19:30Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:30Z- handleDepth()-Depth_Keller msg: 1633915166876 epoch sec; seqNo:749; depth 26.02 2021-10-11T01:19:30Z- handleDvl() - RDI_Pathfinder msg: 1633915166.90 epoch sec; seqNo:165 2021-10-11T01:19:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.34 , 71.15 , 53.43 , 70.28 2021-10-11T01:19:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.08 , 0.09 2021-10-11T01:19:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915166.91 epoch sec; seqNo:749; 4061562.02 north; 594483.24 east 2021-10-11T01:19:30Z- AHRS_M2 msg: 1633915167.25 epoch sec; seqNo:724 2021-10-11T01:19:30Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:30Z- handleDepth()-Depth_Keller msg: 1633915167251 epoch sec; seqNo:750; depth 26.13 2021-10-11T01:19:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915167.27 epoch sec; seqNo:750; 4061562.01 north; 594482.02 east 2021-10-11T01:19:31Z- AHRS_M2 msg: 1633915167.65 epoch sec; seqNo:725 2021-10-11T01:19:31Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:31Z- handleDepth()-Depth_Keller msg: 1633915167661 epoch sec; seqNo:751; depth 26.20 2021-10-11T01:19:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915167.67 epoch sec; seqNo:751; 4061562.39 north; 594482.02 east 2021-10-11T01:19:31Z- AHRS_M2 msg: 1633915168.05 epoch sec; seqNo:726 2021-10-11T01:19:31Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:31Z- handleDepth()-Depth_Keller msg: 1633915168058 epoch sec; seqNo:752; depth 26.28 2021-10-11T01:19:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915168.10 epoch sec; seqNo:752; 4061562.39 north; 594482.02 east 2021-10-11T01:19:31Z- AHRS_M2 msg: 1633915168.46 epoch sec; seqNo:727 2021-10-11T01:19:31Z- AHRS_M2 msg: -0.20 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:31Z- handleDepth()-Depth_Keller msg: 1633915168466 epoch sec; seqNo:753; depth 26.38 2021-10-11T01:19:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915168.48 epoch sec; seqNo:753; 4061562.77 north; 594482.02 east 2021-10-11T01:19:32Z- AHRS_M2 msg: 1633915168.86 epoch sec; seqNo:728 2021-10-11T01:19:32Z- AHRS_M2 msg: -0.20 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:32Z- handleDepth()-Depth_Keller msg: 1633915168872 epoch sec; seqNo:754; depth 26.46 2021-10-11T01:19:32Z- handleDvl() - RDI_Pathfinder msg: 1633915168.89 epoch sec; seqNo:166 2021-10-11T01:19:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.33 , 70.56 , 52.85 , 69.98 2021-10-11T01:19:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , 0.12 2021-10-11T01:19:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915168.93 epoch sec; seqNo:754; 4061563.15 north; 594482.01 east 2021-10-11T01:19:32Z- AHRS_M2 msg: 1633915169.27 epoch sec; seqNo:729 2021-10-11T01:19:32Z- AHRS_M2 msg: -0.20 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:32Z- handleDepth()-Depth_Keller msg: 1633915169278 epoch sec; seqNo:755; depth 26.56 2021-10-11T01:19:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915169.30 epoch sec; seqNo:755; 4061563.13 north; 594480.79 east 2021-10-11T01:19:33Z- AHRS_M2 msg: 1633915169.67 epoch sec; seqNo:730 2021-10-11T01:19:33Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:33Z- handleDepth()-Depth_Keller msg: 1633915169674 epoch sec; seqNo:756; depth 26.64 2021-10-11T01:19:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915169.68 epoch sec; seqNo:756; 4061563.51 north; 594480.79 east 2021-10-11T01:19:33Z- AHRS_M2 msg: 1633915170.08 epoch sec; seqNo:731 2021-10-11T01:19:33Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:33Z- handleDepth()-Depth_Keller msg: 1633915170085 epoch sec; seqNo:757; depth 26.72 2021-10-11T01:19:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915170.10 epoch sec; seqNo:757; 4061563.51 north; 594480.79 east 2021-10-11T01:19:33Z- AHRS_M2 msg: 1633915170.48 epoch sec; seqNo:732 2021-10-11T01:19:33Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:33Z- handleDepth()-Depth_Keller msg: 1633915170493 epoch sec; seqNo:758; depth 26.82 2021-10-11T01:19:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915170.51 epoch sec; seqNo:758; 4061563.89 north; 594480.78 east 2021-10-11T01:19:34Z- AHRS_M2 msg: 1633915170.88 epoch sec; seqNo:733 2021-10-11T01:19:34Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:34Z- handleDepth()-Depth_Keller msg: 1633915170886 epoch sec; seqNo:759; depth 26.91 2021-10-11T01:19:34Z- handleDvl() - RDI_Pathfinder msg: 1633915170.92 epoch sec; seqNo:167 2021-10-11T01:19:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.75 , 70.27 , 52.27 , 69.69 2021-10-11T01:19:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.04 , 0.08 2021-10-11T01:19:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915170.93 epoch sec; seqNo:759; 4061564.27 north; 594480.78 east 2021-10-11T01:19:34Z- AHRS_M2 msg: 1633915171.28 epoch sec; seqNo:734 2021-10-11T01:19:34Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:34Z- handleDepth()-Depth_Keller msg: 1633915171290 epoch sec; seqNo:760; depth 27.00 2021-10-11T01:19:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915171.31 epoch sec; seqNo:760; 4061564.26 north; 594479.56 east 2021-10-11T01:19:35Z- AHRS_M2 msg: 1633915171.69 epoch sec; seqNo:735 2021-10-11T01:19:35Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:35Z- handleDepth()-Depth_Keller msg: 1633915171697 epoch sec; seqNo:761; depth 27.06 2021-10-11T01:19:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915171.71 epoch sec; seqNo:761; 4061564.64 north; 594479.55 east 2021-10-11T01:19:35Z- LcmTrn::handleMessages() - handling 42 messages took 0.78 ms and 126 calls... 2021-10-11T01:19:35Z- waiting for 1633915169.48, time is 1633915171.71 2021-10-11T01:19:35Z- LcmTrn::updateTrn() >>>> pose time 1633915171.71, meas time 1633915170.92 <<<< 2021-10-11T01:19:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915170.92 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:35Z- TerrainNav::motionUpdate() - currEstimate = (4061565, 594479.55, 27.06) 2021-10-11T01:19:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:35Z- TerrainNav:: SubcloudNIS of 1.53 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-11T01:19:35Z- reinitFilter: getDistribToSave == 0 2021-10-11T01:19:35Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-11T01:19:35Z- parseSensorSpecs parsing sensor of type 1. 2021-10-11T01:19:35Z- Sensor 0 is of type 1. 2021-10-11T01:19:35Z- parseSensorSpecs parsing sensor of type 2. 2021-10-11T01:19:35Z- Sensor 1 is of type 2. 2021-10-11T01:19:35Z- parseSensorSpecs parsing sensor of type 5. 2021-10-11T01:19:35Z- Sensor 2 is of type 5. 2021-10-11T01:19:35Z- Random noise maker initialized with 1633915175 2021-10-11T01:19:35Z- setDistribToSave(0) 2021-10-11T01:19:35Z- setDistribToSave set to 0 2021-10-11T01:19:35Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-11T01:19:35Z- Sensor #1: 2021-10-11T01:19:35Z- Sensor name: rdiDVL 2021-10-11T01:19:35Z- Sensor type: 1 2021-10-11T01:19:35Z- Number of beams per measurement: 4 2021-10-11T01:19:35Z- Sensor #1 to vehicle transformation information: 2021-10-11T01:19:35Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:19:35Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:19:35Z- 2021-10-11T01:19:35Z- Sensor #2: 2021-10-11T01:19:35Z- Sensor name: resonSeabat8101 2021-10-11T01:19:35Z- Sensor type: 2 2021-10-11T01:19:35Z- Number of beams per measurement: 11 2021-10-11T01:19:35Z- Sensor #2 to vehicle transformation information: 2021-10-11T01:19:35Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:19:35Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:19:35Z- 2021-10-11T01:19:35Z- Sensor #3: 2021-10-11T01:19:35Z- Sensor name: imagenexdeltat 2021-10-11T01:19:35Z- Sensor type: 5 2021-10-11T01:19:35Z- Number of beams per measurement: 120 2021-10-11T01:19:35Z- Sensor #3 to vehicle transformation information: 2021-10-11T01:19:35Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:19:35Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:19:35Z- 2021-10-11T01:19:35Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-11T01:19:35Z- TerrainNav::TNavFilter initialized with type 3 2021-10-11T01:19:35Z- TNavBF::setModifiedWeighting umw: 4 2021-10-11T01:19:35Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-11T01:19:35Z- TNavBF::numFilters: 1 2021-10-11T01:19:35Z- TerrainNav::modified weighting set to 0 2021-10-11T01:19:35Z- setDistribToSave(0) 2021-10-11T01:19:35Z- setDistribToSave set to 0 2021-10-11T01:19:35Z- TerrainNav::motionUpdate() - filter unhealthy, skipping this update 2021-10-11T01:19:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:19:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2021-10-11T01:19:35Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:19:35Z- LcmTrn::publishEstimates() - MLE : 4061543.15 594436.75 25.95 2021-10-11T01:19:35Z- LcmTrn::publishEstimates() - MMSE : 4061545.63 594436.85 13.94 2021-10-11T01:19:35Z- LcmTrn::publishEstimates() - COVAR: 8.88 19.59 0.79 0.00 2021-10-11T01:19:35Z- AHRS_M2 msg: 1633915172.10 epoch sec; seqNo:736 2021-10-11T01:19:35Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:35Z- handleDepth()-Depth_Keller msg: 1633915172106 epoch sec; seqNo:762; depth 27.15 2021-10-11T01:19:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915172.12 epoch sec; seqNo:762; 4061564.64 north; 594479.55 east 2021-10-11T01:19:35Z- AHRS_M2 msg: 1633915172.50 epoch sec; seqNo:737 2021-10-11T01:19:35Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:35Z- handleDepth()-Depth_Keller msg: 1633915172507 epoch sec; seqNo:763; depth 27.23 2021-10-11T01:19:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915172.52 epoch sec; seqNo:763; 4061565.02 north; 594479.55 east 2021-10-11T01:19:36Z- AHRS_M2 msg: 1633915172.90 epoch sec; seqNo:738 2021-10-11T01:19:36Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:36Z- handleDepth()-Depth_Keller msg: 1633915172907 epoch sec; seqNo:764; depth 27.31 2021-10-11T01:19:36Z- handleDvl() - RDI_Pathfinder msg: 1633915172.93 epoch sec; seqNo:168 2021-10-11T01:19:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.46 , 70.84 , 51.39 , 70.26 2021-10-11T01:19:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.01 , -0.02 2021-10-11T01:19:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915172.97 epoch sec; seqNo:764; 4061565.39 north; 594479.55 east 2021-10-11T01:19:36Z- handleDepth()-Depth_Keller msg: 1633915173324 epoch sec; seqNo:765; depth 27.39 2021-10-11T01:19:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915173.34 epoch sec; seqNo:765; 4061565.38 north; 594478.33 east 2021-10-11T01:19:37Z- AHRS_M2 msg: 1633915173.71 epoch sec; seqNo:739 2021-10-11T01:19:37Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:37Z- handleDepth()-Depth_Keller msg: 1633915173715 epoch sec; seqNo:766; depth 27.48 2021-10-11T01:19:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915173.73 epoch sec; seqNo:766; 4061565.76 north; 594478.32 east 2021-10-11T01:19:37Z- AHRS_M2 msg: 1633915174.12 epoch sec; seqNo:740 2021-10-11T01:19:37Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:37Z- handleDepth()-Depth_Keller msg: 1633915174124 epoch sec; seqNo:767; depth 27.55 2021-10-11T01:19:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915174.15 epoch sec; seqNo:767; 4061565.76 north; 594478.32 east 2021-10-11T01:19:37Z- AHRS_M2 msg: 1633915174.52 epoch sec; seqNo:741 2021-10-11T01:19:37Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:37Z- handleDepth()-Depth_Keller msg: 1633915174527 epoch sec; seqNo:768; depth 27.64 2021-10-11T01:19:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915174.54 epoch sec; seqNo:768; 4061566.14 north; 594478.32 east 2021-10-11T01:19:38Z- AHRS_M2 msg: 1633915174.92 epoch sec; seqNo:742 2021-10-11T01:19:38Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:38Z- handleDepth()-Depth_Keller msg: 1633915174928 epoch sec; seqNo:769; depth 27.71 2021-10-11T01:19:38Z- handleDvl() - RDI_Pathfinder msg: 1633915174.95 epoch sec; seqNo:169 2021-10-11T01:19:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.58 , 70.55 , 50.22 , 69.68 2021-10-11T01:19:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.00 2021-10-11T01:19:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915174.99 epoch sec; seqNo:769; 4061566.50 north; 594477.09 east 2021-10-11T01:19:38Z- AHRS_M2 msg: 1633915175.33 epoch sec; seqNo:743 2021-10-11T01:19:38Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:38Z- handleDepth()-Depth_Keller msg: 1633915175344 epoch sec; seqNo:770; depth 27.79 2021-10-11T01:19:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915175.36 epoch sec; seqNo:770; 4061566.50 north; 594477.09 east 2021-10-11T01:19:39Z- AHRS_M2 msg: 1633915175.73 epoch sec; seqNo:744 2021-10-11T01:19:39Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:39Z- handleDepth()-Depth_Keller msg: 1633915175734 epoch sec; seqNo:771; depth 27.88 2021-10-11T01:19:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915175.74 epoch sec; seqNo:771; 4061566.88 north; 594477.09 east 2021-10-11T01:19:39Z- AHRS_M2 msg: 1633915176.14 epoch sec; seqNo:745 2021-10-11T01:19:39Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:39Z- handleDepth()-Depth_Keller msg: 1633915176144 epoch sec; seqNo:772; depth 27.97 2021-10-11T01:19:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915176.15 epoch sec; seqNo:772; 4061567.26 north; 594477.08 east 2021-10-11T01:19:39Z- AHRS_M2 msg: 1633915176.54 epoch sec; seqNo:746 2021-10-11T01:19:39Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:39Z- handleDepth()-Depth_Keller msg: 1633915176548 epoch sec; seqNo:773; depth 28.04 2021-10-11T01:19:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915176.56 epoch sec; seqNo:773; 4061567.26 north; 594477.08 east 2021-10-11T01:19:40Z- LcmTrn::handleMessages() - handling 37 messages took 0.68 ms and 123 calls... 2021-10-11T01:19:40Z- waiting for 1633915174.71, time is 1633915176.56 2021-10-11T01:19:40Z- LcmTrn::updateTrn() >>>> pose time 1633915176.56, meas time 1633915174.95 <<<< 2021-10-11T01:19:40Z- TerrainNav::Measurement type 1 from time = 1633915174.95 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2021-10-11T01:19:40Z- TerrainNav::motionUpdate() - currEstimate = (4061567, 594477.08, 28.04) 2021-10-11T01:19:40Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2021-10-11T01:19:40Z- TNavBF: Successfully initialized particles 2021-10-11T01:19:40Z- TerrainNav:: vehicle motion has been initialized 2021-10-11T01:19:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:40Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:40Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2021-10-11T01:19:40Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:19:40Z- LcmTrn::publishEstimates() - MLE : 4061501.75 594381.19 16.04 2021-10-11T01:19:40Z- LcmTrn::publishEstimates() - MMSE : 4061551.25 594430.69 16.04 2021-10-11T01:19:40Z- LcmTrn::publishEstimates() - COVAR: 833.25 833.25 25.00 0.00 2021-10-11T01:19:40Z- AHRS_M2 msg: 1633915176.94 epoch sec; seqNo:747 2021-10-11T01:19:40Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:40Z- handleDepth()-Depth_Keller msg: 1633915176948 epoch sec; seqNo:774; depth 28.14 2021-10-11T01:19:40Z- handleDvl() - RDI_Pathfinder msg: 1633915176.98 epoch sec; seqNo:170 2021-10-11T01:19:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.29 , 69.10 , 48.77 , 69.10 2021-10-11T01:19:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , 0.11 2021-10-11T01:19:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915177.01 epoch sec; seqNo:774; 4061567.63 north; 594475.86 east 2021-10-11T01:19:40Z- AHRS_M2 msg: 1633915177.34 epoch sec; seqNo:748 2021-10-11T01:19:40Z- AHRS_M2 msg: -0.21 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:40Z- handleDepth()-Depth_Keller msg: 1633915177355 epoch sec; seqNo:775; depth 28.23 2021-10-11T01:19:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915177.38 epoch sec; seqNo:775; 4061567.63 north; 594475.86 east 2021-10-11T01:19:41Z- AHRS_M2 msg: 1633915177.75 epoch sec; seqNo:749 2021-10-11T01:19:41Z- AHRS_M2 msg: -0.20 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:41Z- handleDepth()-Depth_Keller msg: 1633915177756 epoch sec; seqNo:776; depth 28.32 2021-10-11T01:19:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915177.77 epoch sec; seqNo:776; 4061568.01 north; 594475.86 east 2021-10-11T01:19:41Z- AHRS_M2 msg: 1633915178.15 epoch sec; seqNo:750 2021-10-11T01:19:41Z- AHRS_M2 msg: -0.20 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:41Z- handleDepth()-Depth_Keller msg: 1633915178167 epoch sec; seqNo:777; depth 28.40 2021-10-11T01:19:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915178.18 epoch sec; seqNo:777; 4061568.38 north; 594475.85 east 2021-10-11T01:19:41Z- AHRS_M2 msg: 1633915178.56 epoch sec; seqNo:751 2021-10-11T01:19:41Z- AHRS_M2 msg: -0.20 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:41Z- handleDepth()-Depth_Keller msg: 1633915178568 epoch sec; seqNo:778; depth 28.47 2021-10-11T01:19:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915178.59 epoch sec; seqNo:778; 4061568.37 north; 594474.63 east 2021-10-11T01:19:42Z- AHRS_M2 msg: 1633915178.96 epoch sec; seqNo:752 2021-10-11T01:19:42Z- AHRS_M2 msg: -0.21 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:42Z- handleDepth()-Depth_Keller msg: 1633915178973 epoch sec; seqNo:779; depth 28.57 2021-10-11T01:19:42Z- handleDvl() - RDI_Pathfinder msg: 1633915178.99 epoch sec; seqNo:171 2021-10-11T01:19:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.58 , 68.51 , 48.48 , 69.38 2021-10-11T01:19:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.04 , 0.07 2021-10-11T01:19:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915179.03 epoch sec; seqNo:779; 4061568.75 north; 594474.63 east 2021-10-11T01:19:42Z- AHRS_M2 msg: 1633915179.37 epoch sec; seqNo:753 2021-10-11T01:19:42Z- AHRS_M2 msg: -0.22 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:42Z- handleDepth()-Depth_Keller msg: 1633915179379 epoch sec; seqNo:780; depth 28.66 2021-10-11T01:19:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915179.39 epoch sec; seqNo:780; 4061568.75 north; 594474.63 east 2021-10-11T01:19:43Z- AHRS_M2 msg: 1633915179.77 epoch sec; seqNo:754 2021-10-11T01:19:43Z- AHRS_M2 msg: -0.23 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:43Z- handleDepth()-Depth_Keller msg: 1633915179777 epoch sec; seqNo:781; depth 28.72 2021-10-11T01:19:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915179.80 epoch sec; seqNo:781; 4061569.13 north; 594474.62 east 2021-10-11T01:19:43Z- AHRS_M2 msg: 1633915180.17 epoch sec; seqNo:755 2021-10-11T01:19:43Z- AHRS_M2 msg: -0.23 phi; -0.28 theta; 5.43 psi 2021-10-11T01:19:43Z- handleDepth()-Depth_Keller msg: 1633915180178 epoch sec; seqNo:782; depth 28.81 2021-10-11T01:19:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915180.19 epoch sec; seqNo:782; 4061569.13 north; 594474.62 east 2021-10-11T01:19:43Z- AHRS_M2 msg: 1633915180.58 epoch sec; seqNo:756 2021-10-11T01:19:43Z- AHRS_M2 msg: -0.23 phi; -0.28 theta; 5.43 psi 2021-10-11T01:19:43Z- handleDepth()-Depth_Keller msg: 1633915180584 epoch sec; seqNo:783; depth 28.89 2021-10-11T01:19:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915180.60 epoch sec; seqNo:783; 4061569.49 north; 594473.40 east 2021-10-11T01:19:44Z- AHRS_M2 msg: 1633915180.98 epoch sec; seqNo:757 2021-10-11T01:19:44Z- AHRS_M2 msg: -0.23 phi; -0.28 theta; 5.43 psi 2021-10-11T01:19:44Z- handleDepth()-Depth_Keller msg: 1633915180986 epoch sec; seqNo:784; depth 28.96 2021-10-11T01:19:44Z- handleDvl() - RDI_Pathfinder msg: 1633915181.02 epoch sec; seqNo:172 2021-10-11T01:19:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.70 , 69.67 , 47.90 , 69.67 2021-10-11T01:19:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.11 , -0.04 2021-10-11T01:19:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915181.03 epoch sec; seqNo:784; 4061569.87 north; 594473.39 east 2021-10-11T01:19:44Z- AHRS_M2 msg: 1633915181.38 epoch sec; seqNo:758 2021-10-11T01:19:44Z- AHRS_M2 msg: -0.22 phi; -0.28 theta; 5.42 psi 2021-10-11T01:19:44Z- handleDepth()-Depth_Keller msg: 1633915181391 epoch sec; seqNo:785; depth 29.05 2021-10-11T01:19:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915181.41 epoch sec; seqNo:785; 4061569.87 north; 594473.39 east 2021-10-11T01:19:45Z- AHRS_M2 msg: 1633915181.79 epoch sec; seqNo:759 2021-10-11T01:19:45Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:45Z- handleDepth()-Depth_Keller msg: 1633915181796 epoch sec; seqNo:786; depth 29.11 2021-10-11T01:19:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915181.81 epoch sec; seqNo:786; 4061570.25 north; 594473.39 east 2021-10-11T01:19:45Z- LcmTrn::handleMessages() - handling 42 messages took 0.84 ms and 125 calls... 2021-10-11T01:19:45Z- waiting for 1633915179.56, time is 1633915181.81 2021-10-11T01:19:45Z- LcmTrn::updateTrn() >>>> pose time 1633915181.81, meas time 1633915181.02 <<<< 2021-10-11T01:19:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915181.02 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:45Z- TerrainNav::motionUpdate() - currEstimate = (4061570, 594473.39, 29.11) 2021-10-11T01:19:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:45Z- TNavBF::Projecting Measurements 2021-10-11T01:19:45Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:19:45Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:19:45Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:19:45Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:19:45Z- TNavFilter::4 good beams. 2021-10-11T01:19:45Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:19:45Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:19:45Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:19:45Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:19:45Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:19:45Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:19:45Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:19:45Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:45Z- TerrainMapOctree: (vehN, vehE ) = (4061569.80, 594473.95). 2021-10-11T01:19:45Z- TerrainMapOctree: Min Distance = 287.44. 2021-10-11T01:19:45Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:19:45Z- Forcing Subcloud Comparison 2021-10-11T01:19:45Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:19:45Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:45Z- Filter 0 partialDeltaRmsComputation: 57.113696 terrainVariance: 6.424487 1-SumSquareWeights: 0.999900 2021-10-11T01:19:45Z- Filter 0 meanExpectedMeasDiff: 7.119636 delta_rms_squared: 6.414488 alpha: 0.996892 2021-10-11T01:19:45Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:45Z- Filter 0 partialDeltaRmsComputation: 146.080600 terrainVariance: 8.057044 1-SumSquareWeights: 0.999900 2021-10-11T01:19:45Z- Filter 0 meanExpectedMeasDiff: -11.748343 delta_rms_squared: 8.047045 alpha: 0.997521 2021-10-11T01:19:45Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:45Z- Filter 0 partialDeltaRmsComputation: 66.681197 terrainVariance: 7.518871 1-SumSquareWeights: 0.999900 2021-10-11T01:19:45Z- Filter 0 meanExpectedMeasDiff: -7.691705 delta_rms_squared: 7.508872 alpha: 0.997344 2021-10-11T01:19:45Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:45Z- Filter 0 partialDeltaRmsComputation: 30.220846 terrainVariance: 2.368865 1-SumSquareWeights: 0.999900 2021-10-11T01:19:45Z- Filter 0 meanExpectedMeasDiff: 5.277498 delta_rms_squared: 2.358866 alpha: 0.991593 2021-10-11T01:19:45Z- Filter 0 SubcloudNIS: 0.104832 2021-10-11T01:19:45Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:19:45Z- TNavBF:: Filter 0 sumWeights = 0.000009 2021-10-11T01:19:45Z- Filter 0 NorthBias: -11.1 EastBias: -79.2 DepthBias: -37.3 NorthVariance: 412.0 EastVariance: 314.8 DepthVariance: 2.6 this->DepthBiasCov: 1.7 2021-10-11T01:19:45Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915181.02 sec. 2021-10-11T01:19:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:45Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:45Z- variances([0], [2], and psi_berg) = 411.905065 322.936836 0.000000 2021-10-11T01:19:45Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:19:45Z- LcmTrn::publishEstimates() - MLE : 4061584.74 594377.49 17.11 2021-10-11T01:19:45Z- LcmTrn::publishEstimates() - MMSE : 4061559.11 594394.31 -8.16 2021-10-11T01:19:45Z- LcmTrn::publishEstimates() - COVAR: 411.91 322.94 2.64 0.00 2021-10-11T01:19:45Z- AHRS_M2 msg: 1633915182.19 epoch sec; seqNo:760 2021-10-11T01:19:45Z- AHRS_M2 msg: -0.22 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:45Z- handleDepth()-Depth_Keller msg: 1633915182196 epoch sec; seqNo:787; depth 29.20 2021-10-11T01:19:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915182.21 epoch sec; seqNo:787; 4061570.24 north; 594472.17 east 2021-10-11T01:19:45Z- AHRS_M2 msg: 1633915182.60 epoch sec; seqNo:761 2021-10-11T01:19:45Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:45Z- handleDepth()-Depth_Keller msg: 1633915182604 epoch sec; seqNo:788; depth 29.27 2021-10-11T01:19:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915182.62 epoch sec; seqNo:788; 4061570.62 north; 594472.17 east 2021-10-11T01:19:46Z- AHRS_M2 msg: 1633915183.00 epoch sec; seqNo:762 2021-10-11T01:19:46Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.41 psi 2021-10-11T01:19:46Z- handleDepth()-Depth_Keller msg: 1633915183009 epoch sec; seqNo:789; depth 29.38 2021-10-11T01:19:46Z- handleDvl() - RDI_Pathfinder msg: 1633915183.03 epoch sec; seqNo:173 2021-10-11T01:19:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.83 , 68.50 , 46.73 , 69.37 2021-10-11T01:19:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.13 , 0.06 2021-10-11T01:19:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915183.07 epoch sec; seqNo:789; 4061570.62 north; 594472.17 east 2021-10-11T01:19:46Z- AHRS_M2 msg: 1633915183.41 epoch sec; seqNo:763 2021-10-11T01:19:46Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.41 psi 2021-10-11T01:19:46Z- handleDepth()-Depth_Keller msg: 1633915183411 epoch sec; seqNo:790; depth 29.48 2021-10-11T01:19:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915183.43 epoch sec; seqNo:790; 4061571.00 north; 594472.16 east 2021-10-11T01:19:47Z- AHRS_M2 msg: 1633915183.81 epoch sec; seqNo:764 2021-10-11T01:19:47Z- AHRS_M2 msg: -0.20 phi; -0.27 theta; 5.41 psi 2021-10-11T01:19:47Z- handleDepth()-Depth_Keller msg: 1633915183814 epoch sec; seqNo:791; depth 29.55 2021-10-11T01:19:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915183.83 epoch sec; seqNo:791; 4061570.98 north; 594470.94 east 2021-10-11T01:19:47Z- AHRS_M2 msg: 1633915184.21 epoch sec; seqNo:765 2021-10-11T01:19:47Z- AHRS_M2 msg: -0.20 phi; -0.27 theta; 5.41 psi 2021-10-11T01:19:47Z- handleDepth()-Depth_Keller msg: 1633915184224 epoch sec; seqNo:792; depth 29.64 2021-10-11T01:19:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915184.24 epoch sec; seqNo:792; 4061571.36 north; 594470.94 east 2021-10-11T01:19:47Z- AHRS_M2 msg: 1633915184.62 epoch sec; seqNo:766 2021-10-11T01:19:47Z- AHRS_M2 msg: -0.20 phi; -0.27 theta; 5.41 psi 2021-10-11T01:19:47Z- handleDepth()-Depth_Keller msg: 1633915184624 epoch sec; seqNo:793; depth 29.73 2021-10-11T01:19:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915184.63 epoch sec; seqNo:793; 4061571.36 north; 594470.94 east 2021-10-11T01:19:48Z- AHRS_M2 msg: 1633915185.03 epoch sec; seqNo:767 2021-10-11T01:19:48Z- AHRS_M2 msg: -0.20 phi; -0.27 theta; 5.41 psi 2021-10-11T01:19:48Z- handleDepth()-Depth_Keller msg: 1633915185036 epoch sec; seqNo:794; depth 29.82 2021-10-11T01:19:48Z- handleDvl() - RDI_Pathfinder msg: 1633915185.06 epoch sec; seqNo:174 2021-10-11T01:19:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.18 , 66.39 , 45.35 , 68.02 2021-10-11T01:19:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.10 , 0.17 2021-10-11T01:19:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915185.11 epoch sec; seqNo:794; 4061571.73 north; 594469.71 east 2021-10-11T01:19:48Z- AHRS_M2 msg: 1633915185.42 epoch sec; seqNo:768 2021-10-11T01:19:48Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:48Z- handleDepth()-Depth_Keller msg: 1633915185430 epoch sec; seqNo:795; depth 29.92 2021-10-11T01:19:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915185.45 epoch sec; seqNo:795; 4061572.11 north; 594469.71 east 2021-10-11T01:19:49Z- AHRS_M2 msg: 1633915185.83 epoch sec; seqNo:769 2021-10-11T01:19:49Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.42 psi 2021-10-11T01:19:49Z- handleDepth()-Depth_Keller msg: 1633915185834 epoch sec; seqNo:796; depth 29.99 2021-10-11T01:19:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915185.85 epoch sec; seqNo:796; 4061572.11 north; 594469.71 east 2021-10-11T01:19:49Z- AHRS_M2 msg: 1633915186.24 epoch sec; seqNo:770 2021-10-11T01:19:49Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:49Z- handleDepth()-Depth_Keller msg: 1633915186244 epoch sec; seqNo:797; depth 30.08 2021-10-11T01:19:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915186.25 epoch sec; seqNo:797; 4061572.48 north; 594469.70 east 2021-10-11T01:19:50Z- AHRS_M2 msg: 1633915186.64 epoch sec; seqNo:771 2021-10-11T01:19:50Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.43 psi 2021-10-11T01:19:50Z- handleDepth()-Depth_Keller msg: 1633915186654 epoch sec; seqNo:798; depth 30.16 2021-10-11T01:19:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915186.67 epoch sec; seqNo:798; 4061572.48 north; 594469.70 east 2021-10-11T01:19:50Z- AHRS_M2 msg: 1633915187.04 epoch sec; seqNo:772 2021-10-11T01:19:50Z- AHRS_M2 msg: -0.21 phi; -0.27 theta; 5.44 psi 2021-10-11T01:19:50Z- handleDepth()-Depth_Keller msg: 1633915187052 epoch sec; seqNo:799; depth 30.25 2021-10-11T01:19:50Z- handleDvl() - RDI_Pathfinder msg: 1633915187.09 epoch sec; seqNo:175 2021-10-11T01:19:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.17 , 66.11 , 45.35 , 68.29 2021-10-11T01:19:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.10 , 0.09 2021-10-11T01:19:50Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-11T01:19:50Z- waiting for 1633915184.81, time is 1633915187.09 2021-10-11T01:19:50Z- LcmTrn::updateTrn() equating pose 1633915187.09 and meas times 1633915187.09 2021-10-11T01:19:50Z- LcmTrn::updateTrn() >>>> pose time 1633915187.09, meas time 1633915187.09 <<<< 2021-10-11T01:19:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915187.09 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:50Z- TerrainNav::motionUpdate() - currEstimate = (4061572, 594469.70, 30.25) 2021-10-11T01:19:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:50Z- TerrainNav:: SubcloudNIS is 0.10, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:50Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915187.09 sec.; No relevant navigation data available 2021-10-11T01:19:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:50Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:50Z- variances([0], [2], and psi_berg) = 411.794434 342.327610 0.000000 2021-10-11T01:19:50Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:19:50Z- LcmTrn::publishEstimates() - MLE : 4061586.97 594373.80 18.25 2021-10-11T01:19:50Z- LcmTrn::publishEstimates() - MMSE : 4061561.34 594390.92 -7.02 2021-10-11T01:19:50Z- LcmTrn::publishEstimates() - COVAR: 411.79 342.33 2.86 0.00 2021-10-11T01:19:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915187.11 epoch sec; seqNo:799; 4061572.85 north; 594468.48 east 2021-10-11T01:19:50Z- AHRS_M2 msg: 1633915187.45 epoch sec; seqNo:773 2021-10-11T01:19:50Z- AHRS_M2 msg: -0.21 phi; -0.26 theta; 5.44 psi 2021-10-11T01:19:50Z- handleDepth()-Depth_Keller msg: 1633915187452 epoch sec; seqNo:800; depth 30.35 2021-10-11T01:19:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915187.47 epoch sec; seqNo:800; 4061572.85 north; 594468.48 east 2021-10-11T01:19:51Z- AHRS_M2 msg: 1633915187.85 epoch sec; seqNo:774 2021-10-11T01:19:51Z- AHRS_M2 msg: -0.20 phi; -0.26 theta; 5.45 psi 2021-10-11T01:19:51Z- handleDepth()-Depth_Keller msg: 1633915187857 epoch sec; seqNo:801; depth 30.42 2021-10-11T01:19:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915187.87 epoch sec; seqNo:801; 4061573.23 north; 594468.48 east 2021-10-11T01:19:51Z- AHRS_M2 msg: 1633915188.25 epoch sec; seqNo:775 2021-10-11T01:19:51Z- AHRS_M2 msg: -0.20 phi; -0.26 theta; 5.45 psi 2021-10-11T01:19:51Z- handleDepth()-Depth_Keller msg: 1633915188261 epoch sec; seqNo:802; depth 30.50 2021-10-11T01:19:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915188.30 epoch sec; seqNo:802; 4061573.23 north; 594468.48 east 2021-10-11T01:19:52Z- AHRS_M2 msg: 1633915188.66 epoch sec; seqNo:776 2021-10-11T01:19:52Z- AHRS_M2 msg: -0.20 phi; -0.26 theta; 5.45 psi 2021-10-11T01:19:52Z- handleDepth()-Depth_Keller msg: 1633915188668 epoch sec; seqNo:803; depth 30.59 2021-10-11T01:19:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915188.69 epoch sec; seqNo:803; 4061573.59 north; 594467.25 east 2021-10-11T01:19:52Z- AHRS_M2 msg: 1633915189.07 epoch sec; seqNo:777 2021-10-11T01:19:52Z- AHRS_M2 msg: -0.20 phi; -0.26 theta; 5.46 psi 2021-10-11T01:19:52Z- handleDepth()-Depth_Keller msg: 1633915189073 epoch sec; seqNo:804; depth 30.67 2021-10-11T01:19:52Z- handleDvl() - RDI_Pathfinder msg: 1633915189.10 epoch sec; seqNo:176 2021-10-11T01:19:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.08 , 65.28 , 43.98 , 67.74 2021-10-11T01:19:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.08 , 0.04 2021-10-11T01:19:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915189.13 epoch sec; seqNo:804; 4061573.97 north; 594467.25 east 2021-10-11T01:19:52Z- AHRS_M2 msg: 1633915189.46 epoch sec; seqNo:778 2021-10-11T01:19:52Z- AHRS_M2 msg: -0.19 phi; -0.26 theta; 5.46 psi 2021-10-11T01:19:52Z- handleDepth()-Depth_Keller msg: 1633915189477 epoch sec; seqNo:805; depth 30.76 2021-10-11T01:19:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915189.51 epoch sec; seqNo:805; 4061573.97 north; 594467.25 east 2021-10-11T01:19:53Z- AHRS_M2 msg: 1633915189.87 epoch sec; seqNo:779 2021-10-11T01:19:53Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.46 psi 2021-10-11T01:19:53Z- handleDepth()-Depth_Keller msg: 1633915189874 epoch sec; seqNo:806; depth 30.84 2021-10-11T01:19:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915189.88 epoch sec; seqNo:806; 4061574.35 north; 594467.24 east 2021-10-11T01:19:53Z- AHRS_M2 msg: 1633915190.27 epoch sec; seqNo:780 2021-10-11T01:19:53Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.46 psi 2021-10-11T01:19:53Z- handleDepth()-Depth_Keller msg: 1633915190278 epoch sec; seqNo:807; depth 30.91 2021-10-11T01:19:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915190.29 epoch sec; seqNo:807; 4061574.34 north; 594466.02 east 2021-10-11T01:19:54Z- AHRS_M2 msg: 1633915190.68 epoch sec; seqNo:781 2021-10-11T01:19:54Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.46 psi 2021-10-11T01:19:54Z- handleDepth()-Depth_Keller msg: 1633915190684 epoch sec; seqNo:808; depth 31.00 2021-10-11T01:19:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915190.69 epoch sec; seqNo:808; 4061574.72 north; 594466.02 east 2021-10-11T01:19:54Z- AHRS_M2 msg: 1633915191.09 epoch sec; seqNo:782 2021-10-11T01:19:54Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.47 psi 2021-10-11T01:19:54Z- handleDepth()-Depth_Keller msg: 1633915191093 epoch sec; seqNo:809; depth 31.08 2021-10-11T01:19:54Z- handleDvl() - RDI_Pathfinder msg: 1633915191.12 epoch sec; seqNo:177 2021-10-11T01:19:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.80 , 63.92 , 43.16 , 66.92 2021-10-11T01:19:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.09 2021-10-11T01:19:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915191.14 epoch sec; seqNo:809; 4061575.10 north; 594466.01 east 2021-10-11T01:19:54Z- handleDepth()-Depth_Keller msg: 1633915191507 epoch sec; seqNo:810; depth 31.16 2021-10-11T01:19:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915191.54 epoch sec; seqNo:810; 4061575.10 north; 594466.01 east 2021-10-11T01:19:55Z- AHRS_M2 msg: 1633915191.89 epoch sec; seqNo:783 2021-10-11T01:19:55Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.47 psi 2021-10-11T01:19:55Z- handleDepth()-Depth_Keller msg: 1633915191896 epoch sec; seqNo:811; depth 31.26 2021-10-11T01:19:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915191.91 epoch sec; seqNo:811; 4061575.47 north; 594466.01 east 2021-10-11T01:19:55Z- LcmTrn::handleMessages() - handling 38 messages took 0.70 ms and 124 calls... 2021-10-11T01:19:55Z- waiting for 1633915190.09, time is 1633915191.91 2021-10-11T01:19:55Z- LcmTrn::updateTrn() >>>> pose time 1633915191.91, meas time 1633915191.12 <<<< 2021-10-11T01:19:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915191.12 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:19:55Z- TerrainNav::motionUpdate() - currEstimate = (4061575, 594466.01, 31.26) 2021-10-11T01:19:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:19:55Z- TerrainNav:: SubcloudNIS is 0.10, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:19:55Z- TNavBF::Projecting Measurements 2021-10-11T01:19:55Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:19:55Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:19:55Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:19:55Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:19:55Z- TNavFilter::4 good beams. 2021-10-11T01:19:55Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:19:55Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:19:55Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:19:55Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:19:55Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:19:55Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:19:55Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:19:55Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:55Z- TerrainMapOctree: (vehN, vehE ) = (4061574.99, 594466.61). 2021-10-11T01:19:55Z- TerrainMapOctree: Min Distance = 278.47. 2021-10-11T01:19:55Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:19:55Z- Forcing Subcloud Comparison 2021-10-11T01:19:55Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:19:55Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:55Z- Filter 0 partialDeltaRmsComputation: 20.435435 terrainVariance: 0.981185 1-SumSquareWeights: 0.998355 2021-10-11T01:19:55Z- Filter 0 meanExpectedMeasDiff: 4.410697 delta_rms_squared: 0.971201 alpha: 0.979822 2021-10-11T01:19:55Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:55Z- Filter 0 partialDeltaRmsComputation: 57.360280 terrainVariance: 17.945413 1-SumSquareWeights: 0.998355 2021-10-11T01:19:55Z- Filter 0 meanExpectedMeasDiff: -6.278126 delta_rms_squared: 17.935429 alpha: 0.998886 2021-10-11T01:19:55Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:55Z- Filter 0 partialDeltaRmsComputation: 33.835988 terrainVariance: 1.972431 1-SumSquareWeights: 0.998355 2021-10-11T01:19:55Z- Filter 0 meanExpectedMeasDiff: -5.644781 delta_rms_squared: 1.962448 alpha: 0.989911 2021-10-11T01:19:55Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:19:55Z- Filter 0 partialDeltaRmsComputation: 29.257562 terrainVariance: 1.064561 1-SumSquareWeights: 0.998355 2021-10-11T01:19:55Z- Filter 0 meanExpectedMeasDiff: 5.309708 delta_rms_squared: 1.054577 alpha: 0.981388 2021-10-11T01:19:55Z- Filter 0 SubcloudNIS: 0.138383 2021-10-11T01:19:55Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:19:55Z- TNavBF:: Filter 0 sumWeights = 0.001874 2021-10-11T01:19:55Z- Filter 0 NorthBias: 4.5 EastBias: -93.7 DepthBias: -38.2 NorthVariance: 43.9 EastVariance: 8.8 DepthVariance: 1.1 this->DepthBiasCov: 0.9 2021-10-11T01:19:55Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915191.12 sec. 2021-10-11T01:19:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:19:55Z- TNavBF::mmse selected from filter -1 2021-10-11T01:19:55Z- variances([0], [2], and psi_berg) = 43.893349 32.982471 0.000000 2021-10-11T01:19:55Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:19:55Z- LcmTrn::publishEstimates() - MLE : 4061580.96 594370.11 19.26 2021-10-11T01:19:55Z- LcmTrn::publishEstimates() - MMSE : 4061580.00 594372.55 -6.89 2021-10-11T01:19:55Z- LcmTrn::publishEstimates() - COVAR: 43.89 32.98 1.16 0.00 2021-10-11T01:19:55Z- AHRS_M2 msg: 1633915192.29 epoch sec; seqNo:784 2021-10-11T01:19:55Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.47 psi 2021-10-11T01:19:55Z- handleDepth()-Depth_Keller msg: 1633915192304 epoch sec; seqNo:812; depth 31.33 2021-10-11T01:19:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915192.33 epoch sec; seqNo:812; 4061575.46 north; 594464.79 east 2021-10-11T01:19:56Z- AHRS_M2 msg: 1633915192.70 epoch sec; seqNo:785 2021-10-11T01:19:56Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.48 psi 2021-10-11T01:19:56Z- handleDepth()-Depth_Keller msg: 1633915192704 epoch sec; seqNo:813; depth 31.41 2021-10-11T01:19:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915192.72 epoch sec; seqNo:813; 4061575.84 north; 594464.79 east 2021-10-11T01:19:56Z- AHRS_M2 msg: 1633915193.11 epoch sec; seqNo:786 2021-10-11T01:19:56Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.48 psi 2021-10-11T01:19:56Z- handleDepth()-Depth_Keller msg: 1633915193110 epoch sec; seqNo:814; depth 31.48 2021-10-11T01:19:56Z- handleDvl() - RDI_Pathfinder msg: 1633915193.14 epoch sec; seqNo:178 2021-10-11T01:19:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.70 , 63.50 , 43.02 , 66.06 2021-10-11T01:19:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.02 , 0.12 2021-10-11T01:19:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915193.16 epoch sec; seqNo:814; 4061576.22 north; 594464.78 east 2021-10-11T01:19:56Z- AHRS_M2 msg: 1633915193.51 epoch sec; seqNo:787 2021-10-11T01:19:56Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.48 psi 2021-10-11T01:19:56Z- handleDepth()-Depth_Keller msg: 1633915193511 epoch sec; seqNo:815; depth 31.58 2021-10-11T01:19:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915193.53 epoch sec; seqNo:815; 4061576.22 north; 594464.78 east 2021-10-11T01:19:57Z- AHRS_M2 msg: 1633915193.92 epoch sec; seqNo:788 2021-10-11T01:19:57Z- AHRS_M2 msg: -0.19 phi; -0.25 theta; 5.48 psi 2021-10-11T01:19:57Z- handleDepth()-Depth_Keller msg: 1633915193925 epoch sec; seqNo:816; depth 31.65 2021-10-11T01:19:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915193.94 epoch sec; seqNo:816; 4061576.58 north; 594463.56 east 2021-10-11T01:19:57Z- AHRS_M2 msg: 1633915194.35 epoch sec; seqNo:789 2021-10-11T01:19:57Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 5.49 psi 2021-10-11T01:19:57Z- handleDepth()-Depth_Keller msg: 1633915194361 epoch sec; seqNo:817; depth 31.73 2021-10-11T01:19:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915194.38 epoch sec; seqNo:817; 4061576.96 north; 594463.55 east 2021-10-11T01:19:58Z- AHRS_M2 msg: 1633915194.72 epoch sec; seqNo:790 2021-10-11T01:19:58Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 5.49 psi 2021-10-11T01:19:58Z- handleDepth()-Depth_Keller msg: 1633915194724 epoch sec; seqNo:818; depth 31.80 2021-10-11T01:19:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915194.74 epoch sec; seqNo:818; 4061576.96 north; 594463.55 east 2021-10-11T01:19:58Z- AHRS_M2 msg: 1633915195.12 epoch sec; seqNo:791 2021-10-11T01:19:58Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 5.49 psi 2021-10-11T01:19:58Z- handleDepth()-Depth_Keller msg: 1633915195129 epoch sec; seqNo:819; depth 31.85 2021-10-11T01:19:58Z- handleDvl() - RDI_Pathfinder msg: 1633915195.16 epoch sec; seqNo:179 2021-10-11T01:19:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.67 , 62.99 , 42.50 , 65.80 2021-10-11T01:19:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.04 , 0.05 2021-10-11T01:19:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915195.18 epoch sec; seqNo:819; 4061577.34 north; 594463.55 east 2021-10-11T01:19:58Z- AHRS_M2 msg: 1633915195.53 epoch sec; seqNo:792 2021-10-11T01:19:58Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 5.50 psi 2021-10-11T01:19:58Z- handleDepth()-Depth_Keller msg: 1633915195539 epoch sec; seqNo:820; depth 31.95 2021-10-11T01:19:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915195.56 epoch sec; seqNo:820; 4061577.72 north; 594463.54 east 2021-10-11T01:19:59Z- AHRS_M2 msg: 1633915195.93 epoch sec; seqNo:793 2021-10-11T01:19:59Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.50 psi 2021-10-11T01:19:59Z- handleDepth()-Depth_Keller msg: 1633915195942 epoch sec; seqNo:821; depth 32.01 2021-10-11T01:19:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915195.95 epoch sec; seqNo:821; 4061577.71 north; 594462.32 east 2021-10-11T01:19:59Z- handleDepth()-Depth_Keller msg: 1633915196364 epoch sec; seqNo:822; depth 32.07 2021-10-11T01:19:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915196.38 epoch sec; seqNo:822; 4061578.09 north; 594462.32 east 2021-10-11T01:20:00Z- AHRS_M2 msg: 1633915196.74 epoch sec; seqNo:794 2021-10-11T01:20:00Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.51 psi 2021-10-11T01:20:00Z- handleDepth()-Depth_Keller msg: 1633915196747 epoch sec; seqNo:823; depth 32.15 2021-10-11T01:20:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915196.76 epoch sec; seqNo:823; 4061578.09 north; 594462.32 east 2021-10-11T01:20:00Z- AHRS_M2 msg: 1633915197.15 epoch sec; seqNo:795 2021-10-11T01:20:00Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.51 psi 2021-10-11T01:20:00Z- handleDepth()-Depth_Keller msg: 1633915197150 epoch sec; seqNo:824; depth 32.22 2021-10-11T01:20:00Z- handleDvl() - RDI_Pathfinder msg: 1633915197.17 epoch sec; seqNo:180 2021-10-11T01:20:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.90 , 64.00 , 41.99 , 66.05 2021-10-11T01:20:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , -0.04 2021-10-11T01:20:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915197.19 epoch sec; seqNo:824; 4061578.47 north; 594462.32 east 2021-10-11T01:20:00Z- LcmTrn::handleMessages() - handling 41 messages took 0.76 ms and 126 calls... 2021-10-11T01:20:00Z- waiting for 1633915194.91, time is 1633915197.19 2021-10-11T01:20:00Z- LcmTrn::updateTrn() equating pose 1633915197.19 and meas times 1633915197.19 2021-10-11T01:20:00Z- LcmTrn::updateTrn() >>>> pose time 1633915197.19, meas time 1633915197.19 <<<< 2021-10-11T01:20:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915197.19 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:00Z- TerrainNav::motionUpdate() - currEstimate = (4061578, 594462.32, 32.22) 2021-10-11T01:20:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:00Z- TerrainNav:: SubcloudNIS is 0.14, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:00Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915197.19 sec.; No relevant navigation data available 2021-10-11T01:20:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:00Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:00Z- variances([0], [2], and psi_berg) = 43.915222 91.279303 0.000000 2021-10-11T01:20:00Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:00Z- LcmTrn::publishEstimates() - MLE : 4061583.95 594366.42 20.22 2021-10-11T01:20:00Z- LcmTrn::publishEstimates() - MMSE : 4061582.98 594369.49 -5.93 2021-10-11T01:20:00Z- LcmTrn::publishEstimates() - COVAR: 43.92 91.28 1.40 0.00 2021-10-11T01:20:00Z- AHRS_M2 msg: 1633915197.55 epoch sec; seqNo:796 2021-10-11T01:20:00Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:00Z- handleDepth()-Depth_Keller msg: 1633915197583 epoch sec; seqNo:825; depth 32.28 2021-10-11T01:20:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915197.60 epoch sec; seqNo:825; 4061578.84 north; 594462.31 east 2021-10-11T01:20:01Z- AHRS_M2 msg: 1633915197.95 epoch sec; seqNo:797 2021-10-11T01:20:01Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:01Z- handleDepth()-Depth_Keller msg: 1633915197954 epoch sec; seqNo:826; depth 32.35 2021-10-11T01:20:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915197.97 epoch sec; seqNo:826; 4061578.83 north; 594461.09 east 2021-10-11T01:20:01Z- AHRS_M2 msg: 1633915198.35 epoch sec; seqNo:798 2021-10-11T01:20:01Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:01Z- handleDepth()-Depth_Keller msg: 1633915198359 epoch sec; seqNo:827; depth 32.41 2021-10-11T01:20:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915198.37 epoch sec; seqNo:827; 4061579.21 north; 594461.09 east 2021-10-11T01:20:02Z- AHRS_M2 msg: 1633915198.76 epoch sec; seqNo:799 2021-10-11T01:20:02Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:02Z- handleDepth()-Depth_Keller msg: 1633915198769 epoch sec; seqNo:828; depth 32.50 2021-10-11T01:20:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915198.82 epoch sec; seqNo:828; 4061579.59 north; 594461.08 east 2021-10-11T01:20:02Z- AHRS_M2 msg: 1633915199.16 epoch sec; seqNo:800 2021-10-11T01:20:02Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:02Z- handleDepth()-Depth_Keller msg: 1633915199166 epoch sec; seqNo:829; depth 32.58 2021-10-11T01:20:02Z- handleDvl() - RDI_Pathfinder msg: 1633915199.20 epoch sec; seqNo:181 2021-10-11T01:20:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.10 , 63.23 , 41.22 , 64.77 2021-10-11T01:20:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.11 , 0.03 2021-10-11T01:20:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915199.21 epoch sec; seqNo:829; 4061579.59 north; 594461.08 east 2021-10-11T01:20:02Z- AHRS_M2 msg: 1633915199.57 epoch sec; seqNo:801 2021-10-11T01:20:02Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 5.50 psi 2021-10-11T01:20:02Z- handleDepth()-Depth_Keller msg: 1633915199574 epoch sec; seqNo:830; depth 32.66 2021-10-11T01:20:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915199.61 epoch sec; seqNo:830; 4061579.95 north; 594459.86 east 2021-10-11T01:20:03Z- AHRS_M2 msg: 1633915199.97 epoch sec; seqNo:802 2021-10-11T01:20:03Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 5.50 psi 2021-10-11T01:20:03Z- handleDepth()-Depth_Keller msg: 1633915199974 epoch sec; seqNo:831; depth 32.72 2021-10-11T01:20:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915199.98 epoch sec; seqNo:831; 4061580.33 north; 594459.85 east 2021-10-11T01:20:03Z- AHRS_M2 msg: 1633915200.38 epoch sec; seqNo:803 2021-10-11T01:20:03Z- AHRS_M2 msg: -0.20 phi; -0.24 theta; 5.50 psi 2021-10-11T01:20:03Z- handleDepth()-Depth_Keller msg: 1633915200380 epoch sec; seqNo:832; depth 32.79 2021-10-11T01:20:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915200.39 epoch sec; seqNo:832; 4061580.33 north; 594459.85 east 2021-10-11T01:20:04Z- AHRS_M2 msg: 1633915200.81 epoch sec; seqNo:804 2021-10-11T01:20:04Z- AHRS_M2 msg: -0.20 phi; -0.25 theta; 5.50 psi 2021-10-11T01:20:04Z- handleDepth()-Depth_Keller msg: 1633915200829 epoch sec; seqNo:833; depth 32.88 2021-10-11T01:20:04Z- handleDvl() - RDI_Pathfinder msg: 1633915200.86 epoch sec; seqNo:182 2021-10-11T01:20:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.57 , 62.46 , 40.96 , 63.23 2021-10-11T01:20:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.10 , 0.14 2021-10-11T01:20:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915200.88 epoch sec; seqNo:833; 4061580.71 north; 594459.85 east 2021-10-11T01:20:04Z- AHRS_M2 msg: 1633915201.18 epoch sec; seqNo:805 2021-10-11T01:20:04Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.50 psi 2021-10-11T01:20:04Z- handleDepth()-Depth_Keller msg: 1633915201186 epoch sec; seqNo:834; depth 32.98 2021-10-11T01:20:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915201.20 epoch sec; seqNo:834; 4061581.08 north; 594458.63 east 2021-10-11T01:20:04Z- AHRS_M2 msg: 1633915201.60 epoch sec; seqNo:806 2021-10-11T01:20:04Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.50 psi 2021-10-11T01:20:04Z- handleDepth()-Depth_Keller msg: 1633915201599 epoch sec; seqNo:835; depth 33.02 2021-10-11T01:20:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915201.61 epoch sec; seqNo:835; 4061581.08 north; 594458.63 east 2021-10-11T01:20:05Z- AHRS_M2 msg: 1633915201.99 epoch sec; seqNo:807 2021-10-11T01:20:05Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.50 psi 2021-10-11T01:20:05Z- handleDepth()-Depth_Keller msg: 1633915201998 epoch sec; seqNo:836; depth 33.09 2021-10-11T01:20:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915202.01 epoch sec; seqNo:836; 4061581.46 north; 594458.62 east 2021-10-11T01:20:05Z- AHRS_M2 msg: 1633915202.39 epoch sec; seqNo:808 2021-10-11T01:20:05Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.51 psi 2021-10-11T01:20:05Z- handleDepth()-Depth_Keller msg: 1633915202398 epoch sec; seqNo:837; depth 33.17 2021-10-11T01:20:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915202.42 epoch sec; seqNo:837; 4061581.83 north; 594458.62 east 2021-10-11T01:20:05Z- LcmTrn::handleMessages() - handling 41 messages took 0.67 ms and 127 calls... 2021-10-11T01:20:05Z- waiting for 1633915200.19, time is 1633915202.42 2021-10-11T01:20:05Z- LcmTrn::updateTrn() >>>> pose time 1633915202.42, meas time 1633915200.86 <<<< 2021-10-11T01:20:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915200.86 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:05Z- TerrainNav::motionUpdate() - currEstimate = (4061582, 594458.62, 33.17) 2021-10-11T01:20:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:05Z- TerrainNav:: SubcloudNIS is 0.14, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:05Z- TNavBF::Projecting Measurements 2021-10-11T01:20:05Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:05Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:05Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:05Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:05Z- TNavFilter::4 good beams. 2021-10-11T01:20:05Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:05Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:05Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:05Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:05Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:05Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:05Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:05Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:05Z- TerrainMapOctree: (vehN, vehE ) = (4061580.83, 594459.72). 2021-10-11T01:20:05Z- TerrainMapOctree: Min Distance = 269.44. 2021-10-11T01:20:05Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:05Z- Forcing Subcloud Comparison 2021-10-11T01:20:05Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:05Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:05Z- Filter 0 partialDeltaRmsComputation: 3.517667 terrainVariance: 1.137028 1-SumSquareWeights: 0.990205 2021-10-11T01:20:05Z- Filter 0 meanExpectedMeasDiff: 1.542932 delta_rms_squared: 1.127126 alpha: 0.982565 2021-10-11T01:20:05Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:05Z- Filter 0 partialDeltaRmsComputation: 2.259374 terrainVariance: 1.816922 1-SumSquareWeights: 0.990205 2021-10-11T01:20:05Z- Filter 0 meanExpectedMeasDiff: -0.665170 delta_rms_squared: 1.807020 alpha: 0.989053 2021-10-11T01:20:05Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:05Z- Filter 0 partialDeltaRmsComputation: 39.179824 terrainVariance: 0.505066 1-SumSquareWeights: 0.990205 2021-10-11T01:20:05Z- Filter 0 meanExpectedMeasDiff: -6.218903 delta_rms_squared: 0.495164 alpha: 0.961177 2021-10-11T01:20:05Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:05Z- Filter 0 partialDeltaRmsComputation: 19.477100 terrainVariance: 0.452663 1-SumSquareWeights: 0.990205 2021-10-11T01:20:05Z- Filter 0 meanExpectedMeasDiff: 4.361701 delta_rms_squared: 0.442761 alpha: 0.956781 2021-10-11T01:20:05Z- Filter 0 SubcloudNIS: 0.116932 2021-10-11T01:20:05Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:05Z- TNavBF:: Filter 0 sumWeights = 0.009017 2021-10-11T01:20:05Z- Filter 0 NorthBias: 3.0 EastBias: -94.0 DepthBias: -39.2 NorthVariance: 24.2 EastVariance: 4.9 DepthVariance: 0.8 this->DepthBiasCov: 0.7 2021-10-11T01:20:05Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915200.86 sec. 2021-10-11T01:20:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:05Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:05Z- variances([0], [2], and psi_berg) = 24.235036 38.130371 0.000000 2021-10-11T01:20:05Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:05Z- LcmTrn::publishEstimates() - MLE : 4061587.32 594362.72 21.17 2021-10-11T01:20:05Z- LcmTrn::publishEstimates() - MMSE : 4061584.88 594365.01 -5.98 2021-10-11T01:20:05Z- LcmTrn::publishEstimates() - COVAR: 24.24 38.13 0.92 0.00 2021-10-11T01:20:06Z- AHRS_M2 msg: 1633915202.83 epoch sec; seqNo:809 2021-10-11T01:20:06Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.51 psi 2021-10-11T01:20:06Z- handleDepth()-Depth_Keller msg: 1633915202839 epoch sec; seqNo:838; depth 33.24 2021-10-11T01:20:06Z- handleDvl() - RDI_Pathfinder msg: 1633915202.86 epoch sec; seqNo:183 2021-10-11T01:20:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.05 , 62.97 , 41.21 , 63.48 2021-10-11T01:20:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.12 , 0.10 2021-10-11T01:20:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915202.90 epoch sec; seqNo:838; 4061581.82 north; 594457.40 east 2021-10-11T01:20:06Z- AHRS_M2 msg: 1633915203.21 epoch sec; seqNo:810 2021-10-11T01:20:06Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.51 psi 2021-10-11T01:20:06Z- handleDepth()-Depth_Keller msg: 1633915203214 epoch sec; seqNo:839; depth 33.32 2021-10-11T01:20:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915203.24 epoch sec; seqNo:839; 4061582.20 north; 594457.39 east 2021-10-11T01:20:06Z- AHRS_M2 msg: 1633915203.62 epoch sec; seqNo:811 2021-10-11T01:20:06Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.51 psi 2021-10-11T01:20:06Z- handleDepth()-Depth_Keller msg: 1633915203627 epoch sec; seqNo:840; depth 33.40 2021-10-11T01:20:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915203.64 epoch sec; seqNo:840; 4061582.20 north; 594457.39 east 2021-10-11T01:20:07Z- AHRS_M2 msg: 1633915204.01 epoch sec; seqNo:812 2021-10-11T01:20:07Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:07Z- handleDepth()-Depth_Keller msg: 1633915204014 epoch sec; seqNo:841; depth 33.48 2021-10-11T01:20:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915204.04 epoch sec; seqNo:841; 4061582.58 north; 594457.39 east 2021-10-11T01:20:07Z- AHRS_M2 msg: 1633915204.41 epoch sec; seqNo:813 2021-10-11T01:20:07Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:07Z- handleDepth()-Depth_Keller msg: 1633915204420 epoch sec; seqNo:842; depth 33.54 2021-10-11T01:20:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915204.43 epoch sec; seqNo:842; 4061582.58 north; 594457.39 east 2021-10-11T01:20:08Z- AHRS_M2 msg: 1633915204.84 epoch sec; seqNo:814 2021-10-11T01:20:08Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.51 psi 2021-10-11T01:20:08Z- handleDepth()-Depth_Keller msg: 1633915204844 epoch sec; seqNo:843; depth 33.61 2021-10-11T01:20:08Z- handleDvl() - RDI_Pathfinder msg: 1633915204.87 epoch sec; seqNo:184 2021-10-11T01:20:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.28 , 62.20 , 40.44 , 62.97 2021-10-11T01:20:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.11 , 0.05 2021-10-11T01:20:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915204.89 epoch sec; seqNo:843; 4061582.94 north; 594456.16 east 2021-10-11T01:20:08Z- AHRS_M2 msg: 1633915205.23 epoch sec; seqNo:815 2021-10-11T01:20:08Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:08Z- handleDepth()-Depth_Keller msg: 1633915205233 epoch sec; seqNo:844; depth 33.70 2021-10-11T01:20:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915205.25 epoch sec; seqNo:844; 4061583.32 north; 594456.16 east 2021-10-11T01:20:08Z- AHRS_M2 msg: 1633915205.62 epoch sec; seqNo:816 2021-10-11T01:20:08Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:08Z- handleDepth()-Depth_Keller msg: 1633915205630 epoch sec; seqNo:845; depth 33.77 2021-10-11T01:20:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915205.66 epoch sec; seqNo:845; 4061583.32 north; 594456.16 east 2021-10-11T01:20:09Z- AHRS_M2 msg: 1633915206.03 epoch sec; seqNo:817 2021-10-11T01:20:09Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:09Z- handleDepth()-Depth_Keller msg: 1633915206034 epoch sec; seqNo:846; depth 33.84 2021-10-11T01:20:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915206.05 epoch sec; seqNo:846; 4061583.70 north; 594456.16 east 2021-10-11T01:20:09Z- AHRS_M2 msg: 1633915206.43 epoch sec; seqNo:818 2021-10-11T01:20:09Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:09Z- handleDepth()-Depth_Keller msg: 1633915206440 epoch sec; seqNo:847; depth 33.92 2021-10-11T01:20:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915206.45 epoch sec; seqNo:847; 4061583.69 north; 594454.93 east 2021-10-11T01:20:10Z- AHRS_M2 msg: 1633915206.85 epoch sec; seqNo:819 2021-10-11T01:20:10Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:10Z- handleDepth()-Depth_Keller msg: 1633915206850 epoch sec; seqNo:848; depth 33.99 2021-10-11T01:20:10Z- handleDvl() - RDI_Pathfinder msg: 1633915206.88 epoch sec; seqNo:185 2021-10-11T01:20:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.43 , 61.39 , 40.61 , 62.83 2021-10-11T01:20:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.10 , 0.06 2021-10-11T01:20:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915206.89 epoch sec; seqNo:848; 4061584.07 north; 594454.93 east 2021-10-11T01:20:10Z- AHRS_M2 msg: 1633915207.25 epoch sec; seqNo:820 2021-10-11T01:20:10Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:10Z- handleDepth()-Depth_Keller msg: 1633915207254 epoch sec; seqNo:849; depth 34.09 2021-10-11T01:20:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915207.27 epoch sec; seqNo:849; 4061584.45 north; 594454.93 east 2021-10-11T01:20:10Z- LcmTrn::handleMessages() - handling 39 messages took 0.61 ms and 126 calls... 2021-10-11T01:20:10Z- waiting for 1633915205.42, time is 1633915207.27 2021-10-11T01:20:10Z- LcmTrn::updateTrn() >>>> pose time 1633915207.27, meas time 1633915206.88 <<<< 2021-10-11T01:20:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915206.88 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:10Z- TerrainNav::motionUpdate() - currEstimate = (4061584, 594454.93, 34.09) 2021-10-11T01:20:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:10Z- TerrainNav:: SubcloudNIS is 0.12, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:11Z- TNavBF::Projecting Measurements 2021-10-11T01:20:11Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:11Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:11Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:11Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:11Z- TNavFilter::4 good beams. 2021-10-11T01:20:11Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:11Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:11Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:11Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:11Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:11Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:11Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:11Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:11Z- TerrainMapOctree: (vehN, vehE ) = (4061584.24, 594455.22). 2021-10-11T01:20:11Z- TerrainMapOctree: Min Distance = 263.81. 2021-10-11T01:20:11Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:11Z- Forcing Subcloud Comparison 2021-10-11T01:20:11Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:11Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:11Z- Filter 0 partialDeltaRmsComputation: 2.956114 terrainVariance: 1.097480 1-SumSquareWeights: 0.985530 2021-10-11T01:20:11Z- Filter 0 meanExpectedMeasDiff: 1.363317 delta_rms_squared: 1.087625 alpha: 0.981943 2021-10-11T01:20:11Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:11Z- Filter 0 partialDeltaRmsComputation: 1.286493 terrainVariance: 1.280752 1-SumSquareWeights: 0.985530 2021-10-11T01:20:11Z- Filter 0 meanExpectedMeasDiff: 0.075769 delta_rms_squared: 1.270897 alpha: 0.984507 2021-10-11T01:20:11Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:11Z- Filter 0 partialDeltaRmsComputation: 24.093449 terrainVariance: 0.385933 1-SumSquareWeights: 0.985530 2021-10-11T01:20:11Z- Filter 0 meanExpectedMeasDiff: -4.869036 delta_rms_squared: 0.376078 alpha: 0.949505 2021-10-11T01:20:11Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:11Z- Filter 0 partialDeltaRmsComputation: 27.292680 terrainVariance: 0.296744 1-SumSquareWeights: 0.985530 2021-10-11T01:20:11Z- Filter 0 meanExpectedMeasDiff: 5.195761 delta_rms_squared: 0.286889 alpha: 0.934830 2021-10-11T01:20:11Z- Filter 0 SubcloudNIS: 0.161009 2021-10-11T01:20:11Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:11Z- TNavBF:: Filter 0 sumWeights = 0.021943 2021-10-11T01:20:11Z- Filter 0 NorthBias: 2.8 EastBias: -93.9 DepthBias: -39.3 NorthVariance: 18.5 EastVariance: 4.5 DepthVariance: 0.7 this->DepthBiasCov: 0.6 2021-10-11T01:20:11Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915206.88 sec. 2021-10-11T01:20:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:11Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:11Z- variances([0], [2], and psi_berg) = 18.510020 19.784091 0.000000 2021-10-11T01:20:11Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:11Z- LcmTrn::publishEstimates() - MLE : 4061588.93 594359.03 22.08 2021-10-11T01:20:11Z- LcmTrn::publishEstimates() - MMSE : 4061587.27 594361.14 -5.25 2021-10-11T01:20:11Z- LcmTrn::publishEstimates() - COVAR: 18.51 19.78 0.73 0.00 2021-10-11T01:20:11Z- AHRS_M2 msg: 1633915207.64 epoch sec; seqNo:821 2021-10-11T01:20:11Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:11Z- handleDepth()-Depth_Keller msg: 1633915207652 epoch sec; seqNo:850; depth 34.16 2021-10-11T01:20:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915207.68 epoch sec; seqNo:850; 4061584.45 north; 594454.93 east 2021-10-11T01:20:11Z- AHRS_M2 msg: 1633915208.05 epoch sec; seqNo:822 2021-10-11T01:20:11Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:11Z- handleDepth()-Depth_Keller msg: 1633915208060 epoch sec; seqNo:851; depth 34.23 2021-10-11T01:20:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915208.09 epoch sec; seqNo:851; 4061584.81 north; 594453.70 east 2021-10-11T01:20:11Z- AHRS_M2 msg: 1633915208.45 epoch sec; seqNo:823 2021-10-11T01:20:11Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:11Z- handleDepth()-Depth_Keller msg: 1633915208458 epoch sec; seqNo:852; depth 34.31 2021-10-11T01:20:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915208.47 epoch sec; seqNo:852; 4061585.19 north; 594453.70 east 2021-10-11T01:20:12Z- AHRS_M2 msg: 1633915208.86 epoch sec; seqNo:824 2021-10-11T01:20:12Z- AHRS_M2 msg: -0.21 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:12Z- handleDepth()-Depth_Keller msg: 1633915208865 epoch sec; seqNo:853; depth 34.39 2021-10-11T01:20:12Z- handleDvl() - RDI_Pathfinder msg: 1633915208.89 epoch sec; seqNo:186 2021-10-11T01:20:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.19 , 60.92 , 40.13 , 62.11 2021-10-11T01:20:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , 0.10 2021-10-11T01:20:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915208.91 epoch sec; seqNo:853; 4061585.19 north; 594453.70 east 2021-10-11T01:20:12Z- AHRS_M2 msg: 1633915209.26 epoch sec; seqNo:825 2021-10-11T01:20:12Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:12Z- handleDepth()-Depth_Keller msg: 1633915209266 epoch sec; seqNo:854; depth 34.48 2021-10-11T01:20:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915209.29 epoch sec; seqNo:854; 4061585.57 north; 594453.69 east 2021-10-11T01:20:13Z- AHRS_M2 msg: 1633915209.67 epoch sec; seqNo:826 2021-10-11T01:20:13Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:13Z- handleDepth()-Depth_Keller msg: 1633915209676 epoch sec; seqNo:855; depth 34.55 2021-10-11T01:20:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915209.69 epoch sec; seqNo:855; 4061585.95 north; 594453.69 east 2021-10-11T01:20:13Z- AHRS_M2 msg: 1633915210.08 epoch sec; seqNo:827 2021-10-11T01:20:13Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:13Z- handleDepth()-Depth_Keller msg: 1633915210088 epoch sec; seqNo:856; depth 34.62 2021-10-11T01:20:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915210.10 epoch sec; seqNo:856; 4061585.93 north; 594452.47 east 2021-10-11T01:20:13Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:20:13Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:20:13Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:20:13Z- AHRS_M2 msg: 1633915210.47 epoch sec; seqNo:828 2021-10-11T01:20:13Z- AHRS_M2 msg: -0.21 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:13Z- handleDepth()-Depth_Keller msg: 1633915210500 epoch sec; seqNo:857; depth 34.71 2021-10-11T01:20:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915210.51 epoch sec; seqNo:857; 4061586.31 north; 594452.46 east 2021-10-11T01:20:14Z- AHRS_M2 msg: 1633915210.88 epoch sec; seqNo:829 2021-10-11T01:20:14Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:14Z- handleDepth()-Depth_Keller msg: 1633915210891 epoch sec; seqNo:858; depth 34.78 2021-10-11T01:20:14Z- handleDvl() - RDI_Pathfinder msg: 1633915210.92 epoch sec; seqNo:187 2021-10-11T01:20:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.95 , 60.43 , 40.37 , 61.63 2021-10-11T01:20:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.04 , 0.11 2021-10-11T01:20:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915210.93 epoch sec; seqNo:858; 4061586.69 north; 594452.46 east 2021-10-11T01:20:14Z- AHRS_M2 msg: 1633915211.29 epoch sec; seqNo:830 2021-10-11T01:20:14Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:14Z- handleDepth()-Depth_Keller msg: 1633915211294 epoch sec; seqNo:859; depth 34.88 2021-10-11T01:20:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915211.31 epoch sec; seqNo:859; 4061586.69 north; 594452.46 east 2021-10-11T01:20:15Z- AHRS_M2 msg: 1633915211.68 epoch sec; seqNo:831 2021-10-11T01:20:15Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:15Z- handleDepth()-Depth_Keller msg: 1633915211692 epoch sec; seqNo:860; depth 34.93 2021-10-11T01:20:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915211.72 epoch sec; seqNo:860; 4061587.07 north; 594452.46 east 2021-10-11T01:20:15Z- AHRS_M2 msg: 1633915212.09 epoch sec; seqNo:832 2021-10-11T01:20:15Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:15Z- handleDepth()-Depth_Keller msg: 1633915212098 epoch sec; seqNo:861; depth 35.01 2021-10-11T01:20:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915212.11 epoch sec; seqNo:861; 4061587.44 north; 594451.23 east 2021-10-11T01:20:15Z- AHRS_M2 msg: 1633915212.49 epoch sec; seqNo:833 2021-10-11T01:20:15Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:15Z- handleDepth()-Depth_Keller msg: 1633915212500 epoch sec; seqNo:862; depth 35.08 2021-10-11T01:20:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915212.51 epoch sec; seqNo:862; 4061587.44 north; 594451.23 east 2021-10-11T01:20:16Z- LcmTrn::handleMessages() - handling 41 messages took 0.64 ms and 128 calls... 2021-10-11T01:20:16Z- waiting for 1633915210.27, time is 1633915212.51 2021-10-11T01:20:16Z- LcmTrn::updateTrn() >>>> pose time 1633915212.51, meas time 1633915210.92 <<<< 2021-10-11T01:20:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915210.92 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:16Z- TerrainNav::motionUpdate() - currEstimate = (4061587, 594451.23, 35.08) 2021-10-11T01:20:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:16Z- TerrainNav:: SubcloudNIS is 0.16, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:16Z- TNavBF::Projecting Measurements 2021-10-11T01:20:16Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:16Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:16Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:16Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:16Z- TNavFilter::4 good beams. 2021-10-11T01:20:16Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:16Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:16Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:16Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:16Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:16Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:16Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:16Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:16Z- TerrainMapOctree: (vehN, vehE ) = (4061586.53, 594452.35). 2021-10-11T01:20:16Z- TerrainMapOctree: Min Distance = 260.14. 2021-10-11T01:20:16Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:16Z- Forcing Subcloud Comparison 2021-10-11T01:20:16Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:16Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:16Z- Filter 0 partialDeltaRmsComputation: 3.921614 terrainVariance: 0.806271 1-SumSquareWeights: 0.982679 2021-10-11T01:20:16Z- Filter 0 meanExpectedMeasDiff: 1.765033 delta_rms_squared: 0.796444 alpha: 0.975504 2021-10-11T01:20:16Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:16Z- Filter 0 partialDeltaRmsComputation: 1.211654 terrainVariance: 1.127382 1-SumSquareWeights: 0.982679 2021-10-11T01:20:16Z- Filter 0 meanExpectedMeasDiff: -0.290295 delta_rms_squared: 1.117556 alpha: 0.982418 2021-10-11T01:20:16Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:16Z- Filter 0 partialDeltaRmsComputation: 19.540255 terrainVariance: 0.332110 1-SumSquareWeights: 0.982679 2021-10-11T01:20:16Z- Filter 0 meanExpectedMeasDiff: -4.382710 delta_rms_squared: 0.322283 alpha: 0.941569 2021-10-11T01:20:16Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:16Z- Filter 0 partialDeltaRmsComputation: 24.067636 terrainVariance: 0.216989 1-SumSquareWeights: 0.982679 2021-10-11T01:20:16Z- Filter 0 meanExpectedMeasDiff: 4.883712 delta_rms_squared: 0.207162 alpha: 0.911957 2021-10-11T01:20:16Z- Filter 0 SubcloudNIS: 0.200810 2021-10-11T01:20:16Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:16Z- TNavBF:: Filter 0 sumWeights = 0.033637 2021-10-11T01:20:16Z- Filter 0 NorthBias: 2.4 EastBias: -94.2 DepthBias: -39.4 NorthVariance: 14.7 EastVariance: 4.1 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-11T01:20:16Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915210.92 sec. 2021-10-11T01:20:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:16Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:16Z- variances([0], [2], and psi_berg) = 14.733962 37.484261 0.000000 2021-10-11T01:20:16Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:16Z- LcmTrn::publishEstimates() - MLE : 4061586.92 594356.33 23.08 2021-10-11T01:20:16Z- LcmTrn::publishEstimates() - MMSE : 4061589.81 594357.41 -4.36 2021-10-11T01:20:16Z- LcmTrn::publishEstimates() - COVAR: 14.73 37.48 0.71 0.00 2021-10-11T01:20:16Z- AHRS_M2 msg: 1633915212.90 epoch sec; seqNo:834 2021-10-11T01:20:16Z- AHRS_M2 msg: -0.22 phi; -0.25 theta; 5.52 psi 2021-10-11T01:20:16Z- handleDepth()-Depth_Keller msg: 1633915212908 epoch sec; seqNo:863; depth 35.16 2021-10-11T01:20:16Z- handleDvl() - RDI_Pathfinder msg: 1633915212.94 epoch sec; seqNo:188 2021-10-11T01:20:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.47 , 61.15 , 39.89 , 61.87 2021-10-11T01:20:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , 0.06 2021-10-11T01:20:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915212.96 epoch sec; seqNo:863; 4061587.82 north; 594451.23 east 2021-10-11T01:20:16Z- AHRS_M2 msg: 1633915213.30 epoch sec; seqNo:835 2021-10-11T01:20:16Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.52 psi 2021-10-11T01:20:16Z- handleDepth()-Depth_Keller msg: 1633915213309 epoch sec; seqNo:864; depth 35.23 2021-10-11T01:20:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915213.34 epoch sec; seqNo:864; 4061588.19 north; 594451.22 east 2021-10-11T01:20:17Z- AHRS_M2 msg: 1633915213.71 epoch sec; seqNo:836 2021-10-11T01:20:17Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.53 psi 2021-10-11T01:20:17Z- handleDepth()-Depth_Keller msg: 1633915213716 epoch sec; seqNo:865; depth 35.30 2021-10-11T01:20:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915213.77 epoch sec; seqNo:865; 4061588.56 north; 594450.00 east 2021-10-11T01:20:17Z- AHRS_M2 msg: 1633915214.11 epoch sec; seqNo:837 2021-10-11T01:20:17Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.53 psi 2021-10-11T01:20:17Z- handleDepth()-Depth_Keller msg: 1633915214125 epoch sec; seqNo:866; depth 35.39 2021-10-11T01:20:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915214.14 epoch sec; seqNo:866; 4061588.56 north; 594450.00 east 2021-10-11T01:20:17Z- AHRS_M2 msg: 1633915214.51 epoch sec; seqNo:838 2021-10-11T01:20:17Z- AHRS_M2 msg: -0.22 phi; -0.24 theta; 5.53 psi 2021-10-11T01:20:17Z- handleDepth()-Depth_Keller msg: 1633915214518 epoch sec; seqNo:867; depth 35.45 2021-10-11T01:20:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915214.53 epoch sec; seqNo:867; 4061588.94 north; 594449.99 east 2021-10-11T01:20:18Z- AHRS_M2 msg: 1633915214.92 epoch sec; seqNo:839 2021-10-11T01:20:18Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.53 psi 2021-10-11T01:20:18Z- handleDepth()-Depth_Keller msg: 1633915214930 epoch sec; seqNo:868; depth 35.52 2021-10-11T01:20:18Z- handleDvl() - RDI_Pathfinder msg: 1633915214.95 epoch sec; seqNo:189 2021-10-11T01:20:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.23 , 60.19 , 39.41 , 61.14 2021-10-11T01:20:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.04 , 0.02 2021-10-11T01:20:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915214.98 epoch sec; seqNo:868; 4061589.32 north; 594449.99 east 2021-10-11T01:20:18Z- AHRS_M2 msg: 1633915215.33 epoch sec; seqNo:840 2021-10-11T01:20:18Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.53 psi 2021-10-11T01:20:18Z- handleDepth()-Depth_Keller msg: 1633915215339 epoch sec; seqNo:869; depth 35.61 2021-10-11T01:20:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915215.36 epoch sec; seqNo:869; 4061589.32 north; 594449.99 east 2021-10-11T01:20:19Z- AHRS_M2 msg: 1633915215.72 epoch sec; seqNo:841 2021-10-11T01:20:19Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.53 psi 2021-10-11T01:20:19Z- handleDepth()-Depth_Keller msg: 1633915215730 epoch sec; seqNo:870; depth 35.68 2021-10-11T01:20:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915215.75 epoch sec; seqNo:870; 4061589.68 north; 594448.77 east 2021-10-11T01:20:19Z- AHRS_M2 msg: 1633915216.13 epoch sec; seqNo:842 2021-10-11T01:20:19Z- AHRS_M2 msg: -0.21 phi; -0.23 theta; 5.53 psi 2021-10-11T01:20:19Z- handleDepth()-Depth_Keller msg: 1633915216133 epoch sec; seqNo:871; depth 35.74 2021-10-11T01:20:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915216.14 epoch sec; seqNo:871; 4061590.06 north; 594448.76 east 2021-10-11T01:20:19Z- AHRS_M2 msg: 1633915216.54 epoch sec; seqNo:843 2021-10-11T01:20:19Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.53 psi 2021-10-11T01:20:19Z- handleDepth()-Depth_Keller msg: 1633915216541 epoch sec; seqNo:872; depth 35.81 2021-10-11T01:20:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915216.55 epoch sec; seqNo:872; 4061590.06 north; 594448.76 east 2021-10-11T01:20:20Z- AHRS_M2 msg: 1633915216.94 epoch sec; seqNo:844 2021-10-11T01:20:20Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.52 psi 2021-10-11T01:20:20Z- handleDepth()-Depth_Keller msg: 1633915216944 epoch sec; seqNo:873; depth 35.87 2021-10-11T01:20:20Z- handleDvl() - RDI_Pathfinder msg: 1633915216.98 epoch sec; seqNo:190 2021-10-11T01:20:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.04 , 58.99 , 39.17 , 60.67 2021-10-11T01:20:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.04 2021-10-11T01:20:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915217.00 epoch sec; seqNo:873; 4061590.44 north; 594448.76 east 2021-10-11T01:20:20Z- AHRS_M2 msg: 1633915217.34 epoch sec; seqNo:845 2021-10-11T01:20:20Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.52 psi 2021-10-11T01:20:20Z- handleDepth()-Depth_Keller msg: 1633915217346 epoch sec; seqNo:874; depth 35.94 2021-10-11T01:20:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915217.36 epoch sec; seqNo:874; 4061590.81 north; 594447.53 east 2021-10-11T01:20:21Z- AHRS_M2 msg: 1633915217.75 epoch sec; seqNo:846 2021-10-11T01:20:21Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.52 psi 2021-10-11T01:20:21Z- handleDepth()-Depth_Keller msg: 1633915217754 epoch sec; seqNo:875; depth 36.00 2021-10-11T01:20:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915217.77 epoch sec; seqNo:875; 4061590.81 north; 594447.53 east 2021-10-11T01:20:21Z- LcmTrn::handleMessages() - handling 42 messages took 0.65 ms and 128 calls... 2021-10-11T01:20:21Z- waiting for 1633915215.51, time is 1633915217.77 2021-10-11T01:20:21Z- LcmTrn::updateTrn() >>>> pose time 1633915217.77, meas time 1633915216.98 <<<< 2021-10-11T01:20:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915216.98 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:21Z- TerrainNav::motionUpdate() - currEstimate = (4061591, 594447.53, 36.00) 2021-10-11T01:20:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:21Z- TerrainNav:: SubcloudNIS is 0.20, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:21Z- TNavBF::Projecting Measurements 2021-10-11T01:20:21Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:21Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:21Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:21Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:21Z- TNavFilter::4 good beams. 2021-10-11T01:20:21Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:21Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:21Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:21Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:21Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:21Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:21Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:21Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:21Z- TerrainMapOctree: (vehN, vehE ) = (4061590.30, 594448.08). 2021-10-11T01:20:21Z- TerrainMapOctree: Min Distance = 254.44. 2021-10-11T01:20:21Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:21Z- Forcing Subcloud Comparison 2021-10-11T01:20:21Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:21Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:21Z- Filter 0 partialDeltaRmsComputation: 1.918348 terrainVariance: 1.112191 1-SumSquareWeights: 0.977838 2021-10-11T01:20:21Z- Filter 0 meanExpectedMeasDiff: 0.897862 delta_rms_squared: 1.102412 alpha: 0.982181 2021-10-11T01:20:21Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:21Z- Filter 0 partialDeltaRmsComputation: 1.998187 terrainVariance: 1.739355 1-SumSquareWeights: 0.977838 2021-10-11T01:20:21Z- Filter 0 meanExpectedMeasDiff: 0.508755 delta_rms_squared: 1.729576 alpha: 0.988569 2021-10-11T01:20:21Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:21Z- Filter 0 partialDeltaRmsComputation: 27.446871 terrainVariance: 0.465506 1-SumSquareWeights: 0.977838 2021-10-11T01:20:21Z- Filter 0 meanExpectedMeasDiff: -5.194359 delta_rms_squared: 0.455728 alpha: 0.957959 2021-10-11T01:20:21Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:21Z- Filter 0 partialDeltaRmsComputation: 38.524732 terrainVariance: 0.266604 1-SumSquareWeights: 0.977838 2021-10-11T01:20:21Z- Filter 0 meanExpectedMeasDiff: 6.185315 delta_rms_squared: 0.256826 alpha: 0.927752 2021-10-11T01:20:21Z- Filter 0 SubcloudNIS: 0.258731 2021-10-11T01:20:21Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:21Z- TNavBF:: Filter 0 sumWeights = 0.007643 2021-10-11T01:20:21Z- Filter 0 NorthBias: 1.5 EastBias: -93.8 DepthBias: -39.6 NorthVariance: 19.7 EastVariance: 5.3 DepthVariance: 0.7 this->DepthBiasCov: 0.5 2021-10-11T01:20:21Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915216.98 sec. 2021-10-11T01:20:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:21Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:21Z- variances([0], [2], and psi_berg) = 19.745383 26.175624 0.000000 2021-10-11T01:20:21Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:21Z- LcmTrn::publishEstimates() - MLE : 4061590.29 594352.63 23.99 2021-10-11T01:20:21Z- LcmTrn::publishEstimates() - MMSE : 4061592.31 594353.94 -3.64 2021-10-11T01:20:21Z- LcmTrn::publishEstimates() - COVAR: 19.75 26.18 0.77 0.00 2021-10-11T01:20:21Z- AHRS_M2 msg: 1633915218.15 epoch sec; seqNo:847 2021-10-11T01:20:21Z- AHRS_M2 msg: -0.22 phi; -0.23 theta; 5.52 psi 2021-10-11T01:20:21Z- handleDepth()-Depth_Keller msg: 1633915218161 epoch sec; seqNo:876; depth 36.06 2021-10-11T01:20:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915218.18 epoch sec; seqNo:876; 4061591.18 north; 594447.53 east 2021-10-11T01:20:21Z- AHRS_M2 msg: 1633915218.55 epoch sec; seqNo:848 2021-10-11T01:20:21Z- AHRS_M2 msg: -0.23 phi; -0.23 theta; 5.52 psi 2021-10-11T01:20:21Z- handleDepth()-Depth_Keller msg: 1633915218558 epoch sec; seqNo:877; depth 36.14 2021-10-11T01:20:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915218.57 epoch sec; seqNo:877; 4061591.56 north; 594447.52 east 2021-10-11T01:20:22Z- AHRS_M2 msg: 1633915218.96 epoch sec; seqNo:849 2021-10-11T01:20:22Z- AHRS_M2 msg: -0.23 phi; -0.23 theta; 5.52 psi 2021-10-11T01:20:22Z- handleDepth()-Depth_Keller msg: 1633915218972 epoch sec; seqNo:878; depth 36.22 2021-10-11T01:20:22Z- handleDvl() - RDI_Pathfinder msg: 1633915219.01 epoch sec; seqNo:191 2021-10-11T01:20:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.03 , 59.47 , 39.17 , 59.71 2021-10-11T01:20:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.05 2021-10-11T01:20:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915219.03 epoch sec; seqNo:878; 4061591.56 north; 594447.52 east 2021-10-11T01:20:22Z- AHRS_M2 msg: 1633915219.36 epoch sec; seqNo:850 2021-10-11T01:20:22Z- AHRS_M2 msg: -0.23 phi; -0.23 theta; 5.51 psi 2021-10-11T01:20:22Z- handleDepth()-Depth_Keller msg: 1633915219367 epoch sec; seqNo:879; depth 36.27 2021-10-11T01:20:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915219.39 epoch sec; seqNo:879; 4061591.93 north; 594446.30 east 2021-10-11T01:20:23Z- AHRS_M2 msg: 1633915219.77 epoch sec; seqNo:851 2021-10-11T01:20:23Z- AHRS_M2 msg: -0.23 phi; -0.23 theta; 5.51 psi 2021-10-11T01:20:23Z- handleDepth()-Depth_Keller msg: 1633915219772 epoch sec; seqNo:880; depth 36.32 2021-10-11T01:20:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915219.78 epoch sec; seqNo:880; 4061592.31 north; 594446.30 east 2021-10-11T01:20:23Z- AHRS_M2 msg: 1633915220.17 epoch sec; seqNo:852 2021-10-11T01:20:23Z- AHRS_M2 msg: -0.23 phi; -0.23 theta; 5.51 psi 2021-10-11T01:20:23Z- handleDepth()-Depth_Keller msg: 1633915220175 epoch sec; seqNo:881; depth 36.39 2021-10-11T01:20:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915220.19 epoch sec; seqNo:881; 4061592.31 north; 594446.30 east 2021-10-11T01:20:23Z- AHRS_M2 msg: 1633915220.58 epoch sec; seqNo:853 2021-10-11T01:20:23Z- AHRS_M2 msg: -0.23 phi; -0.23 theta; 5.51 psi 2021-10-11T01:20:23Z- handleDepth()-Depth_Keller msg: 1633915220588 epoch sec; seqNo:882; depth 36.46 2021-10-11T01:20:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915220.60 epoch sec; seqNo:882; 4061592.69 north; 594446.29 east 2021-10-11T01:20:24Z- AHRS_M2 msg: 1633915220.98 epoch sec; seqNo:854 2021-10-11T01:20:24Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.51 psi 2021-10-11T01:20:24Z- handleDepth()-Depth_Keller msg: 1633915220996 epoch sec; seqNo:883; depth 36.53 2021-10-11T01:20:24Z- handleDvl() - RDI_Pathfinder msg: 1633915221.02 epoch sec; seqNo:192 2021-10-11T01:20:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.32 , 0.00 , 39.17 , 59.47 2021-10-11T01:20:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.13 , 0.04 2021-10-11T01:20:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915221.06 epoch sec; seqNo:883; 4061593.05 north; 594445.07 east 2021-10-11T01:20:24Z- AHRS_M2 msg: 1633915221.38 epoch sec; seqNo:855 2021-10-11T01:20:24Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.51 psi 2021-10-11T01:20:24Z- handleDepth()-Depth_Keller msg: 1633915221388 epoch sec; seqNo:884; depth 36.60 2021-10-11T01:20:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915221.42 epoch sec; seqNo:884; 4061593.05 north; 594445.07 east 2021-10-11T01:20:25Z- AHRS_M2 msg: 1633915221.78 epoch sec; seqNo:856 2021-10-11T01:20:25Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.51 psi 2021-10-11T01:20:25Z- handleDepth()-Depth_Keller msg: 1633915221790 epoch sec; seqNo:885; depth 36.66 2021-10-11T01:20:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915221.80 epoch sec; seqNo:885; 4061593.43 north; 594445.06 east 2021-10-11T01:20:25Z- AHRS_M2 msg: 1633915222.19 epoch sec; seqNo:857 2021-10-11T01:20:25Z- AHRS_M2 msg: -0.24 phi; -0.22 theta; 5.51 psi 2021-10-11T01:20:25Z- handleDepth()-Depth_Keller msg: 1633915222200 epoch sec; seqNo:886; depth 36.72 2021-10-11T01:20:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915222.21 epoch sec; seqNo:886; 4061593.43 north; 594445.06 east 2021-10-11T01:20:25Z- AHRS_M2 msg: 1633915222.61 epoch sec; seqNo:858 2021-10-11T01:20:25Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.50 psi 2021-10-11T01:20:25Z- handleDepth()-Depth_Keller msg: 1633915222621 epoch sec; seqNo:887; depth 36.80 2021-10-11T01:20:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915222.63 epoch sec; seqNo:887; 4061593.80 north; 594443.84 east 2021-10-11T01:20:26Z- handleDepth()-Depth_Keller msg: 1633915223023 epoch sec; seqNo:888; depth 36.87 2021-10-11T01:20:26Z- handleDvl() - RDI_Pathfinder msg: 1633915223.05 epoch sec; seqNo:193 2021-10-11T01:20:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.02 , 58.98 , 38.81 , 58.98 2021-10-11T01:20:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.14 , 0.06 2021-10-11T01:20:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915223.08 epoch sec; seqNo:888; 4061594.18 north; 594443.83 east 2021-10-11T01:20:26Z- LcmTrn::handleMessages() - handling 41 messages took 0.79 ms and 125 calls... 2021-10-11T01:20:26Z- waiting for 1633915220.77, time is 1633915223.08 2021-10-11T01:20:26Z- LcmTrn::updateTrn() equating pose 1633915223.08 and meas times 1633915223.08 2021-10-11T01:20:26Z- LcmTrn::updateTrn() >>>> pose time 1633915223.08, meas time 1633915223.08 <<<< 2021-10-11T01:20:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915223.08 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:26Z- TerrainNav::motionUpdate() - currEstimate = (4061594, 594443.83, 36.87) 2021-10-11T01:20:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:26Z- TerrainNav:: SubcloudNIS is 0.26, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:26Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915223.08 sec.; No relevant navigation data available 2021-10-11T01:20:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:26Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:26Z- variances([0], [2], and psi_berg) = 19.768464 79.102888 0.000000 2021-10-11T01:20:26Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:26Z- LcmTrn::publishEstimates() - MLE : 4061593.66 594348.94 24.87 2021-10-11T01:20:26Z- LcmTrn::publishEstimates() - MMSE : 4061595.67 594350.82 -2.75 2021-10-11T01:20:26Z- LcmTrn::publishEstimates() - COVAR: 19.77 79.10 1.03 0.00 2021-10-11T01:20:26Z- AHRS_M2 msg: 1633915223.41 epoch sec; seqNo:859 2021-10-11T01:20:26Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.50 psi 2021-10-11T01:20:26Z- handleDepth()-Depth_Keller msg: 1633915223413 epoch sec; seqNo:889; depth 36.95 2021-10-11T01:20:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915223.43 epoch sec; seqNo:889; 4061594.18 north; 594443.83 east 2021-10-11T01:20:27Z- AHRS_M2 msg: 1633915223.81 epoch sec; seqNo:860 2021-10-11T01:20:27Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.50 psi 2021-10-11T01:20:27Z- handleDepth()-Depth_Keller msg: 1633915223810 epoch sec; seqNo:890; depth 37.04 2021-10-11T01:20:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915223.83 epoch sec; seqNo:890; 4061594.55 north; 594443.83 east 2021-10-11T01:20:27Z- AHRS_M2 msg: 1633915224.21 epoch sec; seqNo:861 2021-10-11T01:20:27Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.50 psi 2021-10-11T01:20:27Z- handleDepth()-Depth_Keller msg: 1633915224216 epoch sec; seqNo:891; depth 37.09 2021-10-11T01:20:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915224.24 epoch sec; seqNo:891; 4061594.54 north; 594442.61 east 2021-10-11T01:20:27Z- AHRS_M2 msg: 1633915224.61 epoch sec; seqNo:862 2021-10-11T01:20:27Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:27Z- handleDepth()-Depth_Keller msg: 1633915224619 epoch sec; seqNo:892; depth 37.17 2021-10-11T01:20:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915224.63 epoch sec; seqNo:892; 4061594.92 north; 594442.61 east 2021-10-11T01:20:28Z- AHRS_M2 msg: 1633915225.02 epoch sec; seqNo:863 2021-10-11T01:20:28Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:28Z- handleDepth()-Depth_Keller msg: 1633915225027 epoch sec; seqNo:893; depth 37.26 2021-10-11T01:20:28Z- handleDvl() - RDI_Pathfinder msg: 1633915225.05 epoch sec; seqNo:194 2021-10-11T01:20:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.07 , 57.31 , 38.69 , 58.27 2021-10-11T01:20:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.10 , 0.11 2021-10-11T01:20:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915225.08 epoch sec; seqNo:893; 4061595.30 north; 594442.60 east 2021-10-11T01:20:28Z- AHRS_M2 msg: 1633915225.42 epoch sec; seqNo:864 2021-10-11T01:20:28Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:28Z- handleDepth()-Depth_Keller msg: 1633915225425 epoch sec; seqNo:894; depth 37.34 2021-10-11T01:20:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915225.45 epoch sec; seqNo:894; 4061595.30 north; 594442.60 east 2021-10-11T01:20:29Z- AHRS_M2 msg: 1633915225.83 epoch sec; seqNo:865 2021-10-11T01:20:29Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:29Z- handleDepth()-Depth_Keller msg: 1633915225829 epoch sec; seqNo:895; depth 37.43 2021-10-11T01:20:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915225.84 epoch sec; seqNo:895; 4061595.68 north; 594442.60 east 2021-10-11T01:20:29Z- AHRS_M2 msg: 1633915226.23 epoch sec; seqNo:866 2021-10-11T01:20:29Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:29Z- handleDepth()-Depth_Keller msg: 1633915226235 epoch sec; seqNo:896; depth 37.49 2021-10-11T01:20:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915226.26 epoch sec; seqNo:896; 4061596.04 north; 594441.37 east 2021-10-11T01:20:30Z- AHRS_M2 msg: 1633915226.63 epoch sec; seqNo:867 2021-10-11T01:20:30Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.48 psi 2021-10-11T01:20:30Z- handleDepth()-Depth_Keller msg: 1633915226641 epoch sec; seqNo:897; depth 37.58 2021-10-11T01:20:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915226.65 epoch sec; seqNo:897; 4061596.04 north; 594441.37 east 2021-10-11T01:20:30Z- AHRS_M2 msg: 1633915227.04 epoch sec; seqNo:868 2021-10-11T01:20:30Z- AHRS_M2 msg: -0.23 phi; -0.22 theta; 5.48 psi 2021-10-11T01:20:30Z- handleDepth()-Depth_Keller msg: 1633915227042 epoch sec; seqNo:898; depth 37.66 2021-10-11T01:20:30Z- handleDvl() - RDI_Pathfinder msg: 1633915227.07 epoch sec; seqNo:195 2021-10-11T01:20:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.02 , 55.21 , 38.14 , 57.65 2021-10-11T01:20:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , 0.14 2021-10-11T01:20:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915227.10 epoch sec; seqNo:898; 4061596.42 north; 594441.37 east 2021-10-11T01:20:30Z- AHRS_M2 msg: 1633915227.44 epoch sec; seqNo:869 2021-10-11T01:20:30Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:30Z- handleDepth()-Depth_Keller msg: 1633915227446 epoch sec; seqNo:899; depth 37.75 2021-10-11T01:20:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915227.47 epoch sec; seqNo:899; 4061596.80 north; 594441.36 east 2021-10-11T01:20:31Z- AHRS_M2 msg: 1633915227.85 epoch sec; seqNo:870 2021-10-11T01:20:31Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:31Z- handleDepth()-Depth_Keller msg: 1633915227850 epoch sec; seqNo:900; depth 37.80 2021-10-11T01:20:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915227.86 epoch sec; seqNo:900; 4061596.79 north; 594440.14 east 2021-10-11T01:20:31Z- AHRS_M2 msg: 1633915228.25 epoch sec; seqNo:871 2021-10-11T01:20:31Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:31Z- handleDepth()-Depth_Keller msg: 1633915228254 epoch sec; seqNo:901; depth 37.88 2021-10-11T01:20:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915228.27 epoch sec; seqNo:901; 4061597.17 north; 594440.14 east 2021-10-11T01:20:31Z- LcmTrn::handleMessages() - handling 41 messages took 0.75 ms and 126 calls... 2021-10-11T01:20:31Z- waiting for 1633915226.08, time is 1633915228.27 2021-10-11T01:20:31Z- LcmTrn::updateTrn() >>>> pose time 1633915228.27, meas time 1633915227.07 <<<< 2021-10-11T01:20:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915227.07 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:31Z- TerrainNav::motionUpdate() - currEstimate = (4061597, 594440.14, 37.88) 2021-10-11T01:20:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:31Z- TerrainNav:: SubcloudNIS is 0.26, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:31Z- TNavBF::Projecting Measurements 2021-10-11T01:20:31Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:31Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:31Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:31Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:31Z- TNavFilter::4 good beams. 2021-10-11T01:20:31Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:31Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:31Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:31Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:31Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:31Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:31Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:31Z- TerrainMapOctree: (vehN, vehE ) = (4061596.48, 594440.99). 2021-10-11T01:20:31Z- TerrainMapOctree: Min Distance = 245.05. 2021-10-11T01:20:31Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:31Z- Forcing Subcloud Comparison 2021-10-11T01:20:31Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:31Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:31Z- Filter 0 partialDeltaRmsComputation: 3.510277 terrainVariance: 1.473297 1-SumSquareWeights: 0.977597 2021-10-11T01:20:31Z- Filter 0 meanExpectedMeasDiff: 1.427228 delta_rms_squared: 1.463521 alpha: 0.986519 2021-10-11T01:20:31Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:31Z- Filter 0 partialDeltaRmsComputation: 2.602137 terrainVariance: 1.520736 1-SumSquareWeights: 0.977597 2021-10-11T01:20:31Z- Filter 0 meanExpectedMeasDiff: -1.039904 delta_rms_squared: 1.510960 alpha: 0.986936 2021-10-11T01:20:31Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:31Z- Filter 0 partialDeltaRmsComputation: 16.428481 terrainVariance: 0.652874 1-SumSquareWeights: 0.977597 2021-10-11T01:20:31Z- Filter 0 meanExpectedMeasDiff: -3.971852 delta_rms_squared: 0.643098 alpha: 0.969839 2021-10-11T01:20:31Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:31Z- Filter 0 partialDeltaRmsComputation: 39.740736 terrainVariance: 0.315396 1-SumSquareWeights: 0.977597 2021-10-11T01:20:31Z- Filter 0 meanExpectedMeasDiff: 6.278960 delta_rms_squared: 0.305620 alpha: 0.938579 2021-10-11T01:20:31Z- Filter 0 SubcloudNIS: 0.344112 2021-10-11T01:20:31Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:31Z- TNavBF:: Filter 0 sumWeights = 0.015363 2021-10-11T01:20:31Z- Filter 0 NorthBias: 3.1 EastBias: -94.4 DepthBias: -39.5 NorthVariance: 26.9 EastVariance: 3.6 DepthVariance: 0.8 this->DepthBiasCov: 0.6 2021-10-11T01:20:31Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915227.07 sec. 2021-10-11T01:20:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:31Z- variances([0], [2], and psi_berg) = 26.886302 33.282176 0.000000 2021-10-11T01:20:31Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:31Z- LcmTrn::publishEstimates() - MLE : 4061596.65 594345.24 25.87 2021-10-11T01:20:31Z- LcmTrn::publishEstimates() - MMSE : 4061600.24 594346.07 -1.60 2021-10-11T01:20:31Z- LcmTrn::publishEstimates() - COVAR: 26.89 33.28 0.86 0.00 2021-10-11T01:20:32Z- AHRS_M2 msg: 1633915228.66 epoch sec; seqNo:872 2021-10-11T01:20:32Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:32Z- handleDepth()-Depth_Keller msg: 1633915228661 epoch sec; seqNo:902; depth 37.96 2021-10-11T01:20:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915228.67 epoch sec; seqNo:902; 4061597.54 north; 594440.14 east 2021-10-11T01:20:32Z- AHRS_M2 msg: 1633915229.06 epoch sec; seqNo:873 2021-10-11T01:20:32Z- AHRS_M2 msg: -0.22 phi; -0.22 theta; 5.49 psi 2021-10-11T01:20:32Z- handleDepth()-Depth_Keller msg: 1633915229069 epoch sec; seqNo:903; depth 38.03 2021-10-11T01:20:32Z- handleDvl() - RDI_Pathfinder msg: 1633915229.11 epoch sec; seqNo:196 2021-10-11T01:20:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.02 , 54.54 , 37.91 , 0.00 2021-10-11T01:20:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.04 , 0.07 2021-10-11T01:20:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915229.13 epoch sec; seqNo:903; 4061597.54 north; 594440.14 east 2021-10-11T01:20:32Z- AHRS_M2 msg: 1633915229.46 epoch sec; seqNo:874 2021-10-11T01:20:32Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.49 psi 2021-10-11T01:20:32Z- handleDepth()-Depth_Keller msg: 1633915229467 epoch sec; seqNo:904; depth 38.11 2021-10-11T01:20:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915229.49 epoch sec; seqNo:904; 4061597.92 north; 594440.13 east 2021-10-11T01:20:33Z- AHRS_M2 msg: 1633915229.87 epoch sec; seqNo:875 2021-10-11T01:20:33Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.49 psi 2021-10-11T01:20:33Z- handleDepth()-Depth_Keller msg: 1633915229872 epoch sec; seqNo:905; depth 38.15 2021-10-11T01:20:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915229.89 epoch sec; seqNo:905; 4061597.91 north; 594438.91 east 2021-10-11T01:20:33Z- AHRS_M2 msg: 1633915230.27 epoch sec; seqNo:876 2021-10-11T01:20:33Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.50 psi 2021-10-11T01:20:33Z- handleDepth()-Depth_Keller msg: 1633915230277 epoch sec; seqNo:906; depth 38.24 2021-10-11T01:20:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915230.31 epoch sec; seqNo:906; 4061598.29 north; 594438.91 east 2021-10-11T01:20:34Z- AHRS_M2 msg: 1633915230.67 epoch sec; seqNo:877 2021-10-11T01:20:34Z- AHRS_M2 msg: -0.22 phi; -0.21 theta; 5.50 psi 2021-10-11T01:20:34Z- handleDepth()-Depth_Keller msg: 1633915230682 epoch sec; seqNo:907; depth 38.30 2021-10-11T01:20:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915230.69 epoch sec; seqNo:907; 4061598.67 north; 594438.90 east 2021-10-11T01:20:34Z- AHRS_M2 msg: 1633915231.10 epoch sec; seqNo:878 2021-10-11T01:20:34Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 5.50 psi 2021-10-11T01:20:34Z- handleDepth()-Depth_Keller msg: 1633915231100 epoch sec; seqNo:908; depth 38.36 2021-10-11T01:20:34Z- handleDvl() - RDI_Pathfinder msg: 1633915231.13 epoch sec; seqNo:197 2021-10-11T01:20:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.52 , 53.01 , 37.66 , 55.46 2021-10-11T01:20:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.06 , -0.01 2021-10-11T01:20:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915231.16 epoch sec; seqNo:908; 4061598.67 north; 594438.90 east 2021-10-11T01:20:34Z- AHRS_M2 msg: 1633915231.48 epoch sec; seqNo:879 2021-10-11T01:20:34Z- AHRS_M2 msg: -0.22 phi; -0.20 theta; 5.50 psi 2021-10-11T01:20:34Z- handleDepth()-Depth_Keller msg: 1633915231492 epoch sec; seqNo:909; depth 38.42 2021-10-11T01:20:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915231.52 epoch sec; seqNo:909; 4061599.03 north; 594437.68 east 2021-10-11T01:20:35Z- AHRS_M2 msg: 1633915231.88 epoch sec; seqNo:880 2021-10-11T01:20:35Z- AHRS_M2 msg: -0.22 phi; -0.19 theta; 5.50 psi 2021-10-11T01:20:35Z- handleDepth()-Depth_Keller msg: 1633915231890 epoch sec; seqNo:910; depth 38.47 2021-10-11T01:20:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915231.90 epoch sec; seqNo:910; 4061599.41 north; 594437.67 east 2021-10-11T01:20:35Z- AHRS_M2 msg: 1633915232.29 epoch sec; seqNo:881 2021-10-11T01:20:35Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 5.50 psi 2021-10-11T01:20:35Z- handleDepth()-Depth_Keller msg: 1633915232294 epoch sec; seqNo:911; depth 38.53 2021-10-11T01:20:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915232.31 epoch sec; seqNo:911; 4061599.41 north; 594437.67 east 2021-10-11T01:20:36Z- AHRS_M2 msg: 1633915232.69 epoch sec; seqNo:882 2021-10-11T01:20:36Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 5.49 psi 2021-10-11T01:20:36Z- handleDepth()-Depth_Keller msg: 1633915232698 epoch sec; seqNo:912; depth 38.60 2021-10-11T01:20:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915232.72 epoch sec; seqNo:912; 4061599.79 north; 594437.67 east 2021-10-11T01:20:36Z- AHRS_M2 msg: 1633915233.10 epoch sec; seqNo:883 2021-10-11T01:20:36Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 5.49 psi 2021-10-11T01:20:36Z- handleDepth()-Depth_Keller msg: 1633915233104 epoch sec; seqNo:913; depth 38.65 2021-10-11T01:20:36Z- handleDvl() - RDI_Pathfinder msg: 1633915233.14 epoch sec; seqNo:198 2021-10-11T01:20:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.91 , 49.66 , 37.47 , 52.99 2021-10-11T01:20:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.08 , 0.00 2021-10-11T01:20:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915233.15 epoch sec; seqNo:913; 4061599.79 north; 594437.67 east 2021-10-11T01:20:36Z- AHRS_M2 msg: 1633915233.50 epoch sec; seqNo:884 2021-10-11T01:20:36Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 5.49 psi 2021-10-11T01:20:36Z- handleDepth()-Depth_Keller msg: 1633915233511 epoch sec; seqNo:914; depth 38.71 2021-10-11T01:20:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915233.53 epoch sec; seqNo:914; 4061600.16 north; 594436.45 east 2021-10-11T01:20:36Z- LcmTrn::handleMessages() - handling 42 messages took 0.83 ms and 125 calls... 2021-10-11T01:20:36Z- waiting for 1633915231.27, time is 1633915233.53 2021-10-11T01:20:36Z- LcmTrn::updateTrn() >>>> pose time 1633915233.53, meas time 1633915233.14 <<<< 2021-10-11T01:20:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915233.14 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:36Z- TerrainNav::motionUpdate() - currEstimate = (4061600, 594436.45, 38.71) 2021-10-11T01:20:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:36Z- TerrainNav:: SubcloudNIS is 0.34, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:36Z- TNavBF::Projecting Measurements 2021-10-11T01:20:36Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:36Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:36Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:36Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:36Z- TNavFilter::4 good beams. 2021-10-11T01:20:36Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:36Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:36Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:36Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:36Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:36Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:36Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:36Z- TerrainMapOctree: (vehN, vehE ) = (4061599.93, 594436.72). 2021-10-11T01:20:36Z- TerrainMapOctree: Min Distance = 239.55. 2021-10-11T01:20:36Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:37Z- Forcing Subcloud Comparison 2021-10-11T01:20:37Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:37Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:37Z- Filter 0 partialDeltaRmsComputation: 1.694646 terrainVariance: 1.082343 1-SumSquareWeights: 0.976076 2021-10-11T01:20:37Z- Filter 0 meanExpectedMeasDiff: 0.782498 delta_rms_squared: 1.072582 alpha: 0.981695 2021-10-11T01:20:37Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:37Z- Filter 0 partialDeltaRmsComputation: 13.516828 terrainVariance: 0.686855 1-SumSquareWeights: 0.976076 2021-10-11T01:20:37Z- Filter 0 meanExpectedMeasDiff: -3.581895 delta_rms_squared: 0.677095 alpha: 0.971309 2021-10-11T01:20:37Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:37Z- Filter 0 partialDeltaRmsComputation: 3.704637 terrainVariance: 0.465082 1-SumSquareWeights: 0.976076 2021-10-11T01:20:37Z- Filter 0 meanExpectedMeasDiff: -1.799876 delta_rms_squared: 0.455321 alpha: 0.957923 2021-10-11T01:20:37Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:37Z- Filter 0 partialDeltaRmsComputation: 16.377609 terrainVariance: 0.358859 1-SumSquareWeights: 0.976076 2021-10-11T01:20:37Z- Filter 0 meanExpectedMeasDiff: 4.002343 delta_rms_squared: 0.349099 alpha: 0.945814 2021-10-11T01:20:37Z- Filter 0 SubcloudNIS: 0.348086 2021-10-11T01:20:37Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:37Z- TNavBF:: Filter 0 sumWeights = 0.088544 2021-10-11T01:20:37Z- Filter 0 NorthBias: 2.1 EastBias: -94.7 DepthBias: -39.8 NorthVariance: 20.8 EastVariance: 2.4 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-11T01:20:37Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915233.14 sec. 2021-10-11T01:20:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:37Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:37Z- variances([0], [2], and psi_berg) = 20.857870 21.106188 0.000000 2021-10-11T01:20:37Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:37Z- LcmTrn::publishEstimates() - MLE : 4061599.64 594341.55 26.70 2021-10-11T01:20:37Z- LcmTrn::publishEstimates() - MMSE : 4061602.21 594341.93 -1.08 2021-10-11T01:20:37Z- LcmTrn::publishEstimates() - COVAR: 20.86 21.11 0.64 0.00 2021-10-11T01:20:37Z- AHRS_M2 msg: 1633915233.91 epoch sec; seqNo:885 2021-10-11T01:20:37Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.49 psi 2021-10-11T01:20:37Z- handleDepth()-Depth_Keller msg: 1633915233912 epoch sec; seqNo:915; depth 38.77 2021-10-11T01:20:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915233.92 epoch sec; seqNo:915; 4061600.53 north; 594436.44 east 2021-10-11T01:20:37Z- AHRS_M2 msg: 1633915234.31 epoch sec; seqNo:886 2021-10-11T01:20:37Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.49 psi 2021-10-11T01:20:37Z- handleDepth()-Depth_Keller msg: 1633915234313 epoch sec; seqNo:916; depth 38.83 2021-10-11T01:20:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915234.33 epoch sec; seqNo:916; 4061600.53 north; 594436.44 east 2021-10-11T01:20:38Z- AHRS_M2 msg: 1633915234.71 epoch sec; seqNo:887 2021-10-11T01:20:38Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.49 psi 2021-10-11T01:20:38Z- handleDepth()-Depth_Keller msg: 1633915234720 epoch sec; seqNo:917; depth 38.88 2021-10-11T01:20:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915234.73 epoch sec; seqNo:917; 4061600.91 north; 594436.44 east 2021-10-11T01:20:38Z- AHRS_M2 msg: 1633915235.12 epoch sec; seqNo:888 2021-10-11T01:20:38Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.49 psi 2021-10-11T01:20:38Z- handleDepth()-Depth_Keller msg: 1633915235131 epoch sec; seqNo:918; depth 38.94 2021-10-11T01:20:38Z- handleDvl() - RDI_Pathfinder msg: 1633915235.15 epoch sec; seqNo:199 2021-10-11T01:20:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.70 , 48.91 , 37.65 , 0.00 2021-10-11T01:20:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.05 2021-10-11T01:20:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915235.17 epoch sec; seqNo:918; 4061601.28 north; 594435.21 east 2021-10-11T01:20:38Z- AHRS_M2 msg: 1633915235.52 epoch sec; seqNo:889 2021-10-11T01:20:38Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 5.48 psi 2021-10-11T01:20:38Z- handleDepth()-Depth_Keller msg: 1633915235532 epoch sec; seqNo:919; depth 39.00 2021-10-11T01:20:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915235.56 epoch sec; seqNo:919; 4061601.28 north; 594435.21 east 2021-10-11T01:20:39Z- AHRS_M2 msg: 1633915235.93 epoch sec; seqNo:890 2021-10-11T01:20:39Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 5.48 psi 2021-10-11T01:20:39Z- handleDepth()-Depth_Keller msg: 1633915235931 epoch sec; seqNo:920; depth 39.06 2021-10-11T01:20:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915235.94 epoch sec; seqNo:920; 4061601.66 north; 594435.21 east 2021-10-11T01:20:39Z- AHRS_M2 msg: 1633915236.33 epoch sec; seqNo:891 2021-10-11T01:20:39Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 5.48 psi 2021-10-11T01:20:39Z- handleDepth()-Depth_Keller msg: 1633915236343 epoch sec; seqNo:921; depth 39.11 2021-10-11T01:20:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915236.36 epoch sec; seqNo:921; 4061602.04 north; 594435.20 east 2021-10-11T01:20:40Z- AHRS_M2 msg: 1633915236.73 epoch sec; seqNo:892 2021-10-11T01:20:40Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 5.48 psi 2021-10-11T01:20:40Z- handleDepth()-Depth_Keller msg: 1633915236739 epoch sec; seqNo:922; depth 39.17 2021-10-11T01:20:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915236.81 epoch sec; seqNo:922; 4061602.02 north; 594433.98 east 2021-10-11T01:20:40Z- AHRS_M2 msg: 1633915237.14 epoch sec; seqNo:893 2021-10-11T01:20:40Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 5.48 psi 2021-10-11T01:20:40Z- handleDepth()-Depth_Keller msg: 1633915237145 epoch sec; seqNo:923; depth 39.23 2021-10-11T01:20:40Z- handleDvl() - RDI_Pathfinder msg: 1633915237.17 epoch sec; seqNo:200 2021-10-11T01:20:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.90 , 47.68 , 38.47 , 47.47 2021-10-11T01:20:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.11 , 0.08 2021-10-11T01:20:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915237.20 epoch sec; seqNo:923; 4061602.40 north; 594433.98 east 2021-10-11T01:20:40Z- AHRS_M2 msg: 1633915237.54 epoch sec; seqNo:894 2021-10-11T01:20:40Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 5.48 psi 2021-10-11T01:20:40Z- handleDepth()-Depth_Keller msg: 1633915237557 epoch sec; seqNo:924; depth 39.29 2021-10-11T01:20:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915237.57 epoch sec; seqNo:924; 4061602.40 north; 594433.98 east 2021-10-11T01:20:41Z- AHRS_M2 msg: 1633915237.96 epoch sec; seqNo:895 2021-10-11T01:20:41Z- AHRS_M2 msg: -0.21 phi; -0.17 theta; 5.48 psi 2021-10-11T01:20:41Z- handleDepth()-Depth_Keller msg: 1633915237972 epoch sec; seqNo:925; depth 39.34 2021-10-11T01:20:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915237.98 epoch sec; seqNo:925; 4061602.78 north; 594433.98 east 2021-10-11T01:20:41Z- AHRS_M2 msg: 1633915238.36 epoch sec; seqNo:896 2021-10-11T01:20:41Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.48 psi 2021-10-11T01:20:41Z- handleDepth()-Depth_Keller msg: 1633915238372 epoch sec; seqNo:926; depth 39.39 2021-10-11T01:20:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915238.39 epoch sec; seqNo:926; 4061603.15 north; 594432.75 east 2021-10-11T01:20:42Z- AHRS_M2 msg: 1633915238.78 epoch sec; seqNo:897 2021-10-11T01:20:42Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.49 psi 2021-10-11T01:20:42Z- LcmTrn::handleMessages() - handling 39 messages took 0.81 ms and 122 calls... 2021-10-11T01:20:42Z- waiting for 1633915236.53, time is 1633915238.78 2021-10-11T01:20:42Z- LcmTrn::updateTrn() >>>> pose time 1633915238.78, meas time 1633915237.17 <<<< 2021-10-11T01:20:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915237.17 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:42Z- TerrainNav::motionUpdate() - currEstimate = (4061603, 594432.75, 39.39) 2021-10-11T01:20:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:42Z- TerrainNav:: SubcloudNIS is 0.35, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:42Z- TNavBF::Projecting Measurements 2021-10-11T01:20:42Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:42Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:42Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:42Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:42Z- TNavFilter::4 good beams. 2021-10-11T01:20:42Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:42Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:42Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:42Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:42Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:42Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:42Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:42Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:42Z- TerrainMapOctree: (vehN, vehE ) = (4061602.23, 594433.89). 2021-10-11T01:20:42Z- TerrainMapOctree: Min Distance = 235.91. 2021-10-11T01:20:42Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:42Z- Forcing Subcloud Comparison 2021-10-11T01:20:42Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:42Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:42Z- Filter 0 partialDeltaRmsComputation: 2.583422 terrainVariance: 0.822672 1-SumSquareWeights: 0.954825 2021-10-11T01:20:42Z- Filter 0 meanExpectedMeasDiff: 1.326933 delta_rms_squared: 0.813124 alpha: 0.975994 2021-10-11T01:20:42Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:42Z- Filter 0 partialDeltaRmsComputation: 13.023618 terrainVariance: 0.649704 1-SumSquareWeights: 0.954825 2021-10-11T01:20:42Z- Filter 0 meanExpectedMeasDiff: -3.517657 delta_rms_squared: 0.640156 alpha: 0.969704 2021-10-11T01:20:42Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:42Z- Filter 0 partialDeltaRmsComputation: 0.322963 terrainVariance: 0.295827 1-SumSquareWeights: 0.954825 2021-10-11T01:20:42Z- Filter 0 meanExpectedMeasDiff: 0.164732 delta_rms_squared: 0.286278 alpha: 0.934700 2021-10-11T01:20:42Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:42Z- Filter 0 partialDeltaRmsComputation: 0.411918 terrainVariance: 0.402764 1-SumSquareWeights: 0.954825 2021-10-11T01:20:42Z- Filter 0 meanExpectedMeasDiff: 0.095678 delta_rms_squared: 0.393216 alpha: 0.951599 2021-10-11T01:20:42Z- Filter 0 SubcloudNIS: 0.379547 2021-10-11T01:20:42Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:42Z- TNavBF:: Filter 0 sumWeights = 0.306421 2021-10-11T01:20:42Z- Filter 0 NorthBias: 2.0 EastBias: -94.6 DepthBias: -40.0 NorthVariance: 18.5 EastVariance: 2.4 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:20:42Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915237.17 sec. 2021-10-11T01:20:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:42Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:42Z- variances([0], [2], and psi_berg) = 18.534045 34.863764 0.000000 2021-10-11T01:20:42Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:42Z- LcmTrn::publishEstimates() - MLE : 4061602.63 594337.85 27.39 2021-10-11T01:20:42Z- LcmTrn::publishEstimates() - MMSE : 4061605.10 594338.47 -0.58 2021-10-11T01:20:42Z- LcmTrn::publishEstimates() - COVAR: 18.53 34.86 0.60 0.00 2021-10-11T01:20:42Z- handleDepth()-Depth_Keller msg: 1633915238825 epoch sec; seqNo:927; depth 39.45 2021-10-11T01:20:42Z- handleDvl() - RDI_Pathfinder msg: 1633915238.86 epoch sec; seqNo:201 2021-10-11T01:20:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.70 , 47.88 , 38.06 , 46.04 2021-10-11T01:20:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.10 , 0.06 2021-10-11T01:20:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915238.88 epoch sec; seqNo:927; 4061603.15 north; 594432.75 east 2021-10-11T01:20:42Z- AHRS_M2 msg: 1633915239.17 epoch sec; seqNo:898 2021-10-11T01:20:42Z- AHRS_M2 msg: -0.21 phi; -0.16 theta; 5.49 psi 2021-10-11T01:20:42Z- handleDepth()-Depth_Keller msg: 1633915239178 epoch sec; seqNo:928; depth 39.51 2021-10-11T01:20:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915239.19 epoch sec; seqNo:928; 4061603.53 north; 594432.75 east 2021-10-11T01:20:42Z- AHRS_M2 msg: 1633915239.57 epoch sec; seqNo:899 2021-10-11T01:20:42Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.49 psi 2021-10-11T01:20:42Z- handleDepth()-Depth_Keller msg: 1633915239591 epoch sec; seqNo:929; depth 39.55 2021-10-11T01:20:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915239.60 epoch sec; seqNo:929; 4061603.53 north; 594432.75 east 2021-10-11T01:20:43Z- AHRS_M2 msg: 1633915239.98 epoch sec; seqNo:900 2021-10-11T01:20:43Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.49 psi 2021-10-11T01:20:43Z- handleDepth()-Depth_Keller msg: 1633915239984 epoch sec; seqNo:930; depth 39.62 2021-10-11T01:20:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915240.00 epoch sec; seqNo:930; 4061603.89 north; 594431.52 east 2021-10-11T01:20:43Z- AHRS_M2 msg: 1633915240.39 epoch sec; seqNo:901 2021-10-11T01:20:43Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.49 psi 2021-10-11T01:20:43Z- handleDepth()-Depth_Keller msg: 1633915240391 epoch sec; seqNo:931; depth 39.65 2021-10-11T01:20:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915240.40 epoch sec; seqNo:931; 4061604.27 north; 594431.52 east 2021-10-11T01:20:44Z- AHRS_M2 msg: 1633915240.84 epoch sec; seqNo:902 2021-10-11T01:20:44Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.49 psi 2021-10-11T01:20:44Z- handleDepth()-Depth_Keller msg: 1633915240846 epoch sec; seqNo:932; depth 39.72 2021-10-11T01:20:44Z- handleDvl() - RDI_Pathfinder msg: 1633915240.87 epoch sec; seqNo:202 2021-10-11T01:20:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.11 , 47.06 , 39.08 , 44.40 2021-10-11T01:20:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.11 , 0.02 2021-10-11T01:20:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915240.88 epoch sec; seqNo:932; 4061604.27 north; 594431.52 east 2021-10-11T01:20:44Z- AHRS_M2 msg: 1633915241.19 epoch sec; seqNo:903 2021-10-11T01:20:44Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:44Z- handleDepth()-Depth_Keller msg: 1633915241194 epoch sec; seqNo:933; depth 39.76 2021-10-11T01:20:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915241.22 epoch sec; seqNo:933; 4061604.65 north; 594431.51 east 2021-10-11T01:20:44Z- AHRS_M2 msg: 1633915241.59 epoch sec; seqNo:904 2021-10-11T01:20:44Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:44Z- handleDepth()-Depth_Keller msg: 1633915241597 epoch sec; seqNo:934; depth 39.81 2021-10-11T01:20:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915241.61 epoch sec; seqNo:934; 4061604.65 north; 594431.51 east 2021-10-11T01:20:45Z- AHRS_M2 msg: 1633915242.00 epoch sec; seqNo:905 2021-10-11T01:20:45Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:45Z- handleDepth()-Depth_Keller msg: 1633915242007 epoch sec; seqNo:935; depth 39.86 2021-10-11T01:20:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915242.02 epoch sec; seqNo:935; 4061605.01 north; 594430.29 east 2021-10-11T01:20:45Z- AHRS_M2 msg: 1633915242.41 epoch sec; seqNo:906 2021-10-11T01:20:45Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:45Z- handleDepth()-Depth_Keller msg: 1633915242421 epoch sec; seqNo:936; depth 39.93 2021-10-11T01:20:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915242.43 epoch sec; seqNo:936; 4061605.39 north; 594430.29 east 2021-10-11T01:20:46Z- AHRS_M2 msg: 1633915242.84 epoch sec; seqNo:907 2021-10-11T01:20:46Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:46Z- handleDepth()-Depth_Keller msg: 1633915242848 epoch sec; seqNo:937; depth 39.96 2021-10-11T01:20:46Z- handleDvl() - RDI_Pathfinder msg: 1633915242.87 epoch sec; seqNo:203 2021-10-11T01:20:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.69 , 47.47 , 39.08 , 43.58 2021-10-11T01:20:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.12 , 0.02 2021-10-11T01:20:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915242.88 epoch sec; seqNo:937; 4061605.39 north; 594430.29 east 2021-10-11T01:20:46Z- AHRS_M2 msg: 1633915243.21 epoch sec; seqNo:908 2021-10-11T01:20:46Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:46Z- handleDepth()-Depth_Keller msg: 1633915243214 epoch sec; seqNo:938; depth 40.01 2021-10-11T01:20:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915243.24 epoch sec; seqNo:938; 4061605.77 north; 594430.28 east 2021-10-11T01:20:46Z- AHRS_M2 msg: 1633915243.62 epoch sec; seqNo:909 2021-10-11T01:20:46Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:46Z- handleDepth()-Depth_Keller msg: 1633915243624 epoch sec; seqNo:939; depth 40.06 2021-10-11T01:20:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915243.64 epoch sec; seqNo:939; 4061605.76 north; 594429.06 east 2021-10-11T01:20:47Z- LcmTrn::handleMessages() - handling 41 messages took 0.62 ms and 128 calls... 2021-10-11T01:20:47Z- waiting for 1633915241.78, time is 1633915243.64 2021-10-11T01:20:47Z- LcmTrn::updateTrn() >>>> pose time 1633915243.64, meas time 1633915242.87 <<<< 2021-10-11T01:20:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915242.87 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:47Z- TerrainNav::motionUpdate() - currEstimate = (4061606, 594429.06, 40.06) 2021-10-11T01:20:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:47Z- TerrainNav:: SubcloudNIS is 0.38, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:47Z- TNavBF::Projecting Measurements 2021-10-11T01:20:47Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:47Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:47Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:47Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:47Z- TNavFilter::4 good beams. 2021-10-11T01:20:47Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:47Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:47Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:47Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:47Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:47Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:47Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:47Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:47Z- TerrainMapOctree: (vehN, vehE ) = (4061605.34, 594429.65). 2021-10-11T01:20:47Z- TerrainMapOctree: Min Distance = 230.65. 2021-10-11T01:20:47Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:47Z- Forcing Subcloud Comparison 2021-10-11T01:20:47Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:47Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:47Z- Filter 0 partialDeltaRmsComputation: 3.922666 terrainVariance: 0.883578 1-SumSquareWeights: 0.952282 2021-10-11T01:20:47Z- Filter 0 meanExpectedMeasDiff: 1.743298 delta_rms_squared: 0.874055 alpha: 0.977630 2021-10-11T01:20:47Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:47Z- Filter 0 partialDeltaRmsComputation: 3.785569 terrainVariance: 0.751297 1-SumSquareWeights: 0.952282 2021-10-11T01:20:47Z- Filter 0 meanExpectedMeasDiff: -1.741916 delta_rms_squared: 0.741775 alpha: 0.973746 2021-10-11T01:20:47Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:47Z- Filter 0 partialDeltaRmsComputation: 1.643361 terrainVariance: 0.437450 1-SumSquareWeights: 0.952282 2021-10-11T01:20:47Z- Filter 0 meanExpectedMeasDiff: 1.098140 delta_rms_squared: 0.427927 alpha: 0.955350 2021-10-11T01:20:47Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:47Z- Filter 0 partialDeltaRmsComputation: 6.207799 terrainVariance: 0.778915 1-SumSquareWeights: 0.952282 2021-10-11T01:20:47Z- Filter 0 meanExpectedMeasDiff: -2.329997 delta_rms_squared: 0.769392 alpha: 0.974664 2021-10-11T01:20:47Z- Filter 0 SubcloudNIS: 0.405529 2021-10-11T01:20:47Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:47Z- TNavBF:: Filter 0 sumWeights = 0.293648 2021-10-11T01:20:47Z- Filter 0 NorthBias: 2.7 EastBias: -94.5 DepthBias: -40.0 NorthVariance: 21.5 EastVariance: 2.9 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:20:47Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915242.87 sec. 2021-10-11T01:20:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:47Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:47Z- variances([0], [2], and psi_berg) = 21.509274 26.961055 0.000000 2021-10-11T01:20:47Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:47Z- LcmTrn::publishEstimates() - MLE : 4061605.24 594334.16 28.05 2021-10-11T01:20:47Z- LcmTrn::publishEstimates() - MMSE : 4061608.48 594334.77 0.03 2021-10-11T01:20:47Z- LcmTrn::publishEstimates() - COVAR: 21.51 26.96 0.60 0.00 2021-10-11T01:20:47Z- AHRS_M2 msg: 1633915244.02 epoch sec; seqNo:910 2021-10-11T01:20:47Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.50 psi 2021-10-11T01:20:47Z- handleDepth()-Depth_Keller msg: 1633915244030 epoch sec; seqNo:940; depth 40.11 2021-10-11T01:20:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915244.04 epoch sec; seqNo:940; 4061606.14 north; 594429.06 east 2021-10-11T01:20:47Z- AHRS_M2 msg: 1633915244.42 epoch sec; seqNo:911 2021-10-11T01:20:47Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.50 psi 2021-10-11T01:20:47Z- handleDepth()-Depth_Keller msg: 1633915244425 epoch sec; seqNo:941; depth 40.17 2021-10-11T01:20:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915244.46 epoch sec; seqNo:941; 4061606.52 north; 594429.05 east 2021-10-11T01:20:48Z- AHRS_M2 msg: 1633915244.85 epoch sec; seqNo:912 2021-10-11T01:20:48Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.50 psi 2021-10-11T01:20:48Z- handleDepth()-Depth_Keller msg: 1633915244857 epoch sec; seqNo:942; depth 40.20 2021-10-11T01:20:48Z- handleDvl() - RDI_Pathfinder msg: 1633915244.88 epoch sec; seqNo:204 2021-10-11T01:20:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.49 , 46.65 , 39.49 , 42.76 2021-10-11T01:20:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.13 , 0.06 2021-10-11T01:20:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915244.90 epoch sec; seqNo:942; 4061606.52 north; 594429.05 east 2021-10-11T01:20:48Z- AHRS_M2 msg: 1633915245.23 epoch sec; seqNo:913 2021-10-11T01:20:48Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.50 psi 2021-10-11T01:20:48Z- handleDepth()-Depth_Keller msg: 1633915245234 epoch sec; seqNo:943; depth 40.27 2021-10-11T01:20:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915245.25 epoch sec; seqNo:943; 4061606.88 north; 594427.83 east 2021-10-11T01:20:49Z- AHRS_M2 msg: 1633915245.64 epoch sec; seqNo:914 2021-10-11T01:20:49Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.50 psi 2021-10-11T01:20:49Z- handleDepth()-Depth_Keller msg: 1633915245641 epoch sec; seqNo:944; depth 40.31 2021-10-11T01:20:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915245.65 epoch sec; seqNo:944; 4061607.26 north; 594427.82 east 2021-10-11T01:20:49Z- AHRS_M2 msg: 1633915246.04 epoch sec; seqNo:915 2021-10-11T01:20:49Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.51 psi 2021-10-11T01:20:49Z- handleDepth()-Depth_Keller msg: 1633915246045 epoch sec; seqNo:945; depth 40.36 2021-10-11T01:20:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915246.06 epoch sec; seqNo:945; 4061607.26 north; 594427.82 east 2021-10-11T01:20:49Z- AHRS_M2 msg: 1633915246.44 epoch sec; seqNo:916 2021-10-11T01:20:49Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.51 psi 2021-10-11T01:20:49Z- handleDepth()-Depth_Keller msg: 1633915246447 epoch sec; seqNo:946; depth 40.41 2021-10-11T01:20:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915246.46 epoch sec; seqNo:946; 4061607.64 north; 594427.82 east 2021-10-11T01:20:50Z- AHRS_M2 msg: 1633915246.87 epoch sec; seqNo:917 2021-10-11T01:20:50Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.51 psi 2021-10-11T01:20:50Z- handleDepth()-Depth_Keller msg: 1633915246872 epoch sec; seqNo:947; depth 40.46 2021-10-11T01:20:50Z- handleDvl() - RDI_Pathfinder msg: 1633915246.89 epoch sec; seqNo:205 2021-10-11T01:20:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.69 , 45.62 , 39.49 , 43.17 2021-10-11T01:20:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.09 , 0.07 2021-10-11T01:20:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915246.93 epoch sec; seqNo:947; 4061608.00 north; 594426.60 east 2021-10-11T01:20:50Z- handleDepth()-Depth_Keller msg: 1633915247265 epoch sec; seqNo:948; depth 40.52 2021-10-11T01:20:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915247.28 epoch sec; seqNo:948; 4061608.00 north; 594426.60 east 2021-10-11T01:20:51Z- handleDepth()-Depth_Keller msg: 1633915247681 epoch sec; seqNo:949; depth 40.56 2021-10-11T01:20:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915247.69 epoch sec; seqNo:949; 4061608.38 north; 594426.59 east 2021-10-11T01:20:51Z- AHRS_M2 msg: 1633915248.07 epoch sec; seqNo:918 2021-10-11T01:20:51Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.51 psi 2021-10-11T01:20:51Z- handleDepth()-Depth_Keller msg: 1633915248081 epoch sec; seqNo:950; depth 40.61 2021-10-11T01:20:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915248.10 epoch sec; seqNo:950; 4061608.38 north; 594426.59 east 2021-10-11T01:20:51Z- AHRS_M2 msg: 1633915248.46 epoch sec; seqNo:919 2021-10-11T01:20:51Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.51 psi 2021-10-11T01:20:51Z- handleDepth()-Depth_Keller msg: 1633915248468 epoch sec; seqNo:951; depth 40.66 2021-10-11T01:20:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915248.49 epoch sec; seqNo:951; 4061608.75 north; 594425.37 east 2021-10-11T01:20:52Z- AHRS_M2 msg: 1633915248.87 epoch sec; seqNo:920 2021-10-11T01:20:52Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.51 psi 2021-10-11T01:20:52Z- handleDepth()-Depth_Keller msg: 1633915248871 epoch sec; seqNo:952; depth 40.70 2021-10-11T01:20:52Z- handleDvl() - RDI_Pathfinder msg: 1633915248.90 epoch sec; seqNo:206 2021-10-11T01:20:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.08 , 45.21 , 39.49 , 42.96 2021-10-11T01:20:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.06 , 0.07 2021-10-11T01:20:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915248.92 epoch sec; seqNo:952; 4061609.13 north; 594425.36 east 2021-10-11T01:20:52Z- LcmTrn::handleMessages() - handling 40 messages took 0.67 ms and 126 calls... 2021-10-11T01:20:52Z- waiting for 1633915246.64, time is 1633915248.92 2021-10-11T01:20:52Z- LcmTrn::updateTrn() equating pose 1633915248.92 and meas times 1633915248.92 2021-10-11T01:20:52Z- LcmTrn::updateTrn() >>>> pose time 1633915248.92, meas time 1633915248.92 <<<< 2021-10-11T01:20:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915248.92 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:52Z- TerrainNav::motionUpdate() - currEstimate = (4061609, 594425.36, 40.70) 2021-10-11T01:20:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:52Z- TerrainNav:: SubcloudNIS is 0.41, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:52Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915248.92 sec.; No relevant navigation data available 2021-10-11T01:20:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:52Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:52Z- variances([0], [2], and psi_berg) = 21.542983 89.004565 0.000000 2021-10-11T01:20:52Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:52Z- LcmTrn::publishEstimates() - MLE : 4061608.61 594330.46 28.70 2021-10-11T01:20:52Z- LcmTrn::publishEstimates() - MMSE : 4061611.85 594331.73 0.69 2021-10-11T01:20:52Z- LcmTrn::publishEstimates() - COVAR: 21.54 89.00 0.92 0.00 2021-10-11T01:20:52Z- AHRS_M2 msg: 1633915249.27 epoch sec; seqNo:921 2021-10-11T01:20:52Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.51 psi 2021-10-11T01:20:52Z- handleDepth()-Depth_Keller msg: 1633915249276 epoch sec; seqNo:953; depth 40.76 2021-10-11T01:20:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915249.30 epoch sec; seqNo:953; 4061609.13 north; 594425.36 east 2021-10-11T01:20:53Z- AHRS_M2 msg: 1633915249.67 epoch sec; seqNo:922 2021-10-11T01:20:53Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:53Z- handleDepth()-Depth_Keller msg: 1633915249684 epoch sec; seqNo:954; depth 40.79 2021-10-11T01:20:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915249.69 epoch sec; seqNo:954; 4061609.51 north; 594425.36 east 2021-10-11T01:20:53Z- AHRS_M2 msg: 1633915250.08 epoch sec; seqNo:923 2021-10-11T01:20:53Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:53Z- handleDepth()-Depth_Keller msg: 1633915250088 epoch sec; seqNo:955; depth 40.84 2021-10-11T01:20:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915250.11 epoch sec; seqNo:955; 4061609.88 north; 594425.35 east 2021-10-11T01:20:53Z- AHRS_M2 msg: 1633915250.48 epoch sec; seqNo:924 2021-10-11T01:20:53Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:53Z- handleDepth()-Depth_Keller msg: 1633915250489 epoch sec; seqNo:956; depth 40.88 2021-10-11T01:20:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915250.50 epoch sec; seqNo:956; 4061609.87 north; 594424.13 east 2021-10-11T01:20:54Z- AHRS_M2 msg: 1633915250.88 epoch sec; seqNo:925 2021-10-11T01:20:54Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:54Z- handleDepth()-Depth_Keller msg: 1633915250903 epoch sec; seqNo:957; depth 40.93 2021-10-11T01:20:54Z- handleDvl() - RDI_Pathfinder msg: 1633915250.92 epoch sec; seqNo:207 2021-10-11T01:20:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.01 , 45.38 , 39.20 , 42.95 2021-10-11T01:20:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.06 , 0.04 2021-10-11T01:20:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915250.96 epoch sec; seqNo:957; 4061610.25 north; 594424.13 east 2021-10-11T01:20:54Z- AHRS_M2 msg: 1633915251.29 epoch sec; seqNo:926 2021-10-11T01:20:54Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:54Z- handleDepth()-Depth_Keller msg: 1633915251293 epoch sec; seqNo:958; depth 40.97 2021-10-11T01:20:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915251.31 epoch sec; seqNo:958; 4061610.63 north; 594424.13 east 2021-10-11T01:20:55Z- AHRS_M2 msg: 1633915251.69 epoch sec; seqNo:927 2021-10-11T01:20:55Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:55Z- handleDepth()-Depth_Keller msg: 1633915251698 epoch sec; seqNo:959; depth 40.99 2021-10-11T01:20:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915251.71 epoch sec; seqNo:959; 4061610.63 north; 594424.13 east 2021-10-11T01:20:55Z- AHRS_M2 msg: 1633915252.10 epoch sec; seqNo:928 2021-10-11T01:20:55Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:55Z- handleDepth()-Depth_Keller msg: 1633915252111 epoch sec; seqNo:960; depth 41.05 2021-10-11T01:20:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915252.12 epoch sec; seqNo:960; 4061611.01 north; 594424.12 east 2021-10-11T01:20:55Z- AHRS_M2 msg: 1633915252.50 epoch sec; seqNo:929 2021-10-11T01:20:55Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:55Z- handleDepth()-Depth_Keller msg: 1633915252511 epoch sec; seqNo:961; depth 41.08 2021-10-11T01:20:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915252.54 epoch sec; seqNo:961; 4061610.99 north; 594422.90 east 2021-10-11T01:20:56Z- AHRS_M2 msg: 1633915252.91 epoch sec; seqNo:930 2021-10-11T01:20:56Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.52 psi 2021-10-11T01:20:56Z- handleDepth()-Depth_Keller msg: 1633915252911 epoch sec; seqNo:962; depth 41.12 2021-10-11T01:20:56Z- handleDvl() - RDI_Pathfinder msg: 1633915252.93 epoch sec; seqNo:208 2021-10-11T01:20:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.44 , 45.38 , 38.82 , 42.57 2021-10-11T01:20:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.08 , 0.00 2021-10-11T01:20:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915252.97 epoch sec; seqNo:962; 4061611.37 north; 594422.90 east 2021-10-11T01:20:56Z- AHRS_M2 msg: 1633915253.31 epoch sec; seqNo:931 2021-10-11T01:20:56Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:56Z- handleDepth()-Depth_Keller msg: 1633915253316 epoch sec; seqNo:963; depth 41.15 2021-10-11T01:20:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915253.33 epoch sec; seqNo:963; 4061611.75 north; 594422.89 east 2021-10-11T01:20:57Z- AHRS_M2 msg: 1633915253.71 epoch sec; seqNo:932 2021-10-11T01:20:57Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:57Z- handleDepth()-Depth_Keller msg: 1633915253717 epoch sec; seqNo:964; depth 41.18 2021-10-11T01:20:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915253.74 epoch sec; seqNo:964; 4061611.75 north; 594422.89 east 2021-10-11T01:20:57Z- AHRS_M2 msg: 1633915254.12 epoch sec; seqNo:933 2021-10-11T01:20:57Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:57Z- handleDepth()-Depth_Keller msg: 1633915254130 epoch sec; seqNo:965; depth 41.24 2021-10-11T01:20:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915254.15 epoch sec; seqNo:965; 4061612.12 north; 594421.67 east 2021-10-11T01:20:57Z- LcmTrn::handleMessages() - handling 41 messages took 0.77 ms and 125 calls... 2021-10-11T01:20:57Z- waiting for 1633915251.92, time is 1633915254.15 2021-10-11T01:20:57Z- LcmTrn::updateTrn() >>>> pose time 1633915254.15, meas time 1633915252.93 <<<< 2021-10-11T01:20:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915252.93 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:20:57Z- TerrainNav::motionUpdate() - currEstimate = (4061612, 594421.67, 41.24) 2021-10-11T01:20:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:20:57Z- TerrainNav:: SubcloudNIS is 0.41, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:20:57Z- TNavBF::Projecting Measurements 2021-10-11T01:20:57Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:20:57Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:20:57Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:20:57Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:20:57Z- TNavFilter::4 good beams. 2021-10-11T01:20:57Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:20:57Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:20:57Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:20:57Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:20:57Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:20:57Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:20:57Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:20:57Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:57Z- TerrainMapOctree: (vehN, vehE ) = (4061611.42, 594422.53). 2021-10-11T01:20:57Z- TerrainMapOctree: Min Distance = 221.29. 2021-10-11T01:20:57Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:20:57Z- Forcing Subcloud Comparison 2021-10-11T01:20:57Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:20:57Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:57Z- Filter 0 partialDeltaRmsComputation: 2.890591 terrainVariance: 0.996022 1-SumSquareWeights: 0.965120 2021-10-11T01:20:57Z- Filter 0 meanExpectedMeasDiff: 1.376433 delta_rms_squared: 0.986371 alpha: 0.980127 2021-10-11T01:20:57Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:57Z- Filter 0 partialDeltaRmsComputation: 5.352997 terrainVariance: 1.451387 1-SumSquareWeights: 0.965120 2021-10-11T01:20:57Z- Filter 0 meanExpectedMeasDiff: -1.975249 delta_rms_squared: 1.441736 alpha: 0.986318 2021-10-11T01:20:57Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:57Z- Filter 0 partialDeltaRmsComputation: 1.410281 terrainVariance: 0.522887 1-SumSquareWeights: 0.965120 2021-10-11T01:20:57Z- Filter 0 meanExpectedMeasDiff: 0.942016 delta_rms_squared: 0.513236 alpha: 0.962493 2021-10-11T01:20:57Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:20:57Z- Filter 0 partialDeltaRmsComputation: 3.303998 terrainVariance: 1.261118 1-SumSquareWeights: 0.965120 2021-10-11T01:20:57Z- Filter 0 meanExpectedMeasDiff: -1.429293 delta_rms_squared: 1.251467 alpha: 0.984270 2021-10-11T01:20:57Z- Filter 0 SubcloudNIS: 0.436928 2021-10-11T01:20:57Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:20:57Z- TNavBF:: Filter 0 sumWeights = 0.408886 2021-10-11T01:20:57Z- Filter 0 NorthBias: 3.4 EastBias: -94.6 DepthBias: -40.1 NorthVariance: 25.0 EastVariance: 2.7 DepthVariance: 0.7 this->DepthBiasCov: 0.5 2021-10-11T01:20:57Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915252.93 sec. 2021-10-11T01:20:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:20:57Z- TNavBF::mmse selected from filter -1 2021-10-11T01:20:57Z- variances([0], [2], and psi_berg) = 25.060144 35.623861 0.000000 2021-10-11T01:20:57Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:20:57Z- LcmTrn::publishEstimates() - MLE : 4061611.60 594326.77 29.23 2021-10-11T01:20:57Z- LcmTrn::publishEstimates() - MMSE : 4061615.47 594327.38 1.11 2021-10-11T01:20:57Z- LcmTrn::publishEstimates() - COVAR: 25.06 35.62 0.78 0.00 2021-10-11T01:20:57Z- AHRS_M2 msg: 1633915254.52 epoch sec; seqNo:934 2021-10-11T01:20:57Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:57Z- handleDepth()-Depth_Keller msg: 1633915254525 epoch sec; seqNo:966; depth 41.26 2021-10-11T01:20:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915254.55 epoch sec; seqNo:966; 4061612.50 north; 594421.66 east 2021-10-11T01:20:58Z- AHRS_M2 msg: 1633915254.92 epoch sec; seqNo:935 2021-10-11T01:20:58Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:58Z- handleDepth()-Depth_Keller msg: 1633915254930 epoch sec; seqNo:967; depth 41.29 2021-10-11T01:20:58Z- handleDvl() - RDI_Pathfinder msg: 1633915254.96 epoch sec; seqNo:209 2021-10-11T01:20:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.07 , 45.01 , 38.44 , 41.63 2021-10-11T01:20:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.10 , -0.00 2021-10-11T01:20:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915254.97 epoch sec; seqNo:967; 4061612.50 north; 594421.66 east 2021-10-11T01:20:58Z- AHRS_M2 msg: 1633915255.33 epoch sec; seqNo:936 2021-10-11T01:20:58Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:58Z- handleDepth()-Depth_Keller msg: 1633915255340 epoch sec; seqNo:968; depth 41.34 2021-10-11T01:20:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915255.36 epoch sec; seqNo:968; 4061612.88 north; 594421.66 east 2021-10-11T01:20:59Z- AHRS_M2 msg: 1633915255.73 epoch sec; seqNo:937 2021-10-11T01:20:59Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:59Z- handleDepth()-Depth_Keller msg: 1633915255745 epoch sec; seqNo:969; depth 41.38 2021-10-11T01:20:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915255.76 epoch sec; seqNo:969; 4061613.25 north; 594421.66 east 2021-10-11T01:20:59Z- AHRS_M2 msg: 1633915256.14 epoch sec; seqNo:938 2021-10-11T01:20:59Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:59Z- handleDepth()-Depth_Keller msg: 1633915256142 epoch sec; seqNo:970; depth 41.41 2021-10-11T01:20:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915256.15 epoch sec; seqNo:970; 4061613.24 north; 594420.44 east 2021-10-11T01:20:59Z- AHRS_M2 msg: 1633915256.54 epoch sec; seqNo:939 2021-10-11T01:20:59Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.53 psi 2021-10-11T01:20:59Z- handleDepth()-Depth_Keller msg: 1633915256556 epoch sec; seqNo:971; depth 41.45 2021-10-11T01:20:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915256.57 epoch sec; seqNo:971; 4061613.62 north; 594420.43 east 2021-10-11T01:21:00Z- AHRS_M2 msg: 1633915256.95 epoch sec; seqNo:940 2021-10-11T01:21:00Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.53 psi 2021-10-11T01:21:00Z- handleDepth()-Depth_Keller msg: 1633915256952 epoch sec; seqNo:972; depth 41.48 2021-10-11T01:21:00Z- handleDvl() - RDI_Pathfinder msg: 1633915256.97 epoch sec; seqNo:210 2021-10-11T01:21:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.50 , 44.82 , 38.07 , 41.26 2021-10-11T01:21:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.12 , 0.02 2021-10-11T01:21:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915256.99 epoch sec; seqNo:972; 4061614.00 north; 594420.43 east 2021-10-11T01:21:00Z- AHRS_M2 msg: 1633915257.35 epoch sec; seqNo:941 2021-10-11T01:21:00Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.53 psi 2021-10-11T01:21:00Z- handleDepth()-Depth_Keller msg: 1633915257354 epoch sec; seqNo:973; depth 41.53 2021-10-11T01:21:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915257.38 epoch sec; seqNo:973; 4061614.00 north; 594420.43 east 2021-10-11T01:21:01Z- AHRS_M2 msg: 1633915257.75 epoch sec; seqNo:942 2021-10-11T01:21:01Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.53 psi 2021-10-11T01:21:01Z- handleDepth()-Depth_Keller msg: 1633915257758 epoch sec; seqNo:974; depth 41.56 2021-10-11T01:21:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915257.77 epoch sec; seqNo:974; 4061614.36 north; 594419.20 east 2021-10-11T01:21:01Z- AHRS_M2 msg: 1633915258.16 epoch sec; seqNo:943 2021-10-11T01:21:01Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.53 psi 2021-10-11T01:21:01Z- handleDepth()-Depth_Keller msg: 1633915258164 epoch sec; seqNo:975; depth 41.62 2021-10-11T01:21:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915258.18 epoch sec; seqNo:975; 4061614.36 north; 594419.20 east 2021-10-11T01:21:01Z- AHRS_M2 msg: 1633915258.57 epoch sec; seqNo:944 2021-10-11T01:21:01Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.53 psi 2021-10-11T01:21:01Z- handleDepth()-Depth_Keller msg: 1633915258570 epoch sec; seqNo:976; depth 41.66 2021-10-11T01:21:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915258.59 epoch sec; seqNo:976; 4061614.74 north; 594419.20 east 2021-10-11T01:21:02Z- AHRS_M2 msg: 1633915258.97 epoch sec; seqNo:945 2021-10-11T01:21:02Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.53 psi 2021-10-11T01:21:02Z- handleDepth()-Depth_Keller msg: 1633915258980 epoch sec; seqNo:977; depth 41.70 2021-10-11T01:21:02Z- handleDvl() - RDI_Pathfinder msg: 1633915259.01 epoch sec; seqNo:211 2021-10-11T01:21:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.32 , 44.63 , 37.69 , 40.88 2021-10-11T01:21:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.12 , 0.05 2021-10-11T01:21:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915259.03 epoch sec; seqNo:977; 4061615.12 north; 594419.19 east 2021-10-11T01:21:02Z- AHRS_M2 msg: 1633915259.37 epoch sec; seqNo:946 2021-10-11T01:21:02Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.53 psi 2021-10-11T01:21:02Z- handleDepth()-Depth_Keller msg: 1633915259376 epoch sec; seqNo:978; depth 41.75 2021-10-11T01:21:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915259.39 epoch sec; seqNo:978; 4061615.11 north; 594417.97 east 2021-10-11T01:21:02Z- LcmTrn::handleMessages() - handling 42 messages took 0.77 ms and 126 calls... 2021-10-11T01:21:02Z- waiting for 1633915257.15, time is 1633915259.39 2021-10-11T01:21:02Z- LcmTrn::updateTrn() >>>> pose time 1633915259.39, meas time 1633915259.01 <<<< 2021-10-11T01:21:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915259.01 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:02Z- TerrainNav::motionUpdate() - currEstimate = (4061615, 594417.97, 41.75) 2021-10-11T01:21:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:02Z- TerrainNav:: SubcloudNIS is 0.44, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:02Z- TNavBF::Projecting Measurements 2021-10-11T01:21:02Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:02Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:02Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:02Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:02Z- TNavFilter::4 good beams. 2021-10-11T01:21:02Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:02Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:02Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:02Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:02Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:02Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:02Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:02Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:02Z- TerrainMapOctree: (vehN, vehE ) = (4061614.89, 594418.24). 2021-10-11T01:21:02Z- TerrainMapOctree: Min Distance = 215.78. 2021-10-11T01:21:02Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:02Z- Forcing Subcloud Comparison 2021-10-11T01:21:02Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:02Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:02Z- Filter 0 partialDeltaRmsComputation: 2.285103 terrainVariance: 0.452809 1-SumSquareWeights: 0.968627 2021-10-11T01:21:02Z- Filter 0 meanExpectedMeasDiff: 1.353623 delta_rms_squared: 0.443123 alpha: 0.956815 2021-10-11T01:21:02Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:02Z- Filter 0 partialDeltaRmsComputation: 3.797784 terrainVariance: 1.285930 1-SumSquareWeights: 0.968627 2021-10-11T01:21:02Z- Filter 0 meanExpectedMeasDiff: -1.584883 delta_rms_squared: 1.276243 alpha: 0.984571 2021-10-11T01:21:02Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:02Z- Filter 0 partialDeltaRmsComputation: 0.483577 terrainVariance: 0.463637 1-SumSquareWeights: 0.968627 2021-10-11T01:21:02Z- Filter 0 meanExpectedMeasDiff: -0.141209 delta_rms_squared: 0.453950 alpha: 0.957801 2021-10-11T01:21:03Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:03Z- Filter 0 partialDeltaRmsComputation: 6.087665 terrainVariance: 0.877355 1-SumSquareWeights: 0.968627 2021-10-11T01:21:03Z- Filter 0 meanExpectedMeasDiff: -2.282610 delta_rms_squared: 0.867669 alpha: 0.977469 2021-10-11T01:21:03Z- Filter 0 SubcloudNIS: 0.429184 2021-10-11T01:21:03Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:03Z- TNavBF:: Filter 0 sumWeights = 0.348870 2021-10-11T01:21:03Z- Filter 0 NorthBias: 3.8 EastBias: -94.7 DepthBias: -40.5 NorthVariance: 26.6 EastVariance: 2.2 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-11T01:21:03Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915259.01 sec. 2021-10-11T01:21:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:03Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:03Z- variances([0], [2], and psi_berg) = 26.646351 21.349215 0.000000 2021-10-11T01:21:03Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:03Z- LcmTrn::publishEstimates() - MLE : 4061614.59 594323.07 29.74 2021-10-11T01:21:03Z- LcmTrn::publishEstimates() - MMSE : 4061618.93 594323.44 1.22 2021-10-11T01:21:03Z- LcmTrn::publishEstimates() - COVAR: 26.65 21.35 0.68 0.00 2021-10-11T01:21:03Z- AHRS_M2 msg: 1633915259.77 epoch sec; seqNo:947 2021-10-11T01:21:03Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:03Z- handleDepth()-Depth_Keller msg: 1633915259790 epoch sec; seqNo:979; depth 41.78 2021-10-11T01:21:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915259.80 epoch sec; seqNo:979; 4061615.49 north; 594417.97 east 2021-10-11T01:21:03Z- AHRS_M2 msg: 1633915260.18 epoch sec; seqNo:948 2021-10-11T01:21:03Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:03Z- handleDepth()-Depth_Keller msg: 1633915260182 epoch sec; seqNo:980; depth 41.83 2021-10-11T01:21:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915260.19 epoch sec; seqNo:980; 4061615.49 north; 594417.97 east 2021-10-11T01:21:03Z- AHRS_M2 msg: 1633915260.58 epoch sec; seqNo:949 2021-10-11T01:21:03Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:03Z- handleDepth()-Depth_Keller msg: 1633915260586 epoch sec; seqNo:981; depth 41.88 2021-10-11T01:21:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915260.60 epoch sec; seqNo:981; 4061615.87 north; 594417.97 east 2021-10-11T01:21:04Z- AHRS_M2 msg: 1633915260.99 epoch sec; seqNo:950 2021-10-11T01:21:04Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:04Z- handleDepth()-Depth_Keller msg: 1633915260996 epoch sec; seqNo:982; depth 41.93 2021-10-11T01:21:04Z- handleDvl() - RDI_Pathfinder msg: 1633915261.02 epoch sec; seqNo:212 2021-10-11T01:21:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.50 , 44.63 , 37.32 , 41.07 2021-10-11T01:21:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , 0.05 2021-10-11T01:21:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915261.03 epoch sec; seqNo:982; 4061616.24 north; 594417.96 east 2021-10-11T01:21:04Z- AHRS_M2 msg: 1633915261.39 epoch sec; seqNo:951 2021-10-11T01:21:04Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:04Z- handleDepth()-Depth_Keller msg: 1633915261394 epoch sec; seqNo:983; depth 41.98 2021-10-11T01:21:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915261.42 epoch sec; seqNo:983; 4061616.23 north; 594416.74 east 2021-10-11T01:21:05Z- AHRS_M2 msg: 1633915261.79 epoch sec; seqNo:952 2021-10-11T01:21:05Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:05Z- handleDepth()-Depth_Keller msg: 1633915261800 epoch sec; seqNo:984; depth 42.03 2021-10-11T01:21:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915261.81 epoch sec; seqNo:984; 4061616.61 north; 594416.74 east 2021-10-11T01:21:05Z- AHRS_M2 msg: 1633915262.20 epoch sec; seqNo:953 2021-10-11T01:21:05Z- AHRS_M2 msg: -0.21 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:05Z- handleDepth()-Depth_Keller msg: 1633915262204 epoch sec; seqNo:985; depth 42.06 2021-10-11T01:21:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915262.21 epoch sec; seqNo:985; 4061616.61 north; 594416.74 east 2021-10-11T01:21:06Z- AHRS_M2 msg: 1633915262.64 epoch sec; seqNo:954 2021-10-11T01:21:06Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:06Z- handleDepth()-Depth_Keller msg: 1633915262646 epoch sec; seqNo:986; depth 42.12 2021-10-11T01:21:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915262.67 epoch sec; seqNo:986; 4061616.99 north; 594416.73 east 2021-10-11T01:21:06Z- AHRS_M2 msg: 1633915263.01 epoch sec; seqNo:955 2021-10-11T01:21:06Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.54 psi 2021-10-11T01:21:06Z- handleDepth()-Depth_Keller msg: 1633915263010 epoch sec; seqNo:987; depth 42.16 2021-10-11T01:21:06Z- handleDvl() - RDI_Pathfinder msg: 1633915263.04 epoch sec; seqNo:213 2021-10-11T01:21:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.50 , 44.81 , 37.13 , 40.88 2021-10-11T01:21:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.12 , 0.04 2021-10-11T01:21:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915263.06 epoch sec; seqNo:987; 4061617.35 north; 594415.51 east 2021-10-11T01:21:06Z- AHRS_M2 msg: 1633915263.41 epoch sec; seqNo:956 2021-10-11T01:21:06Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.55 psi 2021-10-11T01:21:06Z- handleDepth()-Depth_Keller msg: 1633915263414 epoch sec; seqNo:988; depth 42.21 2021-10-11T01:21:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915263.43 epoch sec; seqNo:988; 4061617.35 north; 594415.51 east 2021-10-11T01:21:07Z- AHRS_M2 msg: 1633915263.82 epoch sec; seqNo:957 2021-10-11T01:21:07Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.55 psi 2021-10-11T01:21:07Z- handleDepth()-Depth_Keller msg: 1633915263828 epoch sec; seqNo:989; depth 42.26 2021-10-11T01:21:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915263.85 epoch sec; seqNo:989; 4061617.73 north; 594415.50 east 2021-10-11T01:21:07Z- AHRS_M2 msg: 1633915264.22 epoch sec; seqNo:958 2021-10-11T01:21:07Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.55 psi 2021-10-11T01:21:07Z- handleDepth()-Depth_Keller msg: 1633915264222 epoch sec; seqNo:990; depth 42.32 2021-10-11T01:21:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915264.26 epoch sec; seqNo:990; 4061617.73 north; 594415.50 east 2021-10-11T01:21:07Z- AHRS_M2 msg: 1633915264.62 epoch sec; seqNo:959 2021-10-11T01:21:07Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.55 psi 2021-10-11T01:21:07Z- handleDepth()-Depth_Keller msg: 1633915264630 epoch sec; seqNo:991; depth 42.35 2021-10-11T01:21:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915264.64 epoch sec; seqNo:991; 4061618.11 north; 594415.50 east 2021-10-11T01:21:08Z- LcmTrn::handleMessages() - handling 41 messages took 0.77 ms and 125 calls... 2021-10-11T01:21:08Z- waiting for 1633915262.39, time is 1633915264.64 2021-10-11T01:21:08Z- LcmTrn::updateTrn() >>>> pose time 1633915264.64, meas time 1633915263.04 <<<< 2021-10-11T01:21:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915263.04 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:08Z- TerrainNav::motionUpdate() - currEstimate = (4061618, 594415.50, 42.35) 2021-10-11T01:21:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:08Z- TerrainNav:: SubcloudNIS is 0.43, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:08Z- TNavBF::Projecting Measurements 2021-10-11T01:21:08Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:08Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:08Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:08Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:08Z- TNavFilter::4 good beams. 2021-10-11T01:21:08Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:08Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:08Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:08Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:08Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:08Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:08Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:08Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:08Z- TerrainMapOctree: (vehN, vehE ) = (4061617.19, 594416.25). 2021-10-11T01:21:08Z- TerrainMapOctree: Min Distance = 212.79. 2021-10-11T01:21:08Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:08Z- Forcing Subcloud Comparison 2021-10-11T01:21:08Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:08Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:08Z- Filter 0 partialDeltaRmsComputation: 4.883897 terrainVariance: 0.337951 1-SumSquareWeights: 0.969490 2021-10-11T01:21:08Z- Filter 0 meanExpectedMeasDiff: 2.132122 delta_rms_squared: 0.328256 alpha: 0.942571 2021-10-11T01:21:08Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:08Z- Filter 0 partialDeltaRmsComputation: 1.841746 terrainVariance: 0.897630 1-SumSquareWeights: 0.969490 2021-10-11T01:21:08Z- Filter 0 meanExpectedMeasDiff: -0.971657 delta_rms_squared: 0.887935 alpha: 0.977972 2021-10-11T01:21:08Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:08Z- Filter 0 partialDeltaRmsComputation: 0.602501 terrainVariance: 0.528504 1-SumSquareWeights: 0.969490 2021-10-11T01:21:08Z- Filter 0 meanExpectedMeasDiff: -0.272023 delta_rms_squared: 0.518809 alpha: 0.962881 2021-10-11T01:21:08Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:08Z- Filter 0 partialDeltaRmsComputation: 4.614693 terrainVariance: 0.722025 1-SumSquareWeights: 0.969490 2021-10-11T01:21:08Z- Filter 0 meanExpectedMeasDiff: -1.972985 delta_rms_squared: 0.712330 alpha: 0.972690 2021-10-11T01:21:08Z- Filter 0 SubcloudNIS: 0.427609 2021-10-11T01:21:08Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:08Z- TNavBF:: Filter 0 sumWeights = 0.341484 2021-10-11T01:21:08Z- Filter 0 NorthBias: 4.2 EastBias: -94.7 DepthBias: -40.6 NorthVariance: 27.3 EastVariance: 2.1 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:21:08Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915263.04 sec. 2021-10-11T01:21:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:08Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:08Z- variances([0], [2], and psi_berg) = 27.267973 34.220138 0.000000 2021-10-11T01:21:08Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:08Z- LcmTrn::publishEstimates() - MLE : 4061617.60 594320.60 30.35 2021-10-11T01:21:08Z- LcmTrn::publishEstimates() - MMSE : 4061622.34 594321.17 1.77 2021-10-11T01:21:08Z- LcmTrn::publishEstimates() - COVAR: 27.27 34.22 0.69 0.00 2021-10-11T01:21:08Z- AHRS_M2 msg: 1633915265.03 epoch sec; seqNo:960 2021-10-11T01:21:08Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.55 psi 2021-10-11T01:21:08Z- handleDepth()-Depth_Keller msg: 1633915265038 epoch sec; seqNo:992; depth 42.42 2021-10-11T01:21:08Z- handleDvl() - RDI_Pathfinder msg: 1633915265.07 epoch sec; seqNo:214 2021-10-11T01:21:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.31 , 45.38 , 37.50 , 40.69 2021-10-11T01:21:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.06 2021-10-11T01:21:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915265.09 epoch sec; seqNo:992; 4061618.48 north; 594414.28 east 2021-10-11T01:21:08Z- AHRS_M2 msg: 1633915265.43 epoch sec; seqNo:961 2021-10-11T01:21:08Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.55 psi 2021-10-11T01:21:08Z- handleDepth()-Depth_Keller msg: 1633915265440 epoch sec; seqNo:993; depth 42.47 2021-10-11T01:21:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915265.46 epoch sec; seqNo:993; 4061618.48 north; 594414.28 east 2021-10-11T01:21:09Z- AHRS_M2 msg: 1633915265.83 epoch sec; seqNo:962 2021-10-11T01:21:09Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.56 psi 2021-10-11T01:21:09Z- handleDepth()-Depth_Keller msg: 1633915265837 epoch sec; seqNo:994; depth 42.51 2021-10-11T01:21:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915265.86 epoch sec; seqNo:994; 4061618.86 north; 594414.27 east 2021-10-11T01:21:09Z- AHRS_M2 msg: 1633915266.24 epoch sec; seqNo:963 2021-10-11T01:21:09Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.56 psi 2021-10-11T01:21:09Z- handleDepth()-Depth_Keller msg: 1633915266242 epoch sec; seqNo:995; depth 42.56 2021-10-11T01:21:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915266.25 epoch sec; seqNo:995; 4061619.23 north; 594414.27 east 2021-10-11T01:21:10Z- AHRS_M2 msg: 1633915266.64 epoch sec; seqNo:964 2021-10-11T01:21:10Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.56 psi 2021-10-11T01:21:10Z- handleDepth()-Depth_Keller msg: 1633915266649 epoch sec; seqNo:996; depth 42.61 2021-10-11T01:21:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915266.66 epoch sec; seqNo:996; 4061619.22 north; 594413.05 east 2021-10-11T01:21:10Z- AHRS_M2 msg: 1633915267.05 epoch sec; seqNo:965 2021-10-11T01:21:10Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.56 psi 2021-10-11T01:21:10Z- handleDepth()-Depth_Keller msg: 1633915267056 epoch sec; seqNo:997; depth 42.64 2021-10-11T01:21:10Z- handleDvl() - RDI_Pathfinder msg: 1633915267.08 epoch sec; seqNo:215 2021-10-11T01:21:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.94 , 45.38 , 37.31 , 40.50 2021-10-11T01:21:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.08 , 0.05 2021-10-11T01:21:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915267.12 epoch sec; seqNo:997; 4061619.60 north; 594413.04 east 2021-10-11T01:21:10Z- AHRS_M2 msg: 1633915267.45 epoch sec; seqNo:966 2021-10-11T01:21:10Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.56 psi 2021-10-11T01:21:10Z- handleDepth()-Depth_Keller msg: 1633915267455 epoch sec; seqNo:998; depth 42.71 2021-10-11T01:21:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915267.48 epoch sec; seqNo:998; 4061619.60 north; 594413.04 east 2021-10-11T01:21:11Z- AHRS_M2 msg: 1633915267.85 epoch sec; seqNo:967 2021-10-11T01:21:11Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.57 psi 2021-10-11T01:21:11Z- handleDepth()-Depth_Keller msg: 1633915267857 epoch sec; seqNo:999; depth 42.76 2021-10-11T01:21:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915267.87 epoch sec; seqNo:999; 4061619.98 north; 594413.04 east 2021-10-11T01:21:11Z- AHRS_M2 msg: 1633915268.26 epoch sec; seqNo:968 2021-10-11T01:21:11Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.57 psi 2021-10-11T01:21:11Z- handleDepth()-Depth_Keller msg: 1633915268262 epoch sec; seqNo:1000; depth 42.80 2021-10-11T01:21:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915268.27 epoch sec; seqNo:1000; 4061620.36 north; 594413.03 east 2021-10-11T01:21:12Z- AHRS_M2 msg: 1633915268.67 epoch sec; seqNo:969 2021-10-11T01:21:12Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.57 psi 2021-10-11T01:21:12Z- handleDepth()-Depth_Keller msg: 1633915268672 epoch sec; seqNo:1001; depth 42.85 2021-10-11T01:21:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915268.68 epoch sec; seqNo:1001; 4061620.34 north; 594411.81 east 2021-10-11T01:21:12Z- AHRS_M2 msg: 1633915269.07 epoch sec; seqNo:970 2021-10-11T01:21:12Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.58 psi 2021-10-11T01:21:12Z- handleDepth()-Depth_Keller msg: 1633915269093 epoch sec; seqNo:1002; depth 42.90 2021-10-11T01:21:12Z- handleDvl() - RDI_Pathfinder msg: 1633915269.11 epoch sec; seqNo:216 2021-10-11T01:21:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.56 , 45.00 , 36.94 , 40.31 2021-10-11T01:21:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.08 , 0.01 2021-10-11T01:21:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915269.13 epoch sec; seqNo:1002; 4061620.72 north; 594411.81 east 2021-10-11T01:21:12Z- AHRS_M2 msg: 1633915269.48 epoch sec; seqNo:971 2021-10-11T01:21:12Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.58 psi 2021-10-11T01:21:12Z- handleDepth()-Depth_Keller msg: 1633915269482 epoch sec; seqNo:1003; depth 42.94 2021-10-11T01:21:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915269.51 epoch sec; seqNo:1003; 4061621.10 north; 594411.81 east 2021-10-11T01:21:13Z- LcmTrn::handleMessages() - handling 39 messages took 0.77 ms and 123 calls... 2021-10-11T01:21:13Z- waiting for 1633915267.64, time is 1633915269.51 2021-10-11T01:21:13Z- LcmTrn::updateTrn() >>>> pose time 1633915269.51, meas time 1633915269.11 <<<< 2021-10-11T01:21:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915269.11 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:13Z- TerrainNav::motionUpdate() - currEstimate = (4061621, 594411.81, 42.94) 2021-10-11T01:21:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:13Z- TerrainNav:: SubcloudNIS is 0.43, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:13Z- TNavBF::Projecting Measurements 2021-10-11T01:21:13Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:13Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:13Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:13Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:13Z- TNavFilter::4 good beams. 2021-10-11T01:21:13Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:13Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:13Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:13Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:13Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:13Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:13Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:13Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:13Z- TerrainMapOctree: (vehN, vehE ) = (4061620.86, 594412.10). 2021-10-11T01:21:13Z- TerrainMapOctree: Min Distance = 207.26. 2021-10-11T01:21:13Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:13Z- Forcing Subcloud Comparison 2021-10-11T01:21:13Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:13Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:13Z- Filter 0 partialDeltaRmsComputation: 4.074059 terrainVariance: 0.309075 1-SumSquareWeights: 0.972817 2021-10-11T01:21:13Z- Filter 0 meanExpectedMeasDiff: 1.940357 delta_rms_squared: 0.299346 alpha: 0.937372 2021-10-11T01:21:13Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:13Z- Filter 0 partialDeltaRmsComputation: 1.266028 terrainVariance: 1.051990 1-SumSquareWeights: 0.972817 2021-10-11T01:21:13Z- Filter 0 meanExpectedMeasDiff: -0.462643 delta_rms_squared: 1.042262 alpha: 0.981172 2021-10-11T01:21:13Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:13Z- Filter 0 partialDeltaRmsComputation: 0.359133 terrainVariance: 0.353783 1-SumSquareWeights: 0.972817 2021-10-11T01:21:13Z- Filter 0 meanExpectedMeasDiff: -0.073143 delta_rms_squared: 0.344055 alpha: 0.945063 2021-10-11T01:21:13Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:13Z- Filter 0 partialDeltaRmsComputation: 4.943486 terrainVariance: 0.866977 1-SumSquareWeights: 0.972817 2021-10-11T01:21:13Z- Filter 0 meanExpectedMeasDiff: -2.019037 delta_rms_squared: 0.857249 alpha: 0.977201 2021-10-11T01:21:13Z- Filter 0 SubcloudNIS: 0.448243 2021-10-11T01:21:13Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:13Z- TNavBF:: Filter 0 sumWeights = 0.383957 2021-10-11T01:21:13Z- Filter 0 NorthBias: 4.2 EastBias: -94.7 DepthBias: -40.7 NorthVariance: 26.4 EastVariance: 2.0 DepthVariance: 0.6 this->DepthBiasCov: 0.4 2021-10-11T01:21:13Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915269.11 sec. 2021-10-11T01:21:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:13Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:13Z- variances([0], [2], and psi_berg) = 26.423042 20.451659 0.000000 2021-10-11T01:21:13Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:13Z- LcmTrn::publishEstimates() - MLE : 4061620.59 594316.91 30.93 2021-10-11T01:21:13Z- LcmTrn::publishEstimates() - MMSE : 4061625.30 594317.32 2.29 2021-10-11T01:21:13Z- LcmTrn::publishEstimates() - COVAR: 26.42 20.45 0.65 0.00 2021-10-11T01:21:13Z- AHRS_M2 msg: 1633915269.88 epoch sec; seqNo:972 2021-10-11T01:21:13Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.58 psi 2021-10-11T01:21:13Z- handleDepth()-Depth_Keller msg: 1633915269883 epoch sec; seqNo:1004; depth 42.98 2021-10-11T01:21:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915269.89 epoch sec; seqNo:1004; 4061621.10 north; 594411.81 east 2021-10-11T01:21:13Z- AHRS_M2 msg: 1633915270.28 epoch sec; seqNo:973 2021-10-11T01:21:13Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.58 psi 2021-10-11T01:21:13Z- handleDepth()-Depth_Keller msg: 1633915270288 epoch sec; seqNo:1005; depth 43.03 2021-10-11T01:21:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915270.31 epoch sec; seqNo:1005; 4061621.48 north; 594411.80 east 2021-10-11T01:21:14Z- AHRS_M2 msg: 1633915270.68 epoch sec; seqNo:974 2021-10-11T01:21:14Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.58 psi 2021-10-11T01:21:14Z- handleDepth()-Depth_Keller msg: 1633915270686 epoch sec; seqNo:1006; depth 43.08 2021-10-11T01:21:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915270.70 epoch sec; seqNo:1006; 4061621.85 north; 594410.58 east 2021-10-11T01:21:14Z- AHRS_M2 msg: 1633915271.10 epoch sec; seqNo:975 2021-10-11T01:21:14Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.59 psi 2021-10-11T01:21:14Z- handleDepth()-Depth_Keller msg: 1633915271100 epoch sec; seqNo:1007; depth 43.14 2021-10-11T01:21:14Z- handleDvl() - RDI_Pathfinder msg: 1633915271.12 epoch sec; seqNo:217 2021-10-11T01:21:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.19 , 45.00 , 36.56 , 40.31 2021-10-11T01:21:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.08 , 0.02 2021-10-11T01:21:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915271.16 epoch sec; seqNo:1007; 4061621.85 north; 594410.58 east 2021-10-11T01:21:14Z- AHRS_M2 msg: 1633915271.49 epoch sec; seqNo:976 2021-10-11T01:21:14Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.59 psi 2021-10-11T01:21:14Z- handleDepth()-Depth_Keller msg: 1633915271500 epoch sec; seqNo:1008; depth 43.19 2021-10-11T01:21:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915271.53 epoch sec; seqNo:1008; 4061622.23 north; 594410.57 east 2021-10-11T01:21:15Z- AHRS_M2 msg: 1633915271.90 epoch sec; seqNo:977 2021-10-11T01:21:15Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.59 psi 2021-10-11T01:21:15Z- handleDepth()-Depth_Keller msg: 1633915271910 epoch sec; seqNo:1009; depth 43.23 2021-10-11T01:21:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915271.92 epoch sec; seqNo:1009; 4061622.60 north; 594410.57 east 2021-10-11T01:21:15Z- AHRS_M2 msg: 1633915272.30 epoch sec; seqNo:978 2021-10-11T01:21:15Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.59 psi 2021-10-11T01:21:15Z- handleDepth()-Depth_Keller msg: 1633915272308 epoch sec; seqNo:1010; depth 43.29 2021-10-11T01:21:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915272.32 epoch sec; seqNo:1010; 4061622.60 north; 594410.57 east 2021-10-11T01:21:16Z- AHRS_M2 msg: 1633915272.70 epoch sec; seqNo:979 2021-10-11T01:21:16Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.59 psi 2021-10-11T01:21:16Z- handleDepth()-Depth_Keller msg: 1633915272712 epoch sec; seqNo:1011; depth 43.34 2021-10-11T01:21:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915272.74 epoch sec; seqNo:1011; 4061622.97 north; 594409.34 east 2021-10-11T01:21:16Z- AHRS_M2 msg: 1633915273.11 epoch sec; seqNo:980 2021-10-11T01:21:16Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.60 psi 2021-10-11T01:21:16Z- handleDepth()-Depth_Keller msg: 1633915273112 epoch sec; seqNo:1012; depth 43.38 2021-10-11T01:21:16Z- handleDvl() - RDI_Pathfinder msg: 1633915273.14 epoch sec; seqNo:218 2021-10-11T01:21:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.19 , 44.81 , 36.00 , 40.31 2021-10-11T01:21:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.10 , 0.06 2021-10-11T01:21:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915273.16 epoch sec; seqNo:1012; 4061623.35 north; 594409.34 east 2021-10-11T01:21:16Z- AHRS_M2 msg: 1633915273.51 epoch sec; seqNo:981 2021-10-11T01:21:16Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.60 psi 2021-10-11T01:21:16Z- handleDepth()-Depth_Keller msg: 1633915273517 epoch sec; seqNo:1013; depth 43.43 2021-10-11T01:21:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915273.54 epoch sec; seqNo:1013; 4061623.35 north; 594409.34 east 2021-10-11T01:21:17Z- AHRS_M2 msg: 1633915273.92 epoch sec; seqNo:982 2021-10-11T01:21:17Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.60 psi 2021-10-11T01:21:17Z- handleDepth()-Depth_Keller msg: 1633915273939 epoch sec; seqNo:1014; depth 43.47 2021-10-11T01:21:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915273.95 epoch sec; seqNo:1014; 4061623.73 north; 594409.34 east 2021-10-11T01:21:17Z- AHRS_M2 msg: 1633915274.35 epoch sec; seqNo:983 2021-10-11T01:21:17Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.61 psi 2021-10-11T01:21:17Z- handleDepth()-Depth_Keller msg: 1633915274359 epoch sec; seqNo:1015; depth 43.53 2021-10-11T01:21:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915274.37 epoch sec; seqNo:1015; 4061624.11 north; 594409.33 east 2021-10-11T01:21:18Z- AHRS_M2 msg: 1633915274.72 epoch sec; seqNo:984 2021-10-11T01:21:18Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.61 psi 2021-10-11T01:21:18Z- handleDepth()-Depth_Keller msg: 1633915274729 epoch sec; seqNo:1016; depth 43.58 2021-10-11T01:21:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915274.74 epoch sec; seqNo:1016; 4061624.09 north; 594408.11 east 2021-10-11T01:21:18Z- LcmTrn::handleMessages() - handling 41 messages took 0.73 ms and 126 calls... 2021-10-11T01:21:18Z- waiting for 1633915272.51, time is 1633915274.74 2021-10-11T01:21:18Z- LcmTrn::updateTrn() >>>> pose time 1633915274.74, meas time 1633915273.14 <<<< 2021-10-11T01:21:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915273.14 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:18Z- TerrainNav::motionUpdate() - currEstimate = (4061624, 594408.11, 43.58) 2021-10-11T01:21:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:18Z- TerrainNav:: SubcloudNIS is 0.45, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:18Z- TNavBF::Projecting Measurements 2021-10-11T01:21:18Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:18Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:18Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:18Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:18Z- TNavFilter::4 good beams. 2021-10-11T01:21:18Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:18Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:18Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:18Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:18Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:18Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:18Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:18Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:18Z- TerrainMapOctree: (vehN, vehE ) = (4061623.18, 594409.24). 2021-10-11T01:21:18Z- TerrainMapOctree: Min Distance = 203.57. 2021-10-11T01:21:18Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:18Z- Forcing Subcloud Comparison 2021-10-11T01:21:18Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:18Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:18Z- Filter 0 partialDeltaRmsComputation: 3.359889 terrainVariance: 0.295372 1-SumSquareWeights: 0.973979 2021-10-11T01:21:18Z- Filter 0 meanExpectedMeasDiff: 1.750576 delta_rms_squared: 0.285632 alpha: 0.934562 2021-10-11T01:21:18Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:18Z- Filter 0 partialDeltaRmsComputation: 1.237544 terrainVariance: 1.237417 1-SumSquareWeights: 0.973979 2021-10-11T01:21:18Z- Filter 0 meanExpectedMeasDiff: -0.011284 delta_rms_squared: 1.227677 alpha: 0.983970 2021-10-11T01:21:18Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:18Z- Filter 0 partialDeltaRmsComputation: 1.085585 terrainVariance: 0.313863 1-SumSquareWeights: 0.973979 2021-10-11T01:21:18Z- Filter 0 meanExpectedMeasDiff: -0.878477 delta_rms_squared: 0.304124 alpha: 0.938295 2021-10-11T01:21:18Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:18Z- Filter 0 partialDeltaRmsComputation: 3.038526 terrainVariance: 0.710613 1-SumSquareWeights: 0.973979 2021-10-11T01:21:18Z- Filter 0 meanExpectedMeasDiff: -1.525750 delta_rms_squared: 0.700873 alpha: 0.972256 2021-10-11T01:21:18Z- Filter 0 SubcloudNIS: 0.456029 2021-10-11T01:21:18Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:18Z- TNavBF:: Filter 0 sumWeights = 0.459591 2021-10-11T01:21:18Z- Filter 0 NorthBias: 3.5 EastBias: -94.7 DepthBias: -40.8 NorthVariance: 21.6 EastVariance: 1.9 DepthVariance: 0.6 this->DepthBiasCov: 0.4 2021-10-11T01:21:18Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915273.14 sec. 2021-10-11T01:21:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:18Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:18Z- variances([0], [2], and psi_berg) = 21.641153 35.524467 0.000000 2021-10-11T01:21:18Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:18Z- LcmTrn::publishEstimates() - MLE : 4061623.58 594313.21 31.58 2021-10-11T01:21:18Z- LcmTrn::publishEstimates() - MMSE : 4061627.57 594313.77 2.81 2021-10-11T01:21:18Z- LcmTrn::publishEstimates() - COVAR: 21.64 35.52 0.76 0.00 2021-10-11T01:21:18Z- AHRS_M2 msg: 1633915275.13 epoch sec; seqNo:985 2021-10-11T01:21:18Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.61 psi 2021-10-11T01:21:18Z- handleDepth()-Depth_Keller msg: 1633915275132 epoch sec; seqNo:1017; depth 43.61 2021-10-11T01:21:18Z- handleDvl() - RDI_Pathfinder msg: 1633915275.16 epoch sec; seqNo:219 2021-10-11T01:21:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.19 , 44.43 , 36.19 , 40.50 2021-10-11T01:21:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.08 , 0.05 2021-10-11T01:21:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915275.18 epoch sec; seqNo:1017; 4061624.47 north; 594408.11 east 2021-10-11T01:21:18Z- AHRS_M2 msg: 1633915275.53 epoch sec; seqNo:986 2021-10-11T01:21:18Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.62 psi 2021-10-11T01:21:18Z- handleDepth()-Depth_Keller msg: 1633915275537 epoch sec; seqNo:1018; depth 43.67 2021-10-11T01:21:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915275.55 epoch sec; seqNo:1018; 4061624.85 north; 594408.10 east 2021-10-11T01:21:19Z- AHRS_M2 msg: 1633915275.94 epoch sec; seqNo:987 2021-10-11T01:21:19Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.62 psi 2021-10-11T01:21:19Z- handleDepth()-Depth_Keller msg: 1633915275960 epoch sec; seqNo:1019; depth 43.70 2021-10-11T01:21:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915275.98 epoch sec; seqNo:1019; 4061624.85 north; 594408.10 east 2021-10-11T01:21:19Z- AHRS_M2 msg: 1633915276.34 epoch sec; seqNo:988 2021-10-11T01:21:19Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.62 psi 2021-10-11T01:21:19Z- handleDepth()-Depth_Keller msg: 1633915276345 epoch sec; seqNo:1020; depth 43.75 2021-10-11T01:21:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915276.37 epoch sec; seqNo:1020; 4061625.23 north; 594408.10 east 2021-10-11T01:21:20Z- AHRS_M2 msg: 1633915276.74 epoch sec; seqNo:989 2021-10-11T01:21:20Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.63 psi 2021-10-11T01:21:20Z- handleDepth()-Depth_Keller msg: 1633915276754 epoch sec; seqNo:1021; depth 43.80 2021-10-11T01:21:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915276.77 epoch sec; seqNo:1021; 4061625.59 north; 594406.87 east 2021-10-11T01:21:20Z- AHRS_M2 msg: 1633915277.15 epoch sec; seqNo:990 2021-10-11T01:21:20Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.63 psi 2021-10-11T01:21:20Z- handleDepth()-Depth_Keller msg: 1633915277161 epoch sec; seqNo:1022; depth 43.85 2021-10-11T01:21:20Z- handleDvl() - RDI_Pathfinder msg: 1633915277.18 epoch sec; seqNo:220 2021-10-11T01:21:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.62 , 44.62 , 35.81 , 40.12 2021-10-11T01:21:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.09 , -0.02 2021-10-11T01:21:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915277.20 epoch sec; seqNo:1022; 4061625.59 north; 594406.87 east 2021-10-11T01:21:20Z- AHRS_M2 msg: 1633915277.55 epoch sec; seqNo:991 2021-10-11T01:21:20Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.64 psi 2021-10-11T01:21:20Z- handleDepth()-Depth_Keller msg: 1633915277558 epoch sec; seqNo:1023; depth 43.88 2021-10-11T01:21:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915277.58 epoch sec; seqNo:1023; 4061625.97 north; 594406.87 east 2021-10-11T01:21:21Z- AHRS_M2 msg: 1633915277.96 epoch sec; seqNo:992 2021-10-11T01:21:21Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.64 psi 2021-10-11T01:21:21Z- handleDepth()-Depth_Keller msg: 1633915277970 epoch sec; seqNo:1024; depth 43.94 2021-10-11T01:21:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915277.98 epoch sec; seqNo:1024; 4061626.35 north; 594406.87 east 2021-10-11T01:21:21Z- AHRS_M2 msg: 1633915278.36 epoch sec; seqNo:993 2021-10-11T01:21:21Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.64 psi 2021-10-11T01:21:21Z- handleDepth()-Depth_Keller msg: 1633915278366 epoch sec; seqNo:1025; depth 43.98 2021-10-11T01:21:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915278.39 epoch sec; seqNo:1025; 4061626.35 north; 594406.87 east 2021-10-11T01:21:22Z- AHRS_M2 msg: 1633915278.77 epoch sec; seqNo:994 2021-10-11T01:21:22Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.64 psi 2021-10-11T01:21:22Z- handleDepth()-Depth_Keller msg: 1633915278792 epoch sec; seqNo:1026; depth 44.03 2021-10-11T01:21:22Z- handleDvl() - RDI_Pathfinder msg: 1633915278.87 epoch sec; seqNo:221 2021-10-11T01:21:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.44 , 43.68 , 35.62 , 39.56 2021-10-11T01:21:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.12 , -0.02 2021-10-11T01:21:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915278.88 epoch sec; seqNo:1026; 4061626.72 north; 594405.64 east 2021-10-11T01:21:22Z- AHRS_M2 msg: 1633915279.17 epoch sec; seqNo:995 2021-10-11T01:21:22Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.64 psi 2021-10-11T01:21:22Z- handleDepth()-Depth_Keller msg: 1633915279173 epoch sec; seqNo:1027; depth 44.11 2021-10-11T01:21:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915279.20 epoch sec; seqNo:1027; 4061627.10 north; 594405.64 east 2021-10-11T01:21:22Z- AHRS_M2 msg: 1633915279.57 epoch sec; seqNo:996 2021-10-11T01:21:22Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.64 psi 2021-10-11T01:21:22Z- handleDepth()-Depth_Keller msg: 1633915279578 epoch sec; seqNo:1028; depth 44.13 2021-10-11T01:21:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915279.61 epoch sec; seqNo:1028; 4061627.10 north; 594405.64 east 2021-10-11T01:21:23Z- AHRS_M2 msg: 1633915279.98 epoch sec; seqNo:997 2021-10-11T01:21:23Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.65 psi 2021-10-11T01:21:23Z- handleDepth()-Depth_Keller msg: 1633915279984 epoch sec; seqNo:1029; depth 44.18 2021-10-11T01:21:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915279.99 epoch sec; seqNo:1029; 4061627.48 north; 594405.63 east 2021-10-11T01:21:23Z- LcmTrn::handleMessages() - handling 42 messages took 0.66 ms and 128 calls... 2021-10-11T01:21:23Z- waiting for 1633915277.74, time is 1633915279.99 2021-10-11T01:21:23Z- LcmTrn::updateTrn() >>>> pose time 1633915279.99, meas time 1633915278.87 <<<< 2021-10-11T01:21:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915278.87 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:23Z- TerrainNav::motionUpdate() - currEstimate = (4061627, 594405.63, 44.18) 2021-10-11T01:21:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:23Z- TerrainNav:: SubcloudNIS is 0.46, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:23Z- TNavBF::Projecting Measurements 2021-10-11T01:21:23Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:23Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:23Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:23Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:23Z- TNavFilter::4 good beams. 2021-10-11T01:21:23Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:23Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:23Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:23Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:23Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:23Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:23Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:23Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:23Z- TerrainMapOctree: (vehN, vehE ) = (4061626.75, 594406.17). 2021-10-11T01:21:23Z- TerrainMapOctree: Min Distance = 198.94. 2021-10-11T01:21:23Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:23Z- Forcing Subcloud Comparison 2021-10-11T01:21:23Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:23Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:23Z- Filter 0 partialDeltaRmsComputation: 3.422630 terrainVariance: 0.222181 1-SumSquareWeights: 0.966054 2021-10-11T01:21:23Z- Filter 0 meanExpectedMeasDiff: 1.788980 delta_rms_squared: 0.212520 alpha: 0.913986 2021-10-11T01:21:23Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:23Z- Filter 0 partialDeltaRmsComputation: 2.571887 terrainVariance: 2.526561 1-SumSquareWeights: 0.966054 2021-10-11T01:21:23Z- Filter 0 meanExpectedMeasDiff: -0.212899 delta_rms_squared: 2.516901 alpha: 0.992116 2021-10-11T01:21:23Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:23Z- Filter 0 partialDeltaRmsComputation: 1.170156 terrainVariance: 0.277675 1-SumSquareWeights: 0.966054 2021-10-11T01:21:23Z- Filter 0 meanExpectedMeasDiff: -0.944712 delta_rms_squared: 0.268014 alpha: 0.930559 2021-10-11T01:21:23Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:23Z- Filter 0 partialDeltaRmsComputation: 2.557266 terrainVariance: 0.817088 1-SumSquareWeights: 0.966054 2021-10-11T01:21:23Z- Filter 0 meanExpectedMeasDiff: -1.319158 delta_rms_squared: 0.807427 alpha: 0.975829 2021-10-11T01:21:23Z- Filter 0 SubcloudNIS: 0.489908 2021-10-11T01:21:23Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:23Z- TNavBF:: Filter 0 sumWeights = 0.415502 2021-10-11T01:21:23Z- Filter 0 NorthBias: 2.7 EastBias: -94.7 DepthBias: -41.0 NorthVariance: 16.4 EastVariance: 1.9 DepthVariance: 0.6 this->DepthBiasCov: 0.4 2021-10-11T01:21:23Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915278.87 sec. 2021-10-11T01:21:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:23Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:23Z- variances([0], [2], and psi_berg) = 16.459143 27.109285 0.000000 2021-10-11T01:21:23Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:23Z- LcmTrn::publishEstimates() - MLE : 4061626.96 594310.73 32.18 2021-10-11T01:21:23Z- LcmTrn::publishEstimates() - MMSE : 4061630.13 594311.23 3.24 2021-10-11T01:21:23Z- LcmTrn::publishEstimates() - COVAR: 16.46 27.11 0.78 0.00 2021-10-11T01:21:23Z- AHRS_M2 msg: 1633915280.38 epoch sec; seqNo:998 2021-10-11T01:21:23Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.65 psi 2021-10-11T01:21:23Z- handleDepth()-Depth_Keller msg: 1633915280389 epoch sec; seqNo:1030; depth 44.23 2021-10-11T01:21:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915280.40 epoch sec; seqNo:1030; 4061627.85 north; 594405.63 east 2021-10-11T01:21:24Z- AHRS_M2 msg: 1633915280.84 epoch sec; seqNo:999 2021-10-11T01:21:24Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.65 psi 2021-10-11T01:21:24Z- handleDepth()-Depth_Keller msg: 1633915280843 epoch sec; seqNo:1031; depth 44.29 2021-10-11T01:21:24Z- handleDvl() - RDI_Pathfinder msg: 1633915280.88 epoch sec; seqNo:222 2021-10-11T01:21:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.43 , 43.31 , 35.24 , 39.93 2021-10-11T01:21:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.13 , 0.06 2021-10-11T01:21:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915280.89 epoch sec; seqNo:1031; 4061628.22 north; 594404.40 east 2021-10-11T01:21:24Z- handleDepth()-Depth_Keller msg: 1633915281211 epoch sec; seqNo:1032; depth 44.34 2021-10-11T01:21:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915281.23 epoch sec; seqNo:1032; 4061628.22 north; 594404.40 east 2021-10-11T01:21:24Z- AHRS_M2 msg: 1633915281.59 epoch sec; seqNo:1000 2021-10-11T01:21:24Z- AHRS_M2 msg: -0.19 phi; -0.15 theta; 5.65 psi 2021-10-11T01:21:24Z- handleDepth()-Depth_Keller msg: 1633915281605 epoch sec; seqNo:1033; depth 44.38 2021-10-11T01:21:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915281.62 epoch sec; seqNo:1033; 4061628.60 north; 594404.40 east 2021-10-11T01:21:25Z- AHRS_M2 msg: 1633915282.00 epoch sec; seqNo:1001 2021-10-11T01:21:25Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.65 psi 2021-10-11T01:21:25Z- handleDepth()-Depth_Keller msg: 1633915282024 epoch sec; seqNo:1034; depth 44.45 2021-10-11T01:21:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915282.04 epoch sec; seqNo:1034; 4061628.98 north; 594404.40 east 2021-10-11T01:21:25Z- AHRS_M2 msg: 1633915282.40 epoch sec; seqNo:1002 2021-10-11T01:21:25Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.65 psi 2021-10-11T01:21:25Z- handleDepth()-Depth_Keller msg: 1633915282410 epoch sec; seqNo:1035; depth 44.50 2021-10-11T01:21:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915282.42 epoch sec; seqNo:1035; 4061628.98 north; 594404.40 east 2021-10-11T01:21:26Z- AHRS_M2 msg: 1633915282.84 epoch sec; seqNo:1003 2021-10-11T01:21:26Z- AHRS_M2 msg: -0.19 phi; -0.16 theta; 5.66 psi 2021-10-11T01:21:26Z- handleDepth()-Depth_Keller msg: 1633915282847 epoch sec; seqNo:1036; depth 44.56 2021-10-11T01:21:26Z- handleDvl() - RDI_Pathfinder msg: 1633915282.87 epoch sec; seqNo:223 2021-10-11T01:21:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.24 , 43.12 , 35.06 , 40.31 2021-10-11T01:21:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , 0.09 2021-10-11T01:21:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915282.88 epoch sec; seqNo:1036; 4061629.34 north; 594403.17 east 2021-10-11T01:21:26Z- AHRS_M2 msg: 1633915283.21 epoch sec; seqNo:1004 2021-10-11T01:21:26Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.66 psi 2021-10-11T01:21:26Z- handleDepth()-Depth_Keller msg: 1633915283216 epoch sec; seqNo:1037; depth 44.60 2021-10-11T01:21:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915283.26 epoch sec; seqNo:1037; 4061629.72 north; 594403.17 east 2021-10-11T01:21:26Z- AHRS_M2 msg: 1633915283.61 epoch sec; seqNo:1005 2021-10-11T01:21:26Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.66 psi 2021-10-11T01:21:26Z- handleDepth()-Depth_Keller msg: 1633915283618 epoch sec; seqNo:1038; depth 44.68 2021-10-11T01:21:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915283.64 epoch sec; seqNo:1038; 4061629.72 north; 594403.17 east 2021-10-11T01:21:27Z- AHRS_M2 msg: 1633915284.02 epoch sec; seqNo:1006 2021-10-11T01:21:27Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.67 psi 2021-10-11T01:21:27Z- handleDepth()-Depth_Keller msg: 1633915284023 epoch sec; seqNo:1039; depth 44.71 2021-10-11T01:21:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915284.03 epoch sec; seqNo:1039; 4061630.10 north; 594403.16 east 2021-10-11T01:21:27Z- AHRS_M2 msg: 1633915284.42 epoch sec; seqNo:1007 2021-10-11T01:21:27Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.67 psi 2021-10-11T01:21:27Z- handleDepth()-Depth_Keller msg: 1633915284432 epoch sec; seqNo:1040; depth 44.79 2021-10-11T01:21:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915284.44 epoch sec; seqNo:1040; 4061630.10 north; 594403.16 east 2021-10-11T01:21:28Z- AHRS_M2 msg: 1633915284.84 epoch sec; seqNo:1008 2021-10-11T01:21:28Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.67 psi 2021-10-11T01:21:28Z- handleDepth()-Depth_Keller msg: 1633915284848 epoch sec; seqNo:1041; depth 44.83 2021-10-11T01:21:28Z- handleDvl() - RDI_Pathfinder msg: 1633915284.87 epoch sec; seqNo:224 2021-10-11T01:21:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.06 , 43.49 , 34.87 , 41.06 2021-10-11T01:21:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , 0.03 2021-10-11T01:21:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915284.90 epoch sec; seqNo:1041; 4061630.47 north; 594401.94 east 2021-10-11T01:21:28Z- AHRS_M2 msg: 1633915285.23 epoch sec; seqNo:1009 2021-10-11T01:21:28Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.68 psi 2021-10-11T01:21:28Z- handleDepth()-Depth_Keller msg: 1633915285240 epoch sec; seqNo:1042; depth 44.88 2021-10-11T01:21:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915285.27 epoch sec; seqNo:1042; 4061630.84 north; 594401.93 east 2021-10-11T01:21:28Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-11T01:21:28Z- waiting for 1633915282.99, time is 1633915285.27 2021-10-11T01:21:28Z- LcmTrn::updateTrn() >>>> pose time 1633915285.27, meas time 1633915284.87 <<<< 2021-10-11T01:21:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915284.87 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:28Z- TerrainNav::motionUpdate() - currEstimate = (4061631, 594401.93, 44.88) 2021-10-11T01:21:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:28Z- TerrainNav:: SubcloudNIS is 0.49, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:28Z- TNavBF::Projecting Measurements 2021-10-11T01:21:28Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:28Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:28Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:28Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:28Z- TNavFilter::4 good beams. 2021-10-11T01:21:28Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:28Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:28Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:28Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:28Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:28Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:28Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:28Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:28Z- TerrainMapOctree: (vehN, vehE ) = (4061630.59, 594402.22). 2021-10-11T01:21:28Z- TerrainMapOctree: Min Distance = 193.47. 2021-10-11T01:21:28Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:29Z- Forcing Subcloud Comparison 2021-10-11T01:21:29Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:29Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:29Z- Filter 0 partialDeltaRmsComputation: 6.811053 terrainVariance: 0.192591 1-SumSquareWeights: 0.963981 2021-10-11T01:21:29Z- Filter 0 meanExpectedMeasDiff: 2.572637 delta_rms_squared: 0.182952 alpha: 0.901454 2021-10-11T01:21:29Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:29Z- Filter 0 partialDeltaRmsComputation: 3.174141 terrainVariance: 2.266382 1-SumSquareWeights: 0.963981 2021-10-11T01:21:29Z- Filter 0 meanExpectedMeasDiff: -0.952764 delta_rms_squared: 2.256743 alpha: 0.991216 2021-10-11T01:21:29Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:29Z- Filter 0 partialDeltaRmsComputation: 1.831061 terrainVariance: 0.284234 1-SumSquareWeights: 0.963981 2021-10-11T01:21:29Z- Filter 0 meanExpectedMeasDiff: -1.243715 delta_rms_squared: 0.274594 alpha: 0.932110 2021-10-11T01:21:29Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:29Z- Filter 0 partialDeltaRmsComputation: 0.807365 terrainVariance: 0.786517 1-SumSquareWeights: 0.963981 2021-10-11T01:21:29Z- Filter 0 meanExpectedMeasDiff: 0.144390 delta_rms_squared: 0.776877 alpha: 0.974902 2021-10-11T01:21:29Z- Filter 0 SubcloudNIS: 0.527712 2021-10-11T01:21:29Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:29Z- TNavBF:: Filter 0 sumWeights = 0.302554 2021-10-11T01:21:29Z- Filter 0 NorthBias: 3.1 EastBias: -94.5 DepthBias: -40.8 NorthVariance: 17.1 EastVariance: 2.3 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-11T01:21:29Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915284.87 sec. 2021-10-11T01:21:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:29Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:29Z- variances([0], [2], and psi_berg) = 17.129838 17.817848 0.000000 2021-10-11T01:21:29Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:29Z- LcmTrn::publishEstimates() - MLE : 4061630.33 594307.03 32.88 2021-10-11T01:21:29Z- LcmTrn::publishEstimates() - MMSE : 4061633.91 594307.58 4.13 2021-10-11T01:21:29Z- LcmTrn::publishEstimates() - COVAR: 17.13 17.82 0.85 0.00 2021-10-11T01:21:29Z- AHRS_M2 msg: 1633915285.63 epoch sec; seqNo:1010 2021-10-11T01:21:29Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.68 psi 2021-10-11T01:21:29Z- handleDepth()-Depth_Keller msg: 1633915285639 epoch sec; seqNo:1043; depth 44.94 2021-10-11T01:21:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915285.65 epoch sec; seqNo:1043; 4061630.84 north; 594401.93 east 2021-10-11T01:21:29Z- AHRS_M2 msg: 1633915286.04 epoch sec; seqNo:1011 2021-10-11T01:21:29Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.68 psi 2021-10-11T01:21:29Z- handleDepth()-Depth_Keller msg: 1633915286048 epoch sec; seqNo:1044; depth 44.99 2021-10-11T01:21:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915286.06 epoch sec; seqNo:1044; 4061631.22 north; 594401.93 east 2021-10-11T01:21:29Z- AHRS_M2 msg: 1633915286.44 epoch sec; seqNo:1012 2021-10-11T01:21:29Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.68 psi 2021-10-11T01:21:29Z- handleDepth()-Depth_Keller msg: 1633915286446 epoch sec; seqNo:1045; depth 45.06 2021-10-11T01:21:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915286.46 epoch sec; seqNo:1045; 4061631.60 north; 594401.93 east 2021-10-11T01:21:30Z- AHRS_M2 msg: 1633915286.85 epoch sec; seqNo:1013 2021-10-11T01:21:30Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.69 psi 2021-10-11T01:21:30Z- handleDepth()-Depth_Keller msg: 1633915286854 epoch sec; seqNo:1046; depth 45.12 2021-10-11T01:21:30Z- handleDvl() - RDI_Pathfinder msg: 1633915286.89 epoch sec; seqNo:225 2021-10-11T01:21:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.87 , 43.49 , 33.93 , 41.62 2021-10-11T01:21:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.09 , -0.01 2021-10-11T01:21:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915286.91 epoch sec; seqNo:1046; 4061631.98 north; 594401.92 east 2021-10-11T01:21:30Z- AHRS_M2 msg: 1633915287.25 epoch sec; seqNo:1014 2021-10-11T01:21:30Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.69 psi 2021-10-11T01:21:30Z- handleDepth()-Depth_Keller msg: 1633915287263 epoch sec; seqNo:1047; depth 45.17 2021-10-11T01:21:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915287.28 epoch sec; seqNo:1047; 4061631.97 north; 594400.70 east 2021-10-11T01:21:31Z- AHRS_M2 msg: 1633915287.65 epoch sec; seqNo:1015 2021-10-11T01:21:31Z- AHRS_M2 msg: -0.21 phi; -0.18 theta; 5.69 psi 2021-10-11T01:21:31Z- handleDepth()-Depth_Keller msg: 1633915287660 epoch sec; seqNo:1048; depth 45.22 2021-10-11T01:21:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915287.68 epoch sec; seqNo:1048; 4061632.35 north; 594400.70 east 2021-10-11T01:21:31Z- AHRS_M2 msg: 1633915288.06 epoch sec; seqNo:1016 2021-10-11T01:21:31Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.69 psi 2021-10-11T01:21:31Z- handleDepth()-Depth_Keller msg: 1633915288068 epoch sec; seqNo:1049; depth 45.29 2021-10-11T01:21:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915288.10 epoch sec; seqNo:1049; 4061632.73 north; 594400.69 east 2021-10-11T01:21:31Z- AHRS_M2 msg: 1633915288.46 epoch sec; seqNo:1017 2021-10-11T01:21:31Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.69 psi 2021-10-11T01:21:31Z- handleDepth()-Depth_Keller msg: 1633915288465 epoch sec; seqNo:1050; depth 45.35 2021-10-11T01:21:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915288.48 epoch sec; seqNo:1050; 4061632.73 north; 594400.69 east 2021-10-11T01:21:32Z- AHRS_M2 msg: 1633915288.87 epoch sec; seqNo:1018 2021-10-11T01:21:32Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.69 psi 2021-10-11T01:21:32Z- handleDepth()-Depth_Keller msg: 1633915288872 epoch sec; seqNo:1051; depth 45.39 2021-10-11T01:21:32Z- handleDvl() - RDI_Pathfinder msg: 1633915288.90 epoch sec; seqNo:226 2021-10-11T01:21:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.31 , 43.12 , 33.74 , 41.99 2021-10-11T01:21:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.08 , 0.03 2021-10-11T01:21:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915288.91 epoch sec; seqNo:1051; 4061633.10 north; 594400.69 east 2021-10-11T01:21:32Z- AHRS_M2 msg: 1633915289.27 epoch sec; seqNo:1019 2021-10-11T01:21:32Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.69 psi 2021-10-11T01:21:32Z- handleDepth()-Depth_Keller msg: 1633915289276 epoch sec; seqNo:1052; depth 45.47 2021-10-11T01:21:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915289.31 epoch sec; seqNo:1052; 4061633.48 north; 594400.68 east 2021-10-11T01:21:33Z- AHRS_M2 msg: 1633915289.67 epoch sec; seqNo:1020 2021-10-11T01:21:33Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.69 psi 2021-10-11T01:21:33Z- handleDepth()-Depth_Keller msg: 1633915289678 epoch sec; seqNo:1053; depth 45.53 2021-10-11T01:21:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915289.69 epoch sec; seqNo:1053; 4061633.47 north; 594399.46 east 2021-10-11T01:21:33Z- AHRS_M2 msg: 1633915290.08 epoch sec; seqNo:1021 2021-10-11T01:21:33Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.69 psi 2021-10-11T01:21:33Z- handleDepth()-Depth_Keller msg: 1633915290090 epoch sec; seqNo:1054; depth 45.60 2021-10-11T01:21:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915290.11 epoch sec; seqNo:1054; 4061633.85 north; 594399.46 east 2021-10-11T01:21:33Z- AHRS_M2 msg: 1633915290.48 epoch sec; seqNo:1022 2021-10-11T01:21:33Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.69 psi 2021-10-11T01:21:33Z- handleDepth()-Depth_Keller msg: 1633915290488 epoch sec; seqNo:1055; depth 45.64 2021-10-11T01:21:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915290.51 epoch sec; seqNo:1055; 4061634.23 north; 594399.46 east 2021-10-11T01:21:34Z- LcmTrn::handleMessages() - handling 41 messages took 0.74 ms and 126 calls... 2021-10-11T01:21:34Z- waiting for 1633915288.27, time is 1633915290.51 2021-10-11T01:21:34Z- LcmTrn::updateTrn() >>>> pose time 1633915290.51, meas time 1633915288.90 <<<< 2021-10-11T01:21:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915288.90 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:34Z- TerrainNav::motionUpdate() - currEstimate = (4061634, 594399.46, 45.64) 2021-10-11T01:21:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:34Z- TerrainNav:: SubcloudNIS is 0.53, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:34Z- TNavBF::Projecting Measurements 2021-10-11T01:21:34Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:34Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:34Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:34Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:34Z- TNavFilter::4 good beams. 2021-10-11T01:21:34Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:34Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:34Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:34Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:34Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:34Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:34Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:34Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:34Z- TerrainMapOctree: (vehN, vehE ) = (4061633.19, 594400.22). 2021-10-11T01:21:34Z- TerrainMapOctree: Min Distance = 190.29. 2021-10-11T01:21:34Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:34Z- Forcing Subcloud Comparison 2021-10-11T01:21:34Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:34Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:34Z- Filter 0 partialDeltaRmsComputation: 5.909493 terrainVariance: 0.159559 1-SumSquareWeights: 0.968513 2021-10-11T01:21:34Z- Filter 0 meanExpectedMeasDiff: 2.397902 delta_rms_squared: 0.149874 alpha: 0.882265 2021-10-11T01:21:34Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:34Z- Filter 0 partialDeltaRmsComputation: 2.847842 terrainVariance: 2.512981 1-SumSquareWeights: 0.968513 2021-10-11T01:21:34Z- Filter 0 meanExpectedMeasDiff: -0.578672 delta_rms_squared: 2.503296 alpha: 0.992074 2021-10-11T01:21:34Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:34Z- Filter 0 partialDeltaRmsComputation: 4.173322 terrainVariance: 0.412554 1-SumSquareWeights: 0.968513 2021-10-11T01:21:34Z- Filter 0 meanExpectedMeasDiff: -1.939270 delta_rms_squared: 0.402869 alpha: 0.952704 2021-10-11T01:21:34Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:34Z- Filter 0 partialDeltaRmsComputation: 1.539153 terrainVariance: 0.574139 1-SumSquareWeights: 0.968513 2021-10-11T01:21:34Z- Filter 0 meanExpectedMeasDiff: 0.982351 delta_rms_squared: 0.564454 alpha: 0.965780 2021-10-11T01:21:34Z- Filter 0 SubcloudNIS: 0.530270 2021-10-11T01:21:34Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:34Z- TNavBF:: Filter 0 sumWeights = 0.233363 2021-10-11T01:21:34Z- Filter 0 NorthBias: 3.5 EastBias: -94.1 DepthBias: -40.5 NorthVariance: 17.4 EastVariance: 3.1 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-11T01:21:34Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915288.90 sec. 2021-10-11T01:21:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:34Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:34Z- variances([0], [2], and psi_berg) = 17.385832 24.195812 0.000000 2021-10-11T01:21:34Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:34Z- LcmTrn::publishEstimates() - MLE : 4061633.71 594304.56 33.64 2021-10-11T01:21:34Z- LcmTrn::publishEstimates() - MMSE : 4061637.70 594305.55 5.12 2021-10-11T01:21:34Z- LcmTrn::publishEstimates() - COVAR: 17.39 24.20 1.00 0.00 2021-10-11T01:21:34Z- AHRS_M2 msg: 1633915290.89 epoch sec; seqNo:1023 2021-10-11T01:21:34Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.70 psi 2021-10-11T01:21:34Z- handleDepth()-Depth_Keller msg: 1633915290901 epoch sec; seqNo:1056; depth 45.71 2021-10-11T01:21:34Z- handleDvl() - RDI_Pathfinder msg: 1633915290.94 epoch sec; seqNo:227 2021-10-11T01:21:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.68 , 42.36 , 33.37 , 41.80 2021-10-11T01:21:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.06 , 0.06 2021-10-11T01:21:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915290.95 epoch sec; seqNo:1056; 4061634.61 north; 594399.45 east 2021-10-11T01:21:34Z- AHRS_M2 msg: 1633915291.29 epoch sec; seqNo:1024 2021-10-11T01:21:34Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.70 psi 2021-10-11T01:21:34Z- handleDepth()-Depth_Keller msg: 1633915291296 epoch sec; seqNo:1057; depth 45.78 2021-10-11T01:21:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915291.31 epoch sec; seqNo:1057; 4061634.61 north; 594399.45 east 2021-10-11T01:21:35Z- AHRS_M2 msg: 1633915291.69 epoch sec; seqNo:1025 2021-10-11T01:21:35Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.70 psi 2021-10-11T01:21:35Z- handleDepth()-Depth_Keller msg: 1633915291699 epoch sec; seqNo:1058; depth 45.83 2021-10-11T01:21:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915291.72 epoch sec; seqNo:1058; 4061634.98 north; 594399.45 east 2021-10-11T01:21:35Z- AHRS_M2 msg: 1633915292.10 epoch sec; seqNo:1026 2021-10-11T01:21:35Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.70 psi 2021-10-11T01:21:35Z- handleDepth()-Depth_Keller msg: 1633915292108 epoch sec; seqNo:1059; depth 45.88 2021-10-11T01:21:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915292.12 epoch sec; seqNo:1059; 4061635.35 north; 594398.22 east 2021-10-11T01:21:35Z- AHRS_M2 msg: 1633915292.50 epoch sec; seqNo:1027 2021-10-11T01:21:35Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 5.71 psi 2021-10-11T01:21:35Z- handleDepth()-Depth_Keller msg: 1633915292508 epoch sec; seqNo:1060; depth 45.95 2021-10-11T01:21:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915292.52 epoch sec; seqNo:1060; 4061635.35 north; 594398.22 east 2021-10-11T01:21:36Z- AHRS_M2 msg: 1633915292.91 epoch sec; seqNo:1028 2021-10-11T01:21:36Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 5.71 psi 2021-10-11T01:21:36Z- handleDepth()-Depth_Keller msg: 1633915292912 epoch sec; seqNo:1061; depth 46.01 2021-10-11T01:21:36Z- handleDvl() - RDI_Pathfinder msg: 1633915292.93 epoch sec; seqNo:228 2021-10-11T01:21:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.43 , 42.26 , 32.89 , 42.10 2021-10-11T01:21:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , 0.02 2021-10-11T01:21:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915292.97 epoch sec; seqNo:1061; 4061635.73 north; 594398.22 east 2021-10-11T01:21:36Z- AHRS_M2 msg: 1633915293.31 epoch sec; seqNo:1029 2021-10-11T01:21:36Z- AHRS_M2 msg: -0.20 phi; -0.20 theta; 5.71 psi 2021-10-11T01:21:36Z- handleDepth()-Depth_Keller msg: 1633915293320 epoch sec; seqNo:1062; depth 46.08 2021-10-11T01:21:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915293.34 epoch sec; seqNo:1062; 4061636.11 north; 594398.21 east 2021-10-11T01:21:37Z- AHRS_M2 msg: 1633915293.71 epoch sec; seqNo:1030 2021-10-11T01:21:37Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.71 psi 2021-10-11T01:21:37Z- handleDepth()-Depth_Keller msg: 1633915293719 epoch sec; seqNo:1063; depth 46.12 2021-10-11T01:21:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915293.73 epoch sec; seqNo:1063; 4061636.11 north; 594398.21 east 2021-10-11T01:21:37Z- AHRS_M2 msg: 1633915294.12 epoch sec; seqNo:1031 2021-10-11T01:21:37Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.72 psi 2021-10-11T01:21:37Z- handleDepth()-Depth_Keller msg: 1633915294130 epoch sec; seqNo:1064; depth 46.18 2021-10-11T01:21:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915294.14 epoch sec; seqNo:1064; 4061636.49 north; 594398.21 east 2021-10-11T01:21:37Z- AHRS_M2 msg: 1633915294.52 epoch sec; seqNo:1032 2021-10-11T01:21:37Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.72 psi 2021-10-11T01:21:37Z- handleDepth()-Depth_Keller msg: 1633915294526 epoch sec; seqNo:1065; depth 46.25 2021-10-11T01:21:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915294.55 epoch sec; seqNo:1065; 4061636.85 north; 594396.99 east 2021-10-11T01:21:38Z- AHRS_M2 msg: 1633915294.93 epoch sec; seqNo:1033 2021-10-11T01:21:38Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.72 psi 2021-10-11T01:21:38Z- handleDepth()-Depth_Keller msg: 1633915294932 epoch sec; seqNo:1066; depth 46.29 2021-10-11T01:21:38Z- handleDvl() - RDI_Pathfinder msg: 1633915294.96 epoch sec; seqNo:229 2021-10-11T01:21:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.25 , 42.43 , 32.72 , 41.92 2021-10-11T01:21:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , -0.02 2021-10-11T01:21:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915294.98 epoch sec; seqNo:1066; 4061636.85 north; 594396.99 east 2021-10-11T01:21:38Z- AHRS_M2 msg: 1633915295.33 epoch sec; seqNo:1034 2021-10-11T01:21:38Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.72 psi 2021-10-11T01:21:38Z- handleDepth()-Depth_Keller msg: 1633915295335 epoch sec; seqNo:1067; depth 46.35 2021-10-11T01:21:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915295.35 epoch sec; seqNo:1067; 4061637.23 north; 594396.98 east 2021-10-11T01:21:39Z- AHRS_M2 msg: 1633915295.73 epoch sec; seqNo:1035 2021-10-11T01:21:39Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.72 psi 2021-10-11T01:21:39Z- handleDepth()-Depth_Keller msg: 1633915295744 epoch sec; seqNo:1068; depth 46.41 2021-10-11T01:21:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915295.76 epoch sec; seqNo:1068; 4061637.61 north; 594396.98 east 2021-10-11T01:21:39Z- LcmTrn::handleMessages() - handling 42 messages took 0.66 ms and 128 calls... 2021-10-11T01:21:39Z- waiting for 1633915293.51, time is 1633915295.76 2021-10-11T01:21:39Z- LcmTrn::updateTrn() >>>> pose time 1633915295.76, meas time 1633915294.96 <<<< 2021-10-11T01:21:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915294.96 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:39Z- TerrainNav::motionUpdate() - currEstimate = (4061638, 594396.98, 46.41) 2021-10-11T01:21:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:39Z- TerrainNav:: SubcloudNIS is 0.53, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:39Z- TNavBF::Projecting Measurements 2021-10-11T01:21:39Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:39Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:39Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:39Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:39Z- TNavFilter::4 good beams. 2021-10-11T01:21:39Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:39Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:39Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:39Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:39Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:39Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:39Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:39Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:39Z- TerrainMapOctree: (vehN, vehE ) = (4061637.10, 594397.35). 2021-10-11T01:21:39Z- TerrainMapOctree: Min Distance = 185.63. 2021-10-11T01:21:39Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:39Z- Forcing Subcloud Comparison 2021-10-11T01:21:39Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:39Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:39Z- Filter 0 partialDeltaRmsComputation: 11.569211 terrainVariance: 0.261397 1-SumSquareWeights: 0.973459 2021-10-11T01:21:39Z- Filter 0 meanExpectedMeasDiff: 3.362709 delta_rms_squared: 0.251662 alpha: 0.926379 2021-10-11T01:21:39Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:39Z- Filter 0 partialDeltaRmsComputation: 1.040891 terrainVariance: 0.669350 1-SumSquareWeights: 0.973459 2021-10-11T01:21:39Z- Filter 0 meanExpectedMeasDiff: 0.609542 delta_rms_squared: 0.659616 alpha: 0.970572 2021-10-11T01:21:39Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:39Z- Filter 0 partialDeltaRmsComputation: 8.685360 terrainVariance: 0.321972 1-SumSquareWeights: 0.973459 2021-10-11T01:21:39Z- Filter 0 meanExpectedMeasDiff: -2.891952 delta_rms_squared: 0.312237 alpha: 0.939802 2021-10-11T01:21:39Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:39Z- Filter 0 partialDeltaRmsComputation: 2.365434 terrainVariance: 0.512233 1-SumSquareWeights: 0.973459 2021-10-11T01:21:39Z- Filter 0 meanExpectedMeasDiff: 1.361323 delta_rms_squared: 0.502498 alpha: 0.961722 2021-10-11T01:21:39Z- Filter 0 SubcloudNIS: 0.554709 2021-10-11T01:21:39Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:39Z- TNavBF:: Filter 0 sumWeights = 0.085938 2021-10-11T01:21:39Z- Filter 0 NorthBias: 4.6 EastBias: -93.0 DepthBias: -39.9 NorthVariance: 17.5 EastVariance: 4.9 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-11T01:21:39Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915294.96 sec. 2021-10-11T01:21:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:39Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:39Z- variances([0], [2], and psi_berg) = 17.524600 13.710372 0.000000 2021-10-11T01:21:39Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:39Z- LcmTrn::publishEstimates() - MLE : 4061637.09 594302.08 34.41 2021-10-11T01:21:39Z- LcmTrn::publishEstimates() - MMSE : 4061642.24 594304.03 6.49 2021-10-11T01:21:39Z- LcmTrn::publishEstimates() - COVAR: 17.52 13.71 0.83 0.00 2021-10-11T01:21:39Z- AHRS_M2 msg: 1633915296.14 epoch sec; seqNo:1036 2021-10-11T01:21:39Z- AHRS_M2 msg: -0.21 phi; -0.20 theta; 5.72 psi 2021-10-11T01:21:39Z- handleDepth()-Depth_Keller msg: 1633915296143 epoch sec; seqNo:1069; depth 46.49 2021-10-11T01:21:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915296.16 epoch sec; seqNo:1069; 4061637.61 north; 594396.98 east 2021-10-11T01:21:39Z- AHRS_M2 msg: 1633915296.55 epoch sec; seqNo:1037 2021-10-11T01:21:39Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 5.72 psi 2021-10-11T01:21:39Z- handleDepth()-Depth_Keller msg: 1633915296555 epoch sec; seqNo:1070; depth 46.54 2021-10-11T01:21:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915296.57 epoch sec; seqNo:1070; 4061637.99 north; 594396.97 east 2021-10-11T01:21:40Z- AHRS_M2 msg: 1633915296.95 epoch sec; seqNo:1038 2021-10-11T01:21:40Z- AHRS_M2 msg: -0.21 phi; -0.19 theta; 5.73 psi 2021-10-11T01:21:40Z- handleDepth()-Depth_Keller msg: 1633915296954 epoch sec; seqNo:1071; depth 46.61 2021-10-11T01:21:40Z- handleDvl() - RDI_Pathfinder msg: 1633915296.97 epoch sec; seqNo:230 2021-10-11T01:21:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.91 , 41.75 , 32.04 , 41.58 2021-10-11T01:21:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.14 , 0.02 2021-10-11T01:21:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915297.01 epoch sec; seqNo:1071; 4061638.35 north; 594395.75 east 2021-10-11T01:21:40Z- AHRS_M2 msg: 1633915297.35 epoch sec; seqNo:1039 2021-10-11T01:21:40Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.73 psi 2021-10-11T01:21:40Z- handleDepth()-Depth_Keller msg: 1633915297364 epoch sec; seqNo:1072; depth 46.69 2021-10-11T01:21:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915297.38 epoch sec; seqNo:1072; 4061638.73 north; 594395.74 east 2021-10-11T01:21:41Z- AHRS_M2 msg: 1633915297.75 epoch sec; seqNo:1040 2021-10-11T01:21:41Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.73 psi 2021-10-11T01:21:41Z- handleDepth()-Depth_Keller msg: 1633915297758 epoch sec; seqNo:1073; depth 46.74 2021-10-11T01:21:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915297.79 epoch sec; seqNo:1073; 4061638.73 north; 594395.74 east 2021-10-11T01:21:41Z- AHRS_M2 msg: 1633915298.16 epoch sec; seqNo:1041 2021-10-11T01:21:41Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.73 psi 2021-10-11T01:21:41Z- handleDepth()-Depth_Keller msg: 1633915298165 epoch sec; seqNo:1074; depth 46.80 2021-10-11T01:21:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915298.18 epoch sec; seqNo:1074; 4061639.11 north; 594395.74 east 2021-10-11T01:21:41Z- AHRS_M2 msg: 1633915298.56 epoch sec; seqNo:1042 2021-10-11T01:21:41Z- AHRS_M2 msg: -0.20 phi; -0.19 theta; 5.73 psi 2021-10-11T01:21:41Z- handleDepth()-Depth_Keller msg: 1633915298581 epoch sec; seqNo:1075; depth 46.86 2021-10-11T01:21:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915298.59 epoch sec; seqNo:1075; 4061639.49 north; 594395.74 east 2021-10-11T01:21:42Z- AHRS_M2 msg: 1633915298.97 epoch sec; seqNo:1043 2021-10-11T01:21:42Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 5.73 psi 2021-10-11T01:21:42Z- handleDepth()-Depth_Keller msg: 1633915298980 epoch sec; seqNo:1076; depth 46.94 2021-10-11T01:21:42Z- handleDvl() - RDI_Pathfinder msg: 1633915299.02 epoch sec; seqNo:231 2021-10-11T01:21:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.23 , 40.90 , 31.35 , 41.24 2021-10-11T01:21:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , 0.07 2021-10-11T01:21:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915299.03 epoch sec; seqNo:1076; 4061639.48 north; 594394.52 east 2021-10-11T01:21:42Z- AHRS_M2 msg: 1633915299.38 epoch sec; seqNo:1044 2021-10-11T01:21:42Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 5.74 psi 2021-10-11T01:21:42Z- handleDepth()-Depth_Keller msg: 1633915299381 epoch sec; seqNo:1077; depth 47.00 2021-10-11T01:21:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915299.40 epoch sec; seqNo:1077; 4061639.86 north; 594394.51 east 2021-10-11T01:21:43Z- AHRS_M2 msg: 1633915299.78 epoch sec; seqNo:1045 2021-10-11T01:21:43Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 5.74 psi 2021-10-11T01:21:43Z- handleDepth()-Depth_Keller msg: 1633915299781 epoch sec; seqNo:1078; depth 47.06 2021-10-11T01:21:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915299.79 epoch sec; seqNo:1078; 4061640.24 north; 594394.51 east 2021-10-11T01:21:43Z- AHRS_M2 msg: 1633915300.18 epoch sec; seqNo:1046 2021-10-11T01:21:43Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 5.74 psi 2021-10-11T01:21:43Z- handleDepth()-Depth_Keller msg: 1633915300182 epoch sec; seqNo:1079; depth 47.13 2021-10-11T01:21:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915300.21 epoch sec; seqNo:1079; 4061640.24 north; 594394.51 east 2021-10-11T01:21:43Z- AHRS_M2 msg: 1633915300.58 epoch sec; seqNo:1047 2021-10-11T01:21:43Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 5.75 psi 2021-10-11T01:21:43Z- handleDepth()-Depth_Keller msg: 1633915300586 epoch sec; seqNo:1080; depth 47.20 2021-10-11T01:21:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915300.60 epoch sec; seqNo:1080; 4061640.61 north; 594394.50 east 2021-10-11T01:21:44Z- AHRS_M2 msg: 1633915300.99 epoch sec; seqNo:1048 2021-10-11T01:21:44Z- AHRS_M2 msg: -0.19 phi; -0.19 theta; 5.75 psi 2021-10-11T01:21:44Z- handleDepth()-Depth_Keller msg: 1633915300993 epoch sec; seqNo:1081; depth 47.25 2021-10-11T01:21:44Z- handleDvl() - RDI_Pathfinder msg: 1633915301.01 epoch sec; seqNo:232 2021-10-11T01:21:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.23 , 40.39 , 31.01 , 40.73 2021-10-11T01:21:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , 0.04 2021-10-11T01:21:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915301.06 epoch sec; seqNo:1081; 4061640.99 north; 594394.50 east 2021-10-11T01:21:44Z- LcmTrn::handleMessages() - handling 42 messages took 0.76 ms and 126 calls... 2021-10-11T01:21:44Z- waiting for 1633915298.76, time is 1633915301.06 2021-10-11T01:21:44Z- LcmTrn::updateTrn() equating pose 1633915301.06 and meas times 1633915301.06 2021-10-11T01:21:44Z- LcmTrn::updateTrn() >>>> pose time 1633915301.06, meas time 1633915301.06 <<<< 2021-10-11T01:21:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915301.06 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:44Z- TerrainNav::motionUpdate() - currEstimate = (4061641, 594394.50, 47.25) 2021-10-11T01:21:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:44Z- TerrainNav:: SubcloudNIS is 0.55, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:44Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915301.06 sec.; No relevant navigation data available 2021-10-11T01:21:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:44Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:44Z- variances([0], [2], and psi_berg) = 17.570639 35.974819 0.000000 2021-10-11T01:21:44Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:44Z- LcmTrn::publishEstimates() - MLE : 4061640.48 594299.60 35.25 2021-10-11T01:21:44Z- LcmTrn::publishEstimates() - MMSE : 4061645.62 594301.80 7.35 2021-10-11T01:21:44Z- LcmTrn::publishEstimates() - COVAR: 17.57 35.97 1.14 0.00 2021-10-11T01:21:44Z- AHRS_M2 msg: 1633915301.40 epoch sec; seqNo:1049 2021-10-11T01:21:44Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.75 psi 2021-10-11T01:21:44Z- handleDepth()-Depth_Keller msg: 1633915301401 epoch sec; seqNo:1082; depth 47.33 2021-10-11T01:21:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915301.43 epoch sec; seqNo:1082; 4061640.98 north; 594393.28 east 2021-10-11T01:21:45Z- AHRS_M2 msg: 1633915301.79 epoch sec; seqNo:1050 2021-10-11T01:21:45Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.75 psi 2021-10-11T01:21:45Z- handleDepth()-Depth_Keller msg: 1633915301798 epoch sec; seqNo:1083; depth 47.38 2021-10-11T01:21:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915301.81 epoch sec; seqNo:1083; 4061641.36 north; 594393.27 east 2021-10-11T01:21:45Z- AHRS_M2 msg: 1633915302.20 epoch sec; seqNo:1051 2021-10-11T01:21:45Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.76 psi 2021-10-11T01:21:45Z- handleDepth()-Depth_Keller msg: 1633915302208 epoch sec; seqNo:1084; depth 47.43 2021-10-11T01:21:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915302.22 epoch sec; seqNo:1084; 4061641.74 north; 594393.27 east 2021-10-11T01:21:45Z- AHRS_M2 msg: 1633915302.60 epoch sec; seqNo:1052 2021-10-11T01:21:45Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.76 psi 2021-10-11T01:21:45Z- handleDepth()-Depth_Keller msg: 1633915302611 epoch sec; seqNo:1085; depth 47.49 2021-10-11T01:21:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915302.62 epoch sec; seqNo:1085; 4061641.74 north; 594393.27 east 2021-10-11T01:21:46Z- AHRS_M2 msg: 1633915303.01 epoch sec; seqNo:1053 2021-10-11T01:21:46Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.76 psi 2021-10-11T01:21:46Z- handleDepth()-Depth_Keller msg: 1633915303012 epoch sec; seqNo:1086; depth 47.54 2021-10-11T01:21:46Z- handleDvl() - RDI_Pathfinder msg: 1633915303.05 epoch sec; seqNo:233 2021-10-11T01:21:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.89 , 39.88 , 30.84 , 40.39 2021-10-11T01:21:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.11 , 0.00 2021-10-11T01:21:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915303.07 epoch sec; seqNo:1086; 4061642.12 north; 594393.27 east 2021-10-11T01:21:46Z- AHRS_M2 msg: 1633915303.41 epoch sec; seqNo:1054 2021-10-11T01:21:46Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.76 psi 2021-10-11T01:21:46Z- handleDepth()-Depth_Keller msg: 1633915303416 epoch sec; seqNo:1087; depth 47.62 2021-10-11T01:21:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915303.44 epoch sec; seqNo:1087; 4061642.49 north; 594393.26 east 2021-10-11T01:21:47Z- AHRS_M2 msg: 1633915303.82 epoch sec; seqNo:1055 2021-10-11T01:21:47Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.76 psi 2021-10-11T01:21:47Z- handleDepth()-Depth_Keller msg: 1633915303821 epoch sec; seqNo:1088; depth 47.67 2021-10-11T01:21:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915303.83 epoch sec; seqNo:1088; 4061642.49 north; 594393.26 east 2021-10-11T01:21:47Z- AHRS_M2 msg: 1633915304.22 epoch sec; seqNo:1056 2021-10-11T01:21:47Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.77 psi 2021-10-11T01:21:47Z- handleDepth()-Depth_Keller msg: 1633915304224 epoch sec; seqNo:1089; depth 47.73 2021-10-11T01:21:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915304.25 epoch sec; seqNo:1089; 4061642.86 north; 594392.04 east 2021-10-11T01:21:47Z- AHRS_M2 msg: 1633915304.62 epoch sec; seqNo:1057 2021-10-11T01:21:47Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.77 psi 2021-10-11T01:21:47Z- handleDepth()-Depth_Keller msg: 1633915304625 epoch sec; seqNo:1090; depth 47.80 2021-10-11T01:21:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915304.64 epoch sec; seqNo:1090; 4061643.24 north; 594392.03 east 2021-10-11T01:21:48Z- AHRS_M2 msg: 1633915305.03 epoch sec; seqNo:1058 2021-10-11T01:21:48Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.77 psi 2021-10-11T01:21:48Z- handleDepth()-Depth_Keller msg: 1633915305040 epoch sec; seqNo:1091; depth 47.84 2021-10-11T01:21:48Z- handleDvl() - RDI_Pathfinder msg: 1633915305.06 epoch sec; seqNo:234 2021-10-11T01:21:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.70 , 39.53 , 30.67 , 39.88 2021-10-11T01:21:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , 0.02 2021-10-11T01:21:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915305.10 epoch sec; seqNo:1091; 4061643.62 north; 594392.03 east 2021-10-11T01:21:48Z- AHRS_M2 msg: 1633915305.43 epoch sec; seqNo:1059 2021-10-11T01:21:48Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.77 psi 2021-10-11T01:21:48Z- handleDepth()-Depth_Keller msg: 1633915305438 epoch sec; seqNo:1092; depth 47.92 2021-10-11T01:21:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915305.47 epoch sec; seqNo:1092; 4061643.62 north; 594392.03 east 2021-10-11T01:21:49Z- AHRS_M2 msg: 1633915305.83 epoch sec; seqNo:1060 2021-10-11T01:21:49Z- AHRS_M2 msg: -0.20 phi; -0.18 theta; 5.77 psi 2021-10-11T01:21:49Z- handleDepth()-Depth_Keller msg: 1633915305837 epoch sec; seqNo:1093; depth 47.95 2021-10-11T01:21:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915305.85 epoch sec; seqNo:1093; 4061644.00 north; 594392.03 east 2021-10-11T01:21:49Z- LcmTrn::handleMessages() - handling 38 messages took 0.69 ms and 124 calls... 2021-10-11T01:21:49Z- waiting for 1633915304.06, time is 1633915305.85 2021-10-11T01:21:49Z- LcmTrn::updateTrn() >>>> pose time 1633915305.85, meas time 1633915305.06 <<<< 2021-10-11T01:21:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915305.06 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:49Z- TerrainNav::motionUpdate() - currEstimate = (4061644, 594392.03, 47.95) 2021-10-11T01:21:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:49Z- TerrainNav:: SubcloudNIS is 0.55, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:49Z- TNavBF::Projecting Measurements 2021-10-11T01:21:49Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:49Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:49Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:49Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:49Z- TNavFilter::4 good beams. 2021-10-11T01:21:49Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:49Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:49Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:49Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:49Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:49Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:49Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:49Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:49Z- TerrainMapOctree: (vehN, vehE ) = (4061643.50, 594392.43). 2021-10-11T01:21:49Z- TerrainMapOctree: Min Distance = 177.84. 2021-10-11T01:21:49Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:49Z- Forcing Subcloud Comparison 2021-10-11T01:21:49Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:49Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:49Z- Filter 0 partialDeltaRmsComputation: 3.989003 terrainVariance: 0.266137 1-SumSquareWeights: 0.986768 2021-10-11T01:21:49Z- Filter 0 meanExpectedMeasDiff: 1.929473 delta_rms_squared: 0.256270 alpha: 0.927607 2021-10-11T01:21:49Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:49Z- Filter 0 partialDeltaRmsComputation: 0.802674 terrainVariance: 0.680596 1-SumSquareWeights: 0.986768 2021-10-11T01:21:49Z- Filter 0 meanExpectedMeasDiff: -0.349396 delta_rms_squared: 0.670729 alpha: 0.971045 2021-10-11T01:21:49Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:49Z- Filter 0 partialDeltaRmsComputation: 12.518567 terrainVariance: 0.151472 1-SumSquareWeights: 0.986768 2021-10-11T01:21:49Z- Filter 0 meanExpectedMeasDiff: -3.516688 delta_rms_squared: 0.141604 alpha: 0.876241 2021-10-11T01:21:49Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:49Z- Filter 0 partialDeltaRmsComputation: 1.467159 terrainVariance: 0.291754 1-SumSquareWeights: 0.986768 2021-10-11T01:21:49Z- Filter 0 meanExpectedMeasDiff: 1.084161 delta_rms_squared: 0.281886 alpha: 0.933750 2021-10-11T01:21:49Z- Filter 0 SubcloudNIS: 0.555024 2021-10-11T01:21:49Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:21:49Z- TNavBF:: Filter 0 sumWeights = 0.128040 2021-10-11T01:21:49Z- Filter 0 NorthBias: 5.7 EastBias: -92.4 DepthBias: -40.0 NorthVariance: 16.9 EastVariance: 5.1 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-11T01:21:49Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915305.06 sec. 2021-10-11T01:21:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:49Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:49Z- variances([0], [2], and psi_berg) = 16.898188 10.706747 0.000000 2021-10-11T01:21:49Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:49Z- LcmTrn::publishEstimates() - MLE : 4061652.48 594301.13 35.95 2021-10-11T01:21:49Z- LcmTrn::publishEstimates() - MMSE : 4061649.66 594299.66 7.98 2021-10-11T01:21:49Z- LcmTrn::publishEstimates() - COVAR: 16.90 10.71 0.83 0.00 2021-10-11T01:21:49Z- AHRS_M2 msg: 1633915306.24 epoch sec; seqNo:1061 2021-10-11T01:21:49Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.77 psi 2021-10-11T01:21:49Z- handleDepth()-Depth_Keller msg: 1633915306246 epoch sec; seqNo:1094; depth 48.01 2021-10-11T01:21:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915306.26 epoch sec; seqNo:1094; 4061644.38 north; 594392.02 east 2021-10-11T01:21:50Z- AHRS_M2 msg: 1633915306.64 epoch sec; seqNo:1062 2021-10-11T01:21:50Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.77 psi 2021-10-11T01:21:50Z- handleDepth()-Depth_Keller msg: 1633915306647 epoch sec; seqNo:1095; depth 48.09 2021-10-11T01:21:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915306.66 epoch sec; seqNo:1095; 4061644.36 north; 594390.80 east 2021-10-11T01:21:50Z- AHRS_M2 msg: 1633915307.07 epoch sec; seqNo:1063 2021-10-11T01:21:50Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.77 psi 2021-10-11T01:21:50Z- handleDepth()-Depth_Keller msg: 1633915307081 epoch sec; seqNo:1096; depth 48.15 2021-10-11T01:21:50Z- handleDvl() - RDI_Pathfinder msg: 1633915307.11 epoch sec; seqNo:235 2021-10-11T01:21:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.35 , 39.53 , 30.67 , 39.02 2021-10-11T01:21:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.10 , 0.05 2021-10-11T01:21:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915307.13 epoch sec; seqNo:1096; 4061644.74 north; 594390.80 east 2021-10-11T01:21:50Z- AHRS_M2 msg: 1633915307.45 epoch sec; seqNo:1064 2021-10-11T01:21:50Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.77 psi 2021-10-11T01:21:50Z- handleDepth()-Depth_Keller msg: 1633915307464 epoch sec; seqNo:1097; depth 48.22 2021-10-11T01:21:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915307.50 epoch sec; seqNo:1097; 4061645.12 north; 594390.79 east 2021-10-11T01:21:51Z- handleDepth()-Depth_Keller msg: 1633915307876 epoch sec; seqNo:1098; depth 48.27 2021-10-11T01:21:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915307.90 epoch sec; seqNo:1098; 4061645.50 north; 594390.79 east 2021-10-11T01:21:51Z- AHRS_M2 msg: 1633915308.26 epoch sec; seqNo:1065 2021-10-11T01:21:51Z- AHRS_M2 msg: -0.20 phi; -0.17 theta; 5.77 psi 2021-10-11T01:21:51Z- handleDepth()-Depth_Keller msg: 1633915308268 epoch sec; seqNo:1099; depth 48.34 2021-10-11T01:21:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915308.29 epoch sec; seqNo:1099; 4061645.50 north; 594390.79 east 2021-10-11T01:21:52Z- AHRS_M2 msg: 1633915308.66 epoch sec; seqNo:1066 2021-10-11T01:21:52Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.78 psi 2021-10-11T01:21:52Z- handleDepth()-Depth_Keller msg: 1633915308666 epoch sec; seqNo:1100; depth 48.40 2021-10-11T01:21:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915308.68 epoch sec; seqNo:1100; 4061645.88 north; 594390.78 east 2021-10-11T01:21:52Z- AHRS_M2 msg: 1633915309.08 epoch sec; seqNo:1067 2021-10-11T01:21:52Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.78 psi 2021-10-11T01:21:52Z- handleDepth()-Depth_Keller msg: 1633915309090 epoch sec; seqNo:1101; depth 48.45 2021-10-11T01:21:52Z- handleDvl() - RDI_Pathfinder msg: 1633915309.12 epoch sec; seqNo:236 2021-10-11T01:21:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.01 , 39.70 , 30.33 , 38.85 2021-10-11T01:21:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.08 , 0.05 2021-10-11T01:21:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915309.13 epoch sec; seqNo:1101; 4061646.24 north; 594389.56 east 2021-10-11T01:21:52Z- AHRS_M2 msg: 1633915309.47 epoch sec; seqNo:1068 2021-10-11T01:21:52Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.78 psi 2021-10-11T01:21:52Z- handleDepth()-Depth_Keller msg: 1633915309485 epoch sec; seqNo:1102; depth 48.51 2021-10-11T01:21:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915309.51 epoch sec; seqNo:1102; 4061646.62 north; 594389.56 east 2021-10-11T01:21:53Z- AHRS_M2 msg: 1633915309.88 epoch sec; seqNo:1069 2021-10-11T01:21:53Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.78 psi 2021-10-11T01:21:53Z- handleDepth()-Depth_Keller msg: 1633915309884 epoch sec; seqNo:1103; depth 48.55 2021-10-11T01:21:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915309.89 epoch sec; seqNo:1103; 4061646.62 north; 594389.56 east 2021-10-11T01:21:53Z- AHRS_M2 msg: 1633915310.28 epoch sec; seqNo:1070 2021-10-11T01:21:53Z- AHRS_M2 msg: -0.20 phi; -0.16 theta; 5.78 psi 2021-10-11T01:21:53Z- handleDepth()-Depth_Keller msg: 1633915310284 epoch sec; seqNo:1104; depth 48.62 2021-10-11T01:21:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915310.30 epoch sec; seqNo:1104; 4061647.00 north; 594389.55 east 2021-10-11T01:21:54Z- AHRS_M2 msg: 1633915310.68 epoch sec; seqNo:1071 2021-10-11T01:21:54Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.78 psi 2021-10-11T01:21:54Z- handleDepth()-Depth_Keller msg: 1633915310686 epoch sec; seqNo:1105; depth 48.68 2021-10-11T01:21:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915310.70 epoch sec; seqNo:1105; 4061647.38 north; 594389.55 east 2021-10-11T01:21:54Z- AHRS_M2 msg: 1633915311.09 epoch sec; seqNo:1072 2021-10-11T01:21:54Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.79 psi 2021-10-11T01:21:54Z- handleDepth()-Depth_Keller msg: 1633915311100 epoch sec; seqNo:1106; depth 48.72 2021-10-11T01:21:54Z- handleDvl() - RDI_Pathfinder msg: 1633915311.14 epoch sec; seqNo:237 2021-10-11T01:21:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.50 , 39.36 , 30.33 , 38.17 2021-10-11T01:21:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.06 , 0.03 2021-10-11T01:21:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915311.15 epoch sec; seqNo:1106; 4061647.76 north; 594389.54 east 2021-10-11T01:21:54Z- LcmTrn::handleMessages() - handling 41 messages took 0.68 ms and 127 calls... 2021-10-11T01:21:54Z- waiting for 1633915308.85, time is 1633915311.15 2021-10-11T01:21:54Z- LcmTrn::updateTrn() equating pose 1633915311.15 and meas times 1633915311.15 2021-10-11T01:21:54Z- LcmTrn::updateTrn() >>>> pose time 1633915311.15, meas time 1633915311.15 <<<< 2021-10-11T01:21:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915311.15 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:54Z- TerrainNav::motionUpdate() - currEstimate = (4061648, 594389.54, 48.72) 2021-10-11T01:21:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:54Z- TerrainNav:: SubcloudNIS is 0.56, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:54Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915311.15 sec.; No relevant navigation data available 2021-10-11T01:21:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:21:54Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:54Z- variances([0], [2], and psi_berg) = 16.941652 25.290517 0.000000 2021-10-11T01:21:54Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:21:54Z- LcmTrn::publishEstimates() - MLE : 4061656.24 594298.64 36.72 2021-10-11T01:21:54Z- LcmTrn::publishEstimates() - MMSE : 4061653.42 594297.34 8.76 2021-10-11T01:21:54Z- LcmTrn::publishEstimates() - COVAR: 16.94 25.29 1.12 0.00 2021-10-11T01:21:54Z- AHRS_M2 msg: 1633915311.49 epoch sec; seqNo:1073 2021-10-11T01:21:54Z- AHRS_M2 msg: -0.20 phi; -0.15 theta; 5.79 psi 2021-10-11T01:21:54Z- handleDepth()-Depth_Keller msg: 1633915311494 epoch sec; seqNo:1107; depth 48.79 2021-10-11T01:21:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915311.51 epoch sec; seqNo:1107; 4061647.76 north; 594389.54 east 2021-10-11T01:21:55Z- AHRS_M2 msg: 1633915311.89 epoch sec; seqNo:1074 2021-10-11T01:21:55Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.79 psi 2021-10-11T01:21:55Z- handleDepth()-Depth_Keller msg: 1633915311897 epoch sec; seqNo:1108; depth 48.82 2021-10-11T01:21:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915311.92 epoch sec; seqNo:1108; 4061648.12 north; 594388.32 east 2021-10-11T01:21:55Z- AHRS_M2 msg: 1633915312.30 epoch sec; seqNo:1075 2021-10-11T01:21:55Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.79 psi 2021-10-11T01:21:55Z- handleDepth()-Depth_Keller msg: 1633915312309 epoch sec; seqNo:1109; depth 48.87 2021-10-11T01:21:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915312.34 epoch sec; seqNo:1109; 4061648.50 north; 594388.31 east 2021-10-11T01:21:56Z- AHRS_M2 msg: 1633915312.71 epoch sec; seqNo:1076 2021-10-11T01:21:56Z- AHRS_M2 msg: -0.20 phi; -0.14 theta; 5.79 psi 2021-10-11T01:21:56Z- handleDepth()-Depth_Keller msg: 1633915312720 epoch sec; seqNo:1110; depth 48.92 2021-10-11T01:21:56Z- handleDvl() - RDI_Pathfinder msg: 1633915312.75 epoch sec; seqNo:238 2021-10-11T01:21:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.16 , 39.19 , 29.99 , 36.97 2021-10-11T01:21:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.08 , 0.01 2021-10-11T01:21:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915312.76 epoch sec; seqNo:1110; 4061648.88 north; 594388.31 east 2021-10-11T01:21:56Z- AHRS_M2 msg: 1633915313.11 epoch sec; seqNo:1077 2021-10-11T01:21:56Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.80 psi 2021-10-11T01:21:56Z- handleDepth()-Depth_Keller msg: 1633915313118 epoch sec; seqNo:1111; depth 48.98 2021-10-11T01:21:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915313.13 epoch sec; seqNo:1111; 4061648.88 north; 594388.31 east 2021-10-11T01:21:56Z- AHRS_M2 msg: 1633915313.51 epoch sec; seqNo:1078 2021-10-11T01:21:56Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.80 psi 2021-10-11T01:21:56Z- handleDepth()-Depth_Keller msg: 1633915313523 epoch sec; seqNo:1112; depth 49.02 2021-10-11T01:21:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915313.53 epoch sec; seqNo:1112; 4061649.26 north; 594388.31 east 2021-10-11T01:21:57Z- AHRS_M2 msg: 1633915313.91 epoch sec; seqNo:1079 2021-10-11T01:21:57Z- AHRS_M2 msg: -0.20 phi; -0.13 theta; 5.80 psi 2021-10-11T01:21:57Z- handleDepth()-Depth_Keller msg: 1633915313923 epoch sec; seqNo:1113; depth 49.06 2021-10-11T01:21:57Z- handleDvl() - RDI_Pathfinder msg: 1633915313.95 epoch sec; seqNo:239 2021-10-11T01:21:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.90 , 38.80 , 30.06 , 36.81 2021-10-11T01:21:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , 0.01 2021-10-11T01:21:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915313.97 epoch sec; seqNo:1113; 4061649.64 north; 594388.30 east 2021-10-11T01:21:57Z- AHRS_M2 msg: 1633915314.32 epoch sec; seqNo:1080 2021-10-11T01:21:57Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.80 psi 2021-10-11T01:21:57Z- handleDepth()-Depth_Keller msg: 1633915314328 epoch sec; seqNo:1114; depth 49.10 2021-10-11T01:21:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915314.35 epoch sec; seqNo:1114; 4061649.63 north; 594387.08 east 2021-10-11T01:21:58Z- AHRS_M2 msg: 1633915314.73 epoch sec; seqNo:1081 2021-10-11T01:21:58Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.81 psi 2021-10-11T01:21:58Z- handleDepth()-Depth_Keller msg: 1633915314740 epoch sec; seqNo:1115; depth 49.14 2021-10-11T01:21:58Z- handleDvl() - RDI_Pathfinder msg: 1633915314.77 epoch sec; seqNo:240 2021-10-11T01:21:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.75 , 39.10 , 30.06 , 36.65 2021-10-11T01:21:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.08 , -0.00 2021-10-11T01:21:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915314.80 epoch sec; seqNo:1115; 4061650.00 north; 594387.08 east 2021-10-11T01:21:58Z- AHRS_M2 msg: 1633915315.12 epoch sec; seqNo:1082 2021-10-11T01:21:58Z- AHRS_M2 msg: -0.20 phi; -0.12 theta; 5.81 psi 2021-10-11T01:21:58Z- handleDepth()-Depth_Keller msg: 1633915315130 epoch sec; seqNo:1116; depth 49.20 2021-10-11T01:21:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915315.16 epoch sec; seqNo:1116; 4061650.38 north; 594387.07 east 2021-10-11T01:21:58Z- handleDepth()-Depth_Keller msg: 1633915315559 epoch sec; seqNo:1117; depth 49.22 2021-10-11T01:21:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915315.57 epoch sec; seqNo:1117; 4061650.76 north; 594387.07 east 2021-10-11T01:21:59Z- AHRS_M2 msg: 1633915315.93 epoch sec; seqNo:1083 2021-10-11T01:21:59Z- AHRS_M2 msg: -0.20 phi; -0.11 theta; 5.81 psi 2021-10-11T01:21:59Z- handleDepth()-Depth_Keller msg: 1633915315941 epoch sec; seqNo:1118; depth 49.26 2021-10-11T01:21:59Z- handleDvl() - RDI_Pathfinder msg: 1633915315.96 epoch sec; seqNo:241 2021-10-11T01:21:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.44 , 39.26 , 29.90 , 35.88 2021-10-11T01:21:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.09 , 0.00 2021-10-11T01:21:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915315.99 epoch sec; seqNo:1118; 4061651.14 north; 594387.06 east 2021-10-11T01:21:59Z- AHRS_M2 msg: 1633915316.34 epoch sec; seqNo:1084 2021-10-11T01:21:59Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 5.81 psi 2021-10-11T01:21:59Z- handleDepth()-Depth_Keller msg: 1633915316347 epoch sec; seqNo:1119; depth 49.30 2021-10-11T01:21:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915316.37 epoch sec; seqNo:1119; 4061651.14 north; 594387.06 east 2021-10-11T01:21:59Z- LcmTrn::handleMessages() - handling 42 messages took 0.85 ms and 124 calls... 2021-10-11T01:21:59Z- waiting for 1633915314.15, time is 1633915316.37 2021-10-11T01:21:59Z- LcmTrn::updateTrn() >>>> pose time 1633915316.37, meas time 1633915315.96 <<<< 2021-10-11T01:21:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915315.96 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:21:59Z- TerrainNav::motionUpdate() - currEstimate = (4061651, 594387.06, 49.30) 2021-10-11T01:21:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:21:59Z- TerrainNav:: SubcloudNIS is 0.56, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:21:59Z- TNavBF::Projecting Measurements 2021-10-11T01:21:59Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:21:59Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:21:59Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:21:59Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:21:59Z- TNavFilter::4 good beams. 2021-10-11T01:21:59Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:21:59Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:21:59Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:21:59Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:21:59Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:21:59Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:21:59Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:21:59Z- TNavBF::mmse selected from filter -1 2021-10-11T01:21:59Z- TerrainMapOctree: (vehN, vehE ) = (4061650.88, 594387.26). 2021-10-11T01:21:59Z- TerrainMapOctree: Min Distance = 169.31. 2021-10-11T01:21:59Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:21:59Z- Forcing Subcloud Comparison 2021-10-11T01:21:59Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:21:59Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:59Z- Filter 0 partialDeltaRmsComputation: 0.295350 terrainVariance: 0.238061 1-SumSquareWeights: 0.988520 2021-10-11T01:21:59Z- Filter 0 meanExpectedMeasDiff: -0.239352 delta_rms_squared: 0.228175 alpha: 0.919412 2021-10-11T01:21:59Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:21:59Z- Filter 0 partialDeltaRmsComputation: 6.681139 terrainVariance: 0.654838 1-SumSquareWeights: 0.988520 2021-10-11T01:21:59Z- Filter 0 meanExpectedMeasDiff: 2.454852 delta_rms_squared: 0.644953 alpha: 0.969923 2021-10-11T01:22:00Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:00Z- Filter 0 partialDeltaRmsComputation: 14.424911 terrainVariance: 0.198554 1-SumSquareWeights: 0.988520 2021-10-11T01:22:00Z- Filter 0 meanExpectedMeasDiff: -3.771784 delta_rms_squared: 0.188669 alpha: 0.904154 2021-10-11T01:22:00Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:00Z- Filter 0 partialDeltaRmsComputation: 2.353970 terrainVariance: 0.202988 1-SumSquareWeights: 0.988520 2021-10-11T01:22:00Z- Filter 0 meanExpectedMeasDiff: 1.466623 delta_rms_squared: 0.193102 alpha: 0.906148 2021-10-11T01:22:00Z- Filter 0 SubcloudNIS: 0.511563 2021-10-11T01:22:00Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:00Z- TNavBF:: Filter 0 sumWeights = 0.076796 2021-10-11T01:22:00Z- Filter 0 NorthBias: 4.3 EastBias: -93.3 DepthBias: -40.5 NorthVariance: 17.6 EastVariance: 4.7 DepthVariance: 0.8 this->DepthBiasCov: 0.4 2021-10-11T01:22:00Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915315.96 sec. 2021-10-11T01:22:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:00Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:00Z- variances([0], [2], and psi_berg) = 17.600014 10.964554 0.000000 2021-10-11T01:22:00Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:00Z- LcmTrn::publishEstimates() - MLE : 4061650.63 594292.17 37.30 2021-10-11T01:22:00Z- LcmTrn::publishEstimates() - MMSE : 4061655.41 594293.83 8.79 2021-10-11T01:22:00Z- LcmTrn::publishEstimates() - COVAR: 17.60 10.96 0.84 0.00 2021-10-11T01:22:00Z- AHRS_M2 msg: 1633915316.76 epoch sec; seqNo:1085 2021-10-11T01:22:00Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 5.82 psi 2021-10-11T01:22:00Z- handleDepth()-Depth_Keller msg: 1633915316766 epoch sec; seqNo:1120; depth 49.34 2021-10-11T01:22:00Z- handleDvl() - RDI_Pathfinder msg: 1633915316.79 epoch sec; seqNo:242 2021-10-11T01:22:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.29 , 38.34 , 30.06 , 35.73 2021-10-11T01:22:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.12 , 0.01 2021-10-11T01:22:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915316.82 epoch sec; seqNo:1120; 4061651.52 north; 594387.06 east 2021-10-11T01:22:00Z- AHRS_M2 msg: 1633915317.15 epoch sec; seqNo:1086 2021-10-11T01:22:00Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 5.82 psi 2021-10-11T01:22:00Z- handleDepth()-Depth_Keller msg: 1633915317152 epoch sec; seqNo:1121; depth 49.37 2021-10-11T01:22:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915317.18 epoch sec; seqNo:1121; 4061651.89 north; 594385.84 east 2021-10-11T01:22:00Z- AHRS_M2 msg: 1633915317.55 epoch sec; seqNo:1087 2021-10-11T01:22:00Z- AHRS_M2 msg: -0.20 phi; -0.10 theta; 5.82 psi 2021-10-11T01:22:00Z- handleDepth()-Depth_Keller msg: 1633915317554 epoch sec; seqNo:1122; depth 49.39 2021-10-11T01:22:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915317.57 epoch sec; seqNo:1122; 4061652.26 north; 594385.83 east 2021-10-11T01:22:01Z- AHRS_M2 msg: 1633915317.96 epoch sec; seqNo:1088 2021-10-11T01:22:01Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 5.82 psi 2021-10-11T01:22:01Z- handleDepth()-Depth_Keller msg: 1633915317967 epoch sec; seqNo:1123; depth 49.44 2021-10-11T01:22:01Z- handleDvl() - RDI_Pathfinder msg: 1633915318.00 epoch sec; seqNo:243 2021-10-11T01:22:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.98 , 38.19 , 30.06 , 35.12 2021-10-11T01:22:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.12 , 0.02 2021-10-11T01:22:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915318.01 epoch sec; seqNo:1123; 4061652.26 north; 594385.83 east 2021-10-11T01:22:01Z- AHRS_M2 msg: 1633915318.36 epoch sec; seqNo:1089 2021-10-11T01:22:01Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 5.82 psi 2021-10-11T01:22:01Z- handleDepth()-Depth_Keller msg: 1633915318372 epoch sec; seqNo:1124; depth 49.48 2021-10-11T01:22:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915318.39 epoch sec; seqNo:1124; 4061652.64 north; 594385.83 east 2021-10-11T01:22:02Z- AHRS_M2 msg: 1633915318.79 epoch sec; seqNo:1090 2021-10-11T01:22:02Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 5.82 psi 2021-10-11T01:22:02Z- handleDepth()-Depth_Keller msg: 1633915318793 epoch sec; seqNo:1125; depth 49.50 2021-10-11T01:22:02Z- handleDvl() - RDI_Pathfinder msg: 1633915318.81 epoch sec; seqNo:244 2021-10-11T01:22:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.83 , 38.19 , 29.90 , 34.96 2021-10-11T01:22:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , 0.03 2021-10-11T01:22:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915318.85 epoch sec; seqNo:1125; 4061653.02 north; 594385.82 east 2021-10-11T01:22:02Z- AHRS_M2 msg: 1633915319.16 epoch sec; seqNo:1091 2021-10-11T01:22:02Z- AHRS_M2 msg: -0.20 phi; -0.09 theta; 5.82 psi 2021-10-11T01:22:02Z- handleDepth()-Depth_Keller msg: 1633915319170 epoch sec; seqNo:1126; depth 49.54 2021-10-11T01:22:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915319.19 epoch sec; seqNo:1126; 4061653.02 north; 594385.82 east 2021-10-11T01:22:02Z- AHRS_M2 msg: 1633915319.57 epoch sec; seqNo:1092 2021-10-11T01:22:02Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 5.82 psi 2021-10-11T01:22:02Z- handleDepth()-Depth_Keller msg: 1633915319577 epoch sec; seqNo:1127; depth 49.58 2021-10-11T01:22:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915319.59 epoch sec; seqNo:1127; 4061653.39 north; 594384.60 east 2021-10-11T01:22:03Z- AHRS_M2 msg: 1633915319.97 epoch sec; seqNo:1093 2021-10-11T01:22:03Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 5.83 psi 2021-10-11T01:22:03Z- handleDepth()-Depth_Keller msg: 1633915319988 epoch sec; seqNo:1128; depth 49.61 2021-10-11T01:22:03Z- handleDvl() - RDI_Pathfinder msg: 1633915320.01 epoch sec; seqNo:245 2021-10-11T01:22:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.67 , 38.18 , 29.75 , 34.50 2021-10-11T01:22:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.11 , 0.04 2021-10-11T01:22:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915320.02 epoch sec; seqNo:1128; 4061653.77 north; 594384.59 east 2021-10-11T01:22:03Z- AHRS_M2 msg: 1633915320.38 epoch sec; seqNo:1094 2021-10-11T01:22:03Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 5.83 psi 2021-10-11T01:22:03Z- handleDepth()-Depth_Keller msg: 1633915320381 epoch sec; seqNo:1129; depth 49.64 2021-10-11T01:22:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915320.41 epoch sec; seqNo:1129; 4061654.14 north; 594384.59 east 2021-10-11T01:22:04Z- AHRS_M2 msg: 1633915320.82 epoch sec; seqNo:1095 2021-10-11T01:22:04Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 5.83 psi 2021-10-11T01:22:04Z- handleDepth()-Depth_Keller msg: 1633915320822 epoch sec; seqNo:1130; depth 49.65 2021-10-11T01:22:04Z- handleDvl() - RDI_Pathfinder msg: 1633915320.85 epoch sec; seqNo:246 2021-10-11T01:22:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.67 , 38.49 , 29.90 , 34.50 2021-10-11T01:22:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.03 2021-10-11T01:22:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915320.86 epoch sec; seqNo:1130; 4061654.52 north; 594384.59 east 2021-10-11T01:22:04Z- AHRS_M2 msg: 1633915321.19 epoch sec; seqNo:1096 2021-10-11T01:22:04Z- AHRS_M2 msg: -0.20 phi; -0.08 theta; 5.83 psi 2021-10-11T01:22:04Z- handleDepth()-Depth_Keller msg: 1633915321193 epoch sec; seqNo:1131; depth 49.69 2021-10-11T01:22:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915321.21 epoch sec; seqNo:1131; 4061654.52 north; 594384.59 east 2021-10-11T01:22:04Z- AHRS_M2 msg: 1633915321.59 epoch sec; seqNo:1097 2021-10-11T01:22:04Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.83 psi 2021-10-11T01:22:04Z- handleDepth()-Depth_Keller msg: 1633915321608 epoch sec; seqNo:1132; depth 49.72 2021-10-11T01:22:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915321.62 epoch sec; seqNo:1132; 4061654.90 north; 594384.58 east 2021-10-11T01:22:05Z- LcmTrn::handleMessages() - handling 44 messages took 0.82 ms and 127 calls... 2021-10-11T01:22:05Z- waiting for 1633915319.37, time is 1633915321.62 2021-10-11T01:22:05Z- LcmTrn::updateTrn() >>>> pose time 1633915321.62, meas time 1633915320.85 <<<< 2021-10-11T01:22:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915320.85 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:05Z- TerrainNav::motionUpdate() - currEstimate = (4061655, 594384.58, 49.72) 2021-10-11T01:22:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:05Z- TerrainNav:: SubcloudNIS is 0.51, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:05Z- TNavBF::Projecting Measurements 2021-10-11T01:22:05Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:05Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:05Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:05Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:05Z- TNavFilter::4 good beams. 2021-10-11T01:22:05Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:05Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:05Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:05Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:05Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:05Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:05Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:05Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:05Z- TerrainMapOctree: (vehN, vehE ) = (4061654.35, 594384.95). 2021-10-11T01:22:05Z- TerrainMapOctree: Min Distance = 165.41. 2021-10-11T01:22:05Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:05Z- Forcing Subcloud Comparison 2021-10-11T01:22:05Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:05Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:05Z- Filter 0 partialDeltaRmsComputation: 0.694458 terrainVariance: 0.200793 1-SumSquareWeights: 0.984625 2021-10-11T01:22:05Z- Filter 0 meanExpectedMeasDiff: -0.702613 delta_rms_squared: 0.190947 alpha: 0.905189 2021-10-11T01:22:05Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:05Z- Filter 0 partialDeltaRmsComputation: 6.061646 terrainVariance: 0.373983 1-SumSquareWeights: 0.984625 2021-10-11T01:22:05Z- Filter 0 meanExpectedMeasDiff: 2.384882 delta_rms_squared: 0.364136 alpha: 0.947935 2021-10-11T01:22:05Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:05Z- Filter 0 partialDeltaRmsComputation: 13.674474 terrainVariance: 0.183878 1-SumSquareWeights: 0.984625 2021-10-11T01:22:05Z- Filter 0 meanExpectedMeasDiff: -3.672955 delta_rms_squared: 0.174032 alpha: 0.896924 2021-10-11T01:22:05Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:05Z- Filter 0 partialDeltaRmsComputation: 2.916965 terrainVariance: 0.177162 1-SumSquareWeights: 0.984625 2021-10-11T01:22:05Z- Filter 0 meanExpectedMeasDiff: 1.655235 delta_rms_squared: 0.167316 alpha: 0.893229 2021-10-11T01:22:05Z- Filter 0 SubcloudNIS: 0.556925 2021-10-11T01:22:05Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:05Z- TNavBF:: Filter 0 sumWeights = 0.071628 2021-10-11T01:22:05Z- Filter 0 NorthBias: 4.1 EastBias: -93.7 DepthBias: -40.8 NorthVariance: 16.7 EastVariance: 3.0 DepthVariance: 0.6 this->DepthBiasCov: 0.4 2021-10-11T01:22:05Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915320.85 sec. 2021-10-11T01:22:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:05Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:05Z- variances([0], [2], and psi_berg) = 16.707401 12.474038 0.000000 2021-10-11T01:22:05Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:05Z- LcmTrn::publishEstimates() - MLE : 4061659.39 594290.68 37.72 2021-10-11T01:22:05Z- LcmTrn::publishEstimates() - MMSE : 4061658.96 594290.95 8.89 2021-10-11T01:22:05Z- LcmTrn::publishEstimates() - COVAR: 16.71 12.47 0.74 0.00 2021-10-11T01:22:05Z- AHRS_M2 msg: 1633915321.99 epoch sec; seqNo:1098 2021-10-11T01:22:05Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.84 psi 2021-10-11T01:22:05Z- handleDepth()-Depth_Keller msg: 1633915321998 epoch sec; seqNo:1133; depth 49.75 2021-10-11T01:22:05Z- handleDvl() - RDI_Pathfinder msg: 1633915322.03 epoch sec; seqNo:247 2021-10-11T01:22:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.37 , 38.03 , 29.90 , 34.19 2021-10-11T01:22:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.02 2021-10-11T01:22:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915322.04 epoch sec; seqNo:1133; 4061655.28 north; 594384.58 east 2021-10-11T01:22:05Z- AHRS_M2 msg: 1633915322.40 epoch sec; seqNo:1099 2021-10-11T01:22:05Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.84 psi 2021-10-11T01:22:05Z- handleDepth()-Depth_Keller msg: 1633915322404 epoch sec; seqNo:1134; depth 49.78 2021-10-11T01:22:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915322.42 epoch sec; seqNo:1134; 4061655.27 north; 594383.36 east 2021-10-11T01:22:06Z- AHRS_M2 msg: 1633915322.83 epoch sec; seqNo:1100 2021-10-11T01:22:06Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.84 psi 2021-10-11T01:22:06Z- handleDepth()-Depth_Keller msg: 1633915322846 epoch sec; seqNo:1135; depth 49.80 2021-10-11T01:22:06Z- handleDvl() - RDI_Pathfinder msg: 1633915322.87 epoch sec; seqNo:248 2021-10-11T01:22:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.37 , 37.57 , 29.90 , 34.04 2021-10-11T01:22:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.09 , 0.02 2021-10-11T01:22:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915322.89 epoch sec; seqNo:1135; 4061655.65 north; 594383.35 east 2021-10-11T01:22:06Z- AHRS_M2 msg: 1633915323.20 epoch sec; seqNo:1101 2021-10-11T01:22:06Z- AHRS_M2 msg: -0.20 phi; -0.07 theta; 5.84 psi 2021-10-11T01:22:06Z- handleDepth()-Depth_Keller msg: 1633915323216 epoch sec; seqNo:1136; depth 49.83 2021-10-11T01:22:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915323.24 epoch sec; seqNo:1136; 4061656.03 north; 594383.35 east 2021-10-11T01:22:06Z- AHRS_M2 msg: 1633915323.61 epoch sec; seqNo:1102 2021-10-11T01:22:06Z- AHRS_M2 msg: -0.19 phi; -0.07 theta; 5.85 psi 2021-10-11T01:22:06Z- handleDepth()-Depth_Keller msg: 1633915323619 epoch sec; seqNo:1137; depth 49.85 2021-10-11T01:22:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915323.63 epoch sec; seqNo:1137; 4061656.40 north; 594383.35 east 2021-10-11T01:22:07Z- AHRS_M2 msg: 1633915324.02 epoch sec; seqNo:1103 2021-10-11T01:22:07Z- AHRS_M2 msg: -0.19 phi; -0.06 theta; 5.85 psi 2021-10-11T01:22:07Z- handleDepth()-Depth_Keller msg: 1633915324020 epoch sec; seqNo:1138; depth 49.88 2021-10-11T01:22:07Z- handleDvl() - RDI_Pathfinder msg: 1633915324.04 epoch sec; seqNo:249 2021-10-11T01:22:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 37.57 , 29.75 , 34.19 2021-10-11T01:22:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , 0.01 2021-10-11T01:22:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915324.08 epoch sec; seqNo:1138; 4061656.78 north; 594383.34 east 2021-10-11T01:22:07Z- AHRS_M2 msg: 1633915324.42 epoch sec; seqNo:1104 2021-10-11T01:22:07Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.85 psi 2021-10-11T01:22:07Z- handleDepth()-Depth_Keller msg: 1633915324428 epoch sec; seqNo:1139; depth 49.91 2021-10-11T01:22:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915324.44 epoch sec; seqNo:1139; 4061656.78 north; 594383.34 east 2021-10-11T01:22:08Z- AHRS_M2 msg: 1633915324.85 epoch sec; seqNo:1105 2021-10-11T01:22:08Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.85 psi 2021-10-11T01:22:08Z- handleDepth()-Depth_Keller msg: 1633915324873 epoch sec; seqNo:1140; depth 49.93 2021-10-11T01:22:08Z- handleDvl() - RDI_Pathfinder msg: 1633915324.90 epoch sec; seqNo:250 2021-10-11T01:22:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 37.26 , 29.90 , 33.73 2021-10-11T01:22:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.11 , 0.02 2021-10-11T01:22:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915324.92 epoch sec; seqNo:1140; 4061657.16 north; 594383.34 east 2021-10-11T01:22:08Z- AHRS_M2 msg: 1633915325.22 epoch sec; seqNo:1106 2021-10-11T01:22:08Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.85 psi 2021-10-11T01:22:08Z- handleDepth()-Depth_Keller msg: 1633915325230 epoch sec; seqNo:1141; depth 49.95 2021-10-11T01:22:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915325.26 epoch sec; seqNo:1141; 4061657.53 north; 594382.11 east 2021-10-11T01:22:08Z- AHRS_M2 msg: 1633915325.63 epoch sec; seqNo:1107 2021-10-11T01:22:09Z- AHRS_M2 msg: -0.20 phi; -0.06 theta; 5.85 psi 2021-10-11T01:22:09Z- handleDepth()-Depth_Keller msg: 1633915325637 epoch sec; seqNo:1142; depth 49.97 2021-10-11T01:22:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915325.65 epoch sec; seqNo:1142; 4061657.91 north; 594382.11 east 2021-10-11T01:22:09Z- AHRS_M2 msg: 1633915326.04 epoch sec; seqNo:1108 2021-10-11T01:22:09Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 5.85 psi 2021-10-11T01:22:09Z- handleDepth()-Depth_Keller msg: 1633915326048 epoch sec; seqNo:1143; depth 49.99 2021-10-11T01:22:09Z- handleDvl() - RDI_Pathfinder msg: 1633915326.09 epoch sec; seqNo:251 2021-10-11T01:22:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 37.41 , 29.90 , 33.43 2021-10-11T01:22:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.09 , 0.02 2021-10-11T01:22:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915326.10 epoch sec; seqNo:1143; 4061657.91 north; 594382.11 east 2021-10-11T01:22:09Z- AHRS_M2 msg: 1633915326.44 epoch sec; seqNo:1109 2021-10-11T01:22:09Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 5.86 psi 2021-10-11T01:22:09Z- handleDepth()-Depth_Keller msg: 1633915326448 epoch sec; seqNo:1144; depth 50.02 2021-10-11T01:22:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915326.46 epoch sec; seqNo:1144; 4061658.29 north; 594382.10 east 2021-10-11T01:22:10Z- AHRS_M2 msg: 1633915326.87 epoch sec; seqNo:1110 2021-10-11T01:22:10Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 5.86 psi 2021-10-11T01:22:10Z- LcmTrn::handleMessages() - handling 42 messages took 0.87 ms and 124 calls... 2021-10-11T01:22:10Z- waiting for 1633915324.62, time is 1633915326.87 2021-10-11T01:22:10Z- LcmTrn::updateTrn() >>>> pose time 1633915326.87, meas time 1633915326.09 <<<< 2021-10-11T01:22:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915326.09 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:10Z- TerrainNav::motionUpdate() - currEstimate = (4061658, 594382.10, 50.02) 2021-10-11T01:22:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:10Z- TerrainNav:: SubcloudNIS is 0.56, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:10Z- TNavBF::Projecting Measurements 2021-10-11T01:22:10Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:10Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:10Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:10Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:10Z- TNavFilter::4 good beams. 2021-10-11T01:22:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:10Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:10Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:10Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:10Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:10Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:10Z- TerrainMapOctree: (vehN, vehE ) = (4061657.78, 594382.47). 2021-10-11T01:22:10Z- TerrainMapOctree: Min Distance = 161.41. 2021-10-11T01:22:10Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:10Z- Forcing Subcloud Comparison 2021-10-11T01:22:10Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:10Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:10Z- Filter 0 partialDeltaRmsComputation: 1.617508 terrainVariance: 0.191075 1-SumSquareWeights: 0.980983 2021-10-11T01:22:10Z- Filter 0 meanExpectedMeasDiff: -1.194333 delta_rms_squared: 0.181266 alpha: 0.900629 2021-10-11T01:22:10Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:10Z- Filter 0 partialDeltaRmsComputation: 4.392822 terrainVariance: 0.240577 1-SumSquareWeights: 0.980983 2021-10-11T01:22:10Z- Filter 0 meanExpectedMeasDiff: 2.037706 delta_rms_squared: 0.230768 alpha: 0.920245 2021-10-11T01:22:10Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:10Z- Filter 0 partialDeltaRmsComputation: 11.978407 terrainVariance: 0.195977 1-SumSquareWeights: 0.980983 2021-10-11T01:22:10Z- Filter 0 meanExpectedMeasDiff: -3.432555 delta_rms_squared: 0.186167 alpha: 0.902991 2021-10-11T01:22:10Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:10Z- Filter 0 partialDeltaRmsComputation: 3.374674 terrainVariance: 0.120309 1-SumSquareWeights: 0.980983 2021-10-11T01:22:10Z- Filter 0 meanExpectedMeasDiff: 1.803986 delta_rms_squared: 0.110499 alpha: 0.846742 2021-10-11T01:22:10Z- Filter 0 SubcloudNIS: 0.560623 2021-10-11T01:22:10Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:10Z- TNavBF:: Filter 0 sumWeights = 0.080379 2021-10-11T01:22:10Z- Filter 0 NorthBias: 4.3 EastBias: -93.8 DepthBias: -41.1 NorthVariance: 16.0 EastVariance: 2.6 DepthVariance: 0.6 this->DepthBiasCov: 0.3 2021-10-11T01:22:10Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915326.09 sec. 2021-10-11T01:22:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:10Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:10Z- variances([0], [2], and psi_berg) = 15.979267 10.927494 0.000000 2021-10-11T01:22:10Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:10Z- LcmTrn::publishEstimates() - MLE : 4061660.77 594288.20 38.02 2021-10-11T01:22:10Z- LcmTrn::publishEstimates() - MMSE : 4061662.59 594288.41 8.93 2021-10-11T01:22:10Z- LcmTrn::publishEstimates() - COVAR: 15.98 10.93 0.68 0.00 2021-10-11T01:22:10Z- handleDepth()-Depth_Keller msg: 1633915326892 epoch sec; seqNo:1145; depth 50.03 2021-10-11T01:22:10Z- handleDvl() - RDI_Pathfinder msg: 1633915326.93 epoch sec; seqNo:252 2021-10-11T01:22:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 36.03 , 29.75 , 33.12 2021-10-11T01:22:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , 0.04 2021-10-11T01:22:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915326.94 epoch sec; seqNo:1145; 4061658.66 north; 594382.10 east 2021-10-11T01:22:10Z- AHRS_M2 msg: 1633915327.24 epoch sec; seqNo:1111 2021-10-11T01:22:10Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 5.86 psi 2021-10-11T01:22:10Z- handleDepth()-Depth_Keller msg: 1633915327250 epoch sec; seqNo:1146; depth 50.05 2021-10-11T01:22:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915327.28 epoch sec; seqNo:1146; 4061659.04 north; 594382.10 east 2021-10-11T01:22:11Z- AHRS_M2 msg: 1633915327.67 epoch sec; seqNo:1112 2021-10-11T01:22:11Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 5.86 psi 2021-10-11T01:22:11Z- handleDepth()-Depth_Keller msg: 1633915327678 epoch sec; seqNo:1147; depth 50.07 2021-10-11T01:22:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915327.70 epoch sec; seqNo:1147; 4061659.42 north; 594382.09 east 2021-10-11T01:22:11Z- AHRS_M2 msg: 1633915328.05 epoch sec; seqNo:1113 2021-10-11T01:22:11Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 5.86 psi 2021-10-11T01:22:11Z- handleDepth()-Depth_Keller msg: 1633915328075 epoch sec; seqNo:1148; depth 50.08 2021-10-11T01:22:11Z- handleDvl() - RDI_Pathfinder msg: 1633915328.11 epoch sec; seqNo:253 2021-10-11T01:22:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 35.88 , 29.90 , 32.97 2021-10-11T01:22:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.07 , 0.03 2021-10-11T01:22:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915328.14 epoch sec; seqNo:1148; 4061659.41 north; 594380.87 east 2021-10-11T01:22:11Z- AHRS_M2 msg: 1633915328.46 epoch sec; seqNo:1114 2021-10-11T01:22:11Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 5.87 psi 2021-10-11T01:22:11Z- handleDepth()-Depth_Keller msg: 1633915328468 epoch sec; seqNo:1149; depth 50.11 2021-10-11T01:22:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915328.49 epoch sec; seqNo:1149; 4061659.79 north; 594380.87 east 2021-10-11T01:22:12Z- AHRS_M2 msg: 1633915328.88 epoch sec; seqNo:1115 2021-10-11T01:22:12Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 5.87 psi 2021-10-11T01:22:12Z- handleDepth()-Depth_Keller msg: 1633915328920 epoch sec; seqNo:1150; depth 50.13 2021-10-11T01:22:12Z- handleDvl() - RDI_Pathfinder msg: 1633915328.95 epoch sec; seqNo:254 2021-10-11T01:22:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.91 , 35.57 , 29.75 , 32.66 2021-10-11T01:22:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.06 , 0.03 2021-10-11T01:22:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915328.97 epoch sec; seqNo:1150; 4061660.17 north; 594380.86 east 2021-10-11T01:22:12Z- AHRS_M2 msg: 1633915329.27 epoch sec; seqNo:1116 2021-10-11T01:22:12Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 5.87 psi 2021-10-11T01:22:12Z- handleDepth()-Depth_Keller msg: 1633915329273 epoch sec; seqNo:1151; depth 50.15 2021-10-11T01:22:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915329.31 epoch sec; seqNo:1151; 4061660.54 north; 594380.86 east 2021-10-11T01:22:13Z- AHRS_M2 msg: 1633915329.67 epoch sec; seqNo:1117 2021-10-11T01:22:13Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 5.87 psi 2021-10-11T01:22:13Z- handleDepth()-Depth_Keller msg: 1633915329673 epoch sec; seqNo:1152; depth 50.15 2021-10-11T01:22:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915329.68 epoch sec; seqNo:1152; 4061660.54 north; 594380.86 east 2021-10-11T01:22:13Z- AHRS_M2 msg: 1633915330.08 epoch sec; seqNo:1118 2021-10-11T01:22:13Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 5.88 psi 2021-10-11T01:22:13Z- handleDepth()-Depth_Keller msg: 1633915330082 epoch sec; seqNo:1153; depth 50.16 2021-10-11T01:22:13Z- handleDvl() - RDI_Pathfinder msg: 1633915330.12 epoch sec; seqNo:255 2021-10-11T01:22:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 36.34 , 29.90 , 32.81 2021-10-11T01:22:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.05 , 0.01 2021-10-11T01:22:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915330.13 epoch sec; seqNo:1153; 4061660.92 north; 594380.85 east 2021-10-11T01:22:13Z- AHRS_M2 msg: 1633915330.48 epoch sec; seqNo:1119 2021-10-11T01:22:13Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 5.88 psi 2021-10-11T01:22:13Z- handleDepth()-Depth_Keller msg: 1633915330488 epoch sec; seqNo:1154; depth 50.18 2021-10-11T01:22:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915330.51 epoch sec; seqNo:1154; 4061661.30 north; 594380.85 east 2021-10-11T01:22:14Z- AHRS_M2 msg: 1633915330.89 epoch sec; seqNo:1120 2021-10-11T01:22:14Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 5.88 psi 2021-10-11T01:22:14Z- handleDepth()-Depth_Keller msg: 1633915330917 epoch sec; seqNo:1155; depth 50.21 2021-10-11T01:22:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915330.96 epoch sec; seqNo:1155; 4061661.68 north; 594380.85 east 2021-10-11T01:22:14Z- AHRS_M2 msg: 1633915331.29 epoch sec; seqNo:1121 2021-10-11T01:22:14Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.88 psi 2021-10-11T01:22:14Z- handleDepth()-Depth_Keller msg: 1633915331289 epoch sec; seqNo:1156; depth 50.22 2021-10-11T01:22:14Z- handleDvl() - RDI_Pathfinder msg: 1633915331.32 epoch sec; seqNo:256 2021-10-11T01:22:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 36.34 , 29.90 , 32.66 2021-10-11T01:22:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.05 , 0.01 2021-10-11T01:22:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915331.34 epoch sec; seqNo:1156; 4061662.05 north; 594379.62 east 2021-10-11T01:22:15Z- AHRS_M2 msg: 1633915331.69 epoch sec; seqNo:1122 2021-10-11T01:22:15Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.88 psi 2021-10-11T01:22:15Z- handleDepth()-Depth_Keller msg: 1633915331698 epoch sec; seqNo:1157; depth 50.23 2021-10-11T01:22:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915331.71 epoch sec; seqNo:1157; 4061662.05 north; 594379.62 east 2021-10-11T01:22:15Z- AHRS_M2 msg: 1633915332.10 epoch sec; seqNo:1123 2021-10-11T01:22:15Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.88 psi 2021-10-11T01:22:15Z- LcmTrn::handleMessages() - handling 44 messages took 0.93 ms and 125 calls... 2021-10-11T01:22:15Z- waiting for 1633915329.87, time is 1633915332.10 2021-10-11T01:22:15Z- LcmTrn::updateTrn() >>>> pose time 1633915332.10, meas time 1633915331.32 <<<< 2021-10-11T01:22:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915331.32 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:15Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594379.62, 50.23) 2021-10-11T01:22:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:15Z- TerrainNav:: SubcloudNIS is 0.56, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:15Z- TNavBF::Projecting Measurements 2021-10-11T01:22:15Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:15Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:15Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:15Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:15Z- TNavFilter::4 good beams. 2021-10-11T01:22:15Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:15Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:15Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:15Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:15Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:15Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:15Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:15Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:15Z- TerrainMapOctree: (vehN, vehE ) = (4061661.49, 594379.99). 2021-10-11T01:22:15Z- TerrainMapOctree: Min Distance = 157.26. 2021-10-11T01:22:15Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:15Z- Forcing Subcloud Comparison 2021-10-11T01:22:15Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:15Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:15Z- Filter 0 partialDeltaRmsComputation: 2.289267 terrainVariance: 0.221696 1-SumSquareWeights: 0.979384 2021-10-11T01:22:15Z- Filter 0 meanExpectedMeasDiff: -1.437905 delta_rms_squared: 0.211902 alpha: 0.913757 2021-10-11T01:22:15Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:15Z- Filter 0 partialDeltaRmsComputation: 2.529082 terrainVariance: 0.084100 1-SumSquareWeights: 0.979384 2021-10-11T01:22:15Z- Filter 0 meanExpectedMeasDiff: 1.563644 delta_rms_squared: 0.074306 alpha: 0.787924 2021-10-11T01:22:15Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:15Z- Filter 0 partialDeltaRmsComputation: 10.531093 terrainVariance: 0.204315 1-SumSquareWeights: 0.979384 2021-10-11T01:22:15Z- Filter 0 meanExpectedMeasDiff: -3.213530 delta_rms_squared: 0.194521 alpha: 0.906769 2021-10-11T01:22:15Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:15Z- Filter 0 partialDeltaRmsComputation: 4.695713 terrainVariance: 0.100025 1-SumSquareWeights: 0.979384 2021-10-11T01:22:15Z- Filter 0 meanExpectedMeasDiff: 2.143756 delta_rms_squared: 0.090231 alpha: 0.818563 2021-10-11T01:22:15Z- Filter 0 SubcloudNIS: 0.546135 2021-10-11T01:22:15Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:15Z- TNavBF:: Filter 0 sumWeights = 0.097319 2021-10-11T01:22:15Z- Filter 0 NorthBias: 4.4 EastBias: -94.0 DepthBias: -41.4 NorthVariance: 14.2 EastVariance: 2.4 DepthVariance: 0.5 this->DepthBiasCov: 0.3 2021-10-11T01:22:15Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915331.32 sec. 2021-10-11T01:22:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:15Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:15Z- variances([0], [2], and psi_berg) = 14.218150 13.599222 0.000000 2021-10-11T01:22:15Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:15Z- LcmTrn::publishEstimates() - MLE : 4061664.53 594285.72 38.22 2021-10-11T01:22:15Z- LcmTrn::publishEstimates() - MMSE : 4061666.42 594285.79 8.85 2021-10-11T01:22:15Z- LcmTrn::publishEstimates() - COVAR: 14.22 13.60 0.61 0.00 2021-10-11T01:22:15Z- handleDepth()-Depth_Keller msg: 1633915332101 epoch sec; seqNo:1158; depth 50.24 2021-10-11T01:22:15Z- handleDvl() - RDI_Pathfinder msg: 1633915332.14 epoch sec; seqNo:257 2021-10-11T01:22:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 36.49 , 29.90 , 32.51 2021-10-11T01:22:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.08 , 0.01 2021-10-11T01:22:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915332.16 epoch sec; seqNo:1158; 4061662.43 north; 594379.62 east 2021-10-11T01:22:15Z- AHRS_M2 msg: 1633915332.50 epoch sec; seqNo:1124 2021-10-11T01:22:15Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.89 psi 2021-10-11T01:22:15Z- handleDepth()-Depth_Keller msg: 1633915332502 epoch sec; seqNo:1159; depth 50.23 2021-10-11T01:22:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915332.52 epoch sec; seqNo:1159; 4061662.80 north; 594379.61 east 2021-10-11T01:22:16Z- AHRS_M2 msg: 1633915332.90 epoch sec; seqNo:1125 2021-10-11T01:22:16Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.89 psi 2021-10-11T01:22:16Z- handleDepth()-Depth_Keller msg: 1633915332908 epoch sec; seqNo:1160; depth 50.24 2021-10-11T01:22:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915332.93 epoch sec; seqNo:1160; 4061663.18 north; 594379.61 east 2021-10-11T01:22:16Z- AHRS_M2 msg: 1633915333.31 epoch sec; seqNo:1126 2021-10-11T01:22:16Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 5.89 psi 2021-10-11T01:22:16Z- handleDepth()-Depth_Keller msg: 1633915333315 epoch sec; seqNo:1161; depth 50.26 2021-10-11T01:22:16Z- handleDvl() - RDI_Pathfinder msg: 1633915333.34 epoch sec; seqNo:258 2021-10-11T01:22:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 36.80 , 29.75 , 32.20 2021-10-11T01:22:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , 0.01 2021-10-11T01:22:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915333.36 epoch sec; seqNo:1161; 4061663.56 north; 594379.60 east 2021-10-11T01:22:17Z- AHRS_M2 msg: 1633915333.71 epoch sec; seqNo:1127 2021-10-11T01:22:17Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.89 psi 2021-10-11T01:22:17Z- handleDepth()-Depth_Keller msg: 1633915333721 epoch sec; seqNo:1162; depth 50.26 2021-10-11T01:22:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915333.76 epoch sec; seqNo:1162; 4061663.56 north; 594379.60 east 2021-10-11T01:22:17Z- AHRS_M2 msg: 1633915334.12 epoch sec; seqNo:1128 2021-10-11T01:22:17Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.89 psi 2021-10-11T01:22:17Z- handleDepth()-Depth_Keller msg: 1633915334128 epoch sec; seqNo:1163; depth 50.29 2021-10-11T01:22:17Z- handleDvl() - RDI_Pathfinder msg: 1633915334.17 epoch sec; seqNo:259 2021-10-11T01:22:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 36.65 , 29.90 , 31.89 2021-10-11T01:22:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , 0.02 2021-10-11T01:22:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915334.19 epoch sec; seqNo:1163; 4061663.94 north; 594379.60 east 2021-10-11T01:22:17Z- AHRS_M2 msg: 1633915334.52 epoch sec; seqNo:1129 2021-10-11T01:22:17Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.89 psi 2021-10-11T01:22:17Z- handleDepth()-Depth_Keller msg: 1633915334536 epoch sec; seqNo:1164; depth 50.28 2021-10-11T01:22:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915334.55 epoch sec; seqNo:1164; 4061664.31 north; 594378.38 east 2021-10-11T01:22:18Z- AHRS_M2 msg: 1633915334.92 epoch sec; seqNo:1130 2021-10-11T01:22:18Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.90 psi 2021-10-11T01:22:18Z- handleDepth()-Depth_Keller msg: 1633915334941 epoch sec; seqNo:1165; depth 50.27 2021-10-11T01:22:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915334.96 epoch sec; seqNo:1165; 4061664.69 north; 594378.37 east 2021-10-11T01:22:18Z- AHRS_M2 msg: 1633915335.33 epoch sec; seqNo:1131 2021-10-11T01:22:18Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.90 psi 2021-10-11T01:22:18Z- handleDepth()-Depth_Keller msg: 1633915335330 epoch sec; seqNo:1166; depth 50.30 2021-10-11T01:22:18Z- handleDvl() - RDI_Pathfinder msg: 1633915335.36 epoch sec; seqNo:260 2021-10-11T01:22:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 36.65 , 29.75 , 31.89 2021-10-11T01:22:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.08 , 0.02 2021-10-11T01:22:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915335.37 epoch sec; seqNo:1166; 4061665.06 north; 594378.37 east 2021-10-11T01:22:19Z- AHRS_M2 msg: 1633915335.73 epoch sec; seqNo:1132 2021-10-11T01:22:19Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.90 psi 2021-10-11T01:22:19Z- handleDepth()-Depth_Keller msg: 1633915335734 epoch sec; seqNo:1167; depth 50.30 2021-10-11T01:22:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915335.75 epoch sec; seqNo:1167; 4061665.06 north; 594378.37 east 2021-10-11T01:22:19Z- AHRS_M2 msg: 1633915336.13 epoch sec; seqNo:1133 2021-10-11T01:22:19Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.90 psi 2021-10-11T01:22:19Z- handleDepth()-Depth_Keller msg: 1633915336143 epoch sec; seqNo:1168; depth 50.32 2021-10-11T01:22:19Z- handleDvl() - RDI_Pathfinder msg: 1633915336.17 epoch sec; seqNo:261 2021-10-11T01:22:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 37.56 , 29.75 , 31.58 2021-10-11T01:22:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.08 , 0.02 2021-10-11T01:22:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915336.19 epoch sec; seqNo:1168; 4061665.44 north; 594378.36 east 2021-10-11T01:22:19Z- AHRS_M2 msg: 1633915336.54 epoch sec; seqNo:1134 2021-10-11T01:22:19Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.90 psi 2021-10-11T01:22:19Z- handleDepth()-Depth_Keller msg: 1633915336542 epoch sec; seqNo:1169; depth 50.30 2021-10-11T01:22:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915336.57 epoch sec; seqNo:1169; 4061665.82 north; 594378.36 east 2021-10-11T01:22:20Z- AHRS_M2 msg: 1633915336.94 epoch sec; seqNo:1135 2021-10-11T01:22:20Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.90 psi 2021-10-11T01:22:20Z- handleDepth()-Depth_Keller msg: 1633915336946 epoch sec; seqNo:1170; depth 50.31 2021-10-11T01:22:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915336.96 epoch sec; seqNo:1170; 4061666.20 north; 594378.36 east 2021-10-11T01:22:20Z- LcmTrn::handleMessages() - handling 43 messages took 0.78 ms and 127 calls... 2021-10-11T01:22:20Z- waiting for 1633915335.10, time is 1633915336.96 2021-10-11T01:22:20Z- LcmTrn::updateTrn() >>>> pose time 1633915336.96, meas time 1633915336.17 <<<< 2021-10-11T01:22:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915336.17 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:20Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594378.36, 50.31) 2021-10-11T01:22:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:20Z- TerrainNav:: SubcloudNIS is 0.55, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:20Z- TNavBF::Projecting Measurements 2021-10-11T01:22:20Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:20Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:20Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:20Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:20Z- TNavFilter::4 good beams. 2021-10-11T01:22:20Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:20Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:20Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:20Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:20Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:20Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:20Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:20Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:20Z- TerrainMapOctree: (vehN, vehE ) = (4061665.53, 594378.56). 2021-10-11T01:22:20Z- TerrainMapOctree: Min Distance = 153.83. 2021-10-11T01:22:20Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:20Z- Forcing Subcloud Comparison 2021-10-11T01:22:20Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:20Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:20Z- Filter 0 partialDeltaRmsComputation: 2.554995 terrainVariance: 0.224422 1-SumSquareWeights: 0.974711 2021-10-11T01:22:20Z- Filter 0 meanExpectedMeasDiff: -1.526622 delta_rms_squared: 0.214675 alpha: 0.914776 2021-10-11T01:22:20Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:20Z- Filter 0 partialDeltaRmsComputation: 10.870910 terrainVariance: 0.122406 1-SumSquareWeights: 0.974711 2021-10-11T01:22:20Z- Filter 0 meanExpectedMeasDiff: 3.278491 delta_rms_squared: 0.112659 alpha: 0.849237 2021-10-11T01:22:20Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:20Z- Filter 0 partialDeltaRmsComputation: 10.998708 terrainVariance: 0.217116 1-SumSquareWeights: 0.974711 2021-10-11T01:22:20Z- Filter 0 meanExpectedMeasDiff: -3.283534 delta_rms_squared: 0.207369 alpha: 0.912037 2021-10-11T01:22:20Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:20Z- Filter 0 partialDeltaRmsComputation: 3.398852 terrainVariance: 0.180706 1-SumSquareWeights: 0.974711 2021-10-11T01:22:20Z- Filter 0 meanExpectedMeasDiff: 1.793919 delta_rms_squared: 0.170959 alpha: 0.895265 2021-10-11T01:22:20Z- Filter 0 SubcloudNIS: 0.551064 2021-10-11T01:22:20Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:20Z- TNavBF:: Filter 0 sumWeights = 0.042589 2021-10-11T01:22:20Z- Filter 0 NorthBias: 4.8 EastBias: -94.2 DepthBias: -41.5 NorthVariance: 18.7 EastVariance: 2.3 DepthVariance: 0.5 this->DepthBiasCov: 0.3 2021-10-11T01:22:20Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915336.17 sec. 2021-10-11T01:22:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:20Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:20Z- variances([0], [2], and psi_berg) = 18.730706 17.851759 0.000000 2021-10-11T01:22:20Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:20Z- LcmTrn::publishEstimates() - MLE : 4061668.69 594284.46 38.31 2021-10-11T01:22:20Z- LcmTrn::publishEstimates() - MMSE : 4061670.96 594284.35 8.83 2021-10-11T01:22:20Z- LcmTrn::publishEstimates() - COVAR: 18.73 17.85 0.62 0.00 2021-10-11T01:22:20Z- AHRS_M2 msg: 1633915337.35 epoch sec; seqNo:1136 2021-10-11T01:22:20Z- AHRS_M2 msg: -0.20 phi; -0.02 theta; 5.91 psi 2021-10-11T01:22:20Z- handleDepth()-Depth_Keller msg: 1633915337356 epoch sec; seqNo:1171; depth 50.32 2021-10-11T01:22:20Z- handleDvl() - RDI_Pathfinder msg: 1633915337.38 epoch sec; seqNo:262 2021-10-11T01:22:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 37.72 , 29.75 , 31.43 2021-10-11T01:22:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.08 , 0.01 2021-10-11T01:22:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915337.41 epoch sec; seqNo:1171; 4061666.58 north; 594378.35 east 2021-10-11T01:22:21Z- AHRS_M2 msg: 1633915337.75 epoch sec; seqNo:1137 2021-10-11T01:22:21Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.91 psi 2021-10-11T01:22:21Z- handleDepth()-Depth_Keller msg: 1633915337754 epoch sec; seqNo:1172; depth 50.32 2021-10-11T01:22:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915337.78 epoch sec; seqNo:1172; 4061666.57 north; 594377.13 east 2021-10-11T01:22:21Z- handleDepth()-Depth_Keller msg: 1633915338187 epoch sec; seqNo:1173; depth 50.32 2021-10-11T01:22:21Z- handleDvl() - RDI_Pathfinder msg: 1633915338.21 epoch sec; seqNo:263 2021-10-11T01:22:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 37.72 , 29.75 , 31.12 2021-10-11T01:22:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.08 , -0.00 2021-10-11T01:22:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915338.24 epoch sec; seqNo:1173; 4061666.94 north; 594377.13 east 2021-10-11T01:22:21Z- AHRS_M2 msg: 1633915338.56 epoch sec; seqNo:1138 2021-10-11T01:22:21Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.91 psi 2021-10-11T01:22:21Z- handleDepth()-Depth_Keller msg: 1633915338562 epoch sec; seqNo:1174; depth 50.34 2021-10-11T01:22:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915338.58 epoch sec; seqNo:1174; 4061667.32 north; 594377.12 east 2021-10-11T01:22:22Z- AHRS_M2 msg: 1633915338.97 epoch sec; seqNo:1139 2021-10-11T01:22:22Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.91 psi 2021-10-11T01:22:22Z- handleDepth()-Depth_Keller msg: 1633915338970 epoch sec; seqNo:1175; depth 50.32 2021-10-11T01:22:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915338.98 epoch sec; seqNo:1175; 4061667.70 north; 594377.12 east 2021-10-11T01:22:22Z- AHRS_M2 msg: 1633915339.37 epoch sec; seqNo:1140 2021-10-11T01:22:22Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.91 psi 2021-10-11T01:22:22Z- handleDepth()-Depth_Keller msg: 1633915339370 epoch sec; seqNo:1176; depth 50.33 2021-10-11T01:22:22Z- handleDvl() - RDI_Pathfinder msg: 1633915339.41 epoch sec; seqNo:264 2021-10-11T01:22:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 37.56 , 29.90 , 30.82 2021-10-11T01:22:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.10 , 0.00 2021-10-11T01:22:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915339.44 epoch sec; seqNo:1176; 4061668.08 north; 594377.11 east 2021-10-11T01:22:23Z- AHRS_M2 msg: 1633915339.77 epoch sec; seqNo:1141 2021-10-11T01:22:23Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.91 psi 2021-10-11T01:22:23Z- handleDepth()-Depth_Keller msg: 1633915339774 epoch sec; seqNo:1177; depth 50.32 2021-10-11T01:22:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915339.83 epoch sec; seqNo:1177; 4061668.46 north; 594377.11 east 2021-10-11T01:22:23Z- AHRS_M2 msg: 1633915340.18 epoch sec; seqNo:1142 2021-10-11T01:22:23Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.91 psi 2021-10-11T01:22:23Z- handleDepth()-Depth_Keller msg: 1633915340187 epoch sec; seqNo:1178; depth 50.33 2021-10-11T01:22:23Z- handleDvl() - RDI_Pathfinder msg: 1633915340.21 epoch sec; seqNo:265 2021-10-11T01:22:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 37.26 , 29.90 , 30.82 2021-10-11T01:22:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.11 , 0.01 2021-10-11T01:22:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915340.25 epoch sec; seqNo:1178; 4061668.46 north; 594377.11 east 2021-10-11T01:22:23Z- AHRS_M2 msg: 1633915340.58 epoch sec; seqNo:1143 2021-10-11T01:22:23Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.92 psi 2021-10-11T01:22:23Z- handleDepth()-Depth_Keller msg: 1633915340582 epoch sec; seqNo:1179; depth 50.34 2021-10-11T01:22:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915340.61 epoch sec; seqNo:1179; 4061668.83 north; 594375.89 east 2021-10-11T01:22:24Z- AHRS_M2 msg: 1633915340.98 epoch sec; seqNo:1144 2021-10-11T01:22:24Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.92 psi 2021-10-11T01:22:24Z- handleDepth()-Depth_Keller msg: 1633915340984 epoch sec; seqNo:1180; depth 50.33 2021-10-11T01:22:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915341.00 epoch sec; seqNo:1180; 4061669.20 north; 594375.88 east 2021-10-11T01:22:24Z- AHRS_M2 msg: 1633915341.39 epoch sec; seqNo:1145 2021-10-11T01:22:24Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.92 psi 2021-10-11T01:22:24Z- handleDepth()-Depth_Keller msg: 1633915341391 epoch sec; seqNo:1181; depth 50.35 2021-10-11T01:22:24Z- handleDvl() - RDI_Pathfinder msg: 1633915341.41 epoch sec; seqNo:266 2021-10-11T01:22:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 37.26 , 29.75 , 30.51 2021-10-11T01:22:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , 0.02 2021-10-11T01:22:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915341.44 epoch sec; seqNo:1181; 4061669.58 north; 594375.88 east 2021-10-11T01:22:25Z- AHRS_M2 msg: 1633915341.79 epoch sec; seqNo:1146 2021-10-11T01:22:25Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 5.92 psi 2021-10-11T01:22:25Z- handleDepth()-Depth_Keller msg: 1633915341796 epoch sec; seqNo:1182; depth 50.34 2021-10-11T01:22:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915341.81 epoch sec; seqNo:1182; 4061669.58 north; 594375.88 east 2021-10-11T01:22:25Z- AHRS_M2 msg: 1633915342.20 epoch sec; seqNo:1147 2021-10-11T01:22:25Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 5.92 psi 2021-10-11T01:22:25Z- handleDepth()-Depth_Keller msg: 1633915342218 epoch sec; seqNo:1183; depth 50.35 2021-10-11T01:22:25Z- handleDvl() - RDI_Pathfinder msg: 1633915342.24 epoch sec; seqNo:267 2021-10-11T01:22:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.95 , 29.90 , 29.90 2021-10-11T01:22:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , 0.02 2021-10-11T01:22:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915342.25 epoch sec; seqNo:1183; 4061669.96 north; 594375.87 east 2021-10-11T01:22:25Z- LcmTrn::handleMessages() - handling 44 messages took 0.79 ms and 128 calls... 2021-10-11T01:22:25Z- waiting for 1633915339.96, time is 1633915342.25 2021-10-11T01:22:25Z- LcmTrn::updateTrn() equating pose 1633915342.25 and meas times 1633915342.25 2021-10-11T01:22:25Z- LcmTrn::updateTrn() >>>> pose time 1633915342.25, meas time 1633915342.25 <<<< 2021-10-11T01:22:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915342.25 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:25Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594375.87, 50.35) 2021-10-11T01:22:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:25Z- TerrainNav:: SubcloudNIS is 0.55, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:25Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915342.25 sec.; No relevant navigation data available 2021-10-11T01:22:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:25Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:25Z- variances([0], [2], and psi_berg) = 18.781276 56.347463 0.000000 2021-10-11T01:22:25Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:25Z- LcmTrn::publishEstimates() - MLE : 4061672.45 594281.97 38.34 2021-10-11T01:22:25Z- LcmTrn::publishEstimates() - MMSE : 4061674.72 594282.28 8.90 2021-10-11T01:22:25Z- LcmTrn::publishEstimates() - COVAR: 18.78 56.35 1.09 0.00 2021-10-11T01:22:25Z- AHRS_M2 msg: 1633915342.60 epoch sec; seqNo:1148 2021-10-11T01:22:25Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 5.92 psi 2021-10-11T01:22:25Z- handleDepth()-Depth_Keller msg: 1633915342603 epoch sec; seqNo:1184; depth 50.34 2021-10-11T01:22:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915342.62 epoch sec; seqNo:1184; 4061670.34 north; 594375.87 east 2021-10-11T01:22:26Z- AHRS_M2 msg: 1633915343.00 epoch sec; seqNo:1149 2021-10-11T01:22:26Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 5.92 psi 2021-10-11T01:22:26Z- handleDepth()-Depth_Keller msg: 1633915343007 epoch sec; seqNo:1185; depth 50.35 2021-10-11T01:22:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915343.02 epoch sec; seqNo:1185; 4061670.72 north; 594375.86 east 2021-10-11T01:22:26Z- AHRS_M2 msg: 1633915343.40 epoch sec; seqNo:1150 2021-10-11T01:22:26Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 5.93 psi 2021-10-11T01:22:26Z- handleDepth()-Depth_Keller msg: 1633915343410 epoch sec; seqNo:1186; depth 50.35 2021-10-11T01:22:26Z- handleDvl() - RDI_Pathfinder msg: 1633915343.44 epoch sec; seqNo:268 2021-10-11T01:22:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 37.26 , 29.75 , 29.13 2021-10-11T01:22:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.10 , 0.02 2021-10-11T01:22:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915343.45 epoch sec; seqNo:1186; 4061671.10 north; 594375.86 east 2021-10-11T01:22:27Z- AHRS_M2 msg: 1633915343.81 epoch sec; seqNo:1151 2021-10-11T01:22:27Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 5.93 psi 2021-10-11T01:22:27Z- handleDepth()-Depth_Keller msg: 1633915343814 epoch sec; seqNo:1187; depth 50.35 2021-10-11T01:22:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915343.83 epoch sec; seqNo:1187; 4061671.09 north; 594374.64 east 2021-10-11T01:22:27Z- AHRS_M2 msg: 1633915344.21 epoch sec; seqNo:1152 2021-10-11T01:22:27Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 5.93 psi 2021-10-11T01:22:27Z- handleDepth()-Depth_Keller msg: 1633915344231 epoch sec; seqNo:1188; depth 50.34 2021-10-11T01:22:27Z- handleDvl() - RDI_Pathfinder msg: 1633915344.25 epoch sec; seqNo:269 2021-10-11T01:22:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 36.18 , 29.59 , 29.28 2021-10-11T01:22:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , 0.02 2021-10-11T01:22:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915344.27 epoch sec; seqNo:1188; 4061671.46 north; 594374.64 east 2021-10-11T01:22:27Z- AHRS_M2 msg: 1633915344.62 epoch sec; seqNo:1153 2021-10-11T01:22:27Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 5.93 psi 2021-10-11T01:22:27Z- handleDepth()-Depth_Keller msg: 1633915344622 epoch sec; seqNo:1189; depth 50.36 2021-10-11T01:22:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915344.65 epoch sec; seqNo:1189; 4061671.84 north; 594374.63 east 2021-10-11T01:22:28Z- AHRS_M2 msg: 1633915345.03 epoch sec; seqNo:1154 2021-10-11T01:22:28Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.93 psi 2021-10-11T01:22:28Z- handleDepth()-Depth_Keller msg: 1633915345037 epoch sec; seqNo:1190; depth 50.36 2021-10-11T01:22:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915345.05 epoch sec; seqNo:1190; 4061672.22 north; 594374.63 east 2021-10-11T01:22:28Z- handleDepth()-Depth_Keller msg: 1633915345452 epoch sec; seqNo:1191; depth 50.35 2021-10-11T01:22:28Z- handleDvl() - RDI_Pathfinder msg: 1633915345.48 epoch sec; seqNo:270 2021-10-11T01:22:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.67 , 36.12 , 29.85 , 29.71 2021-10-11T01:22:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.11 , 0.01 2021-10-11T01:22:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915345.49 epoch sec; seqNo:1191; 4061672.60 north; 594374.62 east 2021-10-11T01:22:29Z- AHRS_M2 msg: 1633915345.83 epoch sec; seqNo:1155 2021-10-11T01:22:29Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.94 psi 2021-10-11T01:22:29Z- handleDepth()-Depth_Keller msg: 1633915345836 epoch sec; seqNo:1192; depth 50.35 2021-10-11T01:22:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915345.86 epoch sec; seqNo:1192; 4061672.60 north; 594374.62 east 2021-10-11T01:22:29Z- AHRS_M2 msg: 1633915346.24 epoch sec; seqNo:1156 2021-10-11T01:22:29Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.94 psi 2021-10-11T01:22:29Z- handleDepth()-Depth_Keller msg: 1633915346249 epoch sec; seqNo:1193; depth 50.35 2021-10-11T01:22:29Z- handleDvl() - RDI_Pathfinder msg: 1633915346.27 epoch sec; seqNo:271 2021-10-11T01:22:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.67 , 36.66 , 29.57 , 29.85 2021-10-11T01:22:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , 0.01 2021-10-11T01:22:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915346.30 epoch sec; seqNo:1193; 4061672.98 north; 594374.62 east 2021-10-11T01:22:30Z- AHRS_M2 msg: 1633915346.64 epoch sec; seqNo:1157 2021-10-11T01:22:30Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.94 psi 2021-10-11T01:22:30Z- handleDepth()-Depth_Keller msg: 1633915346642 epoch sec; seqNo:1194; depth 50.34 2021-10-11T01:22:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915346.67 epoch sec; seqNo:1194; 4061673.36 north; 594374.61 east 2021-10-11T01:22:30Z- AHRS_M2 msg: 1633915347.05 epoch sec; seqNo:1158 2021-10-11T01:22:30Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.94 psi 2021-10-11T01:22:30Z- handleDepth()-Depth_Keller msg: 1633915347053 epoch sec; seqNo:1195; depth 50.35 2021-10-11T01:22:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915347.07 epoch sec; seqNo:1195; 4061673.72 north; 594373.39 east 2021-10-11T01:22:30Z- AHRS_M2 msg: 1633915347.45 epoch sec; seqNo:1159 2021-10-11T01:22:30Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 5.94 psi 2021-10-11T01:22:30Z- handleDepth()-Depth_Keller msg: 1633915347458 epoch sec; seqNo:1196; depth 50.35 2021-10-11T01:22:30Z- handleDvl() - RDI_Pathfinder msg: 1633915347.48 epoch sec; seqNo:272 2021-10-11T01:22:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.03 , 29.59 , 30.20 2021-10-11T01:22:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.09 , 0.01 2021-10-11T01:22:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915347.51 epoch sec; seqNo:1196; 4061674.10 north; 594373.39 east 2021-10-11T01:22:30Z- LcmTrn::handleMessages() - handling 43 messages took 0.85 ms and 126 calls... 2021-10-11T01:22:30Z- waiting for 1633915345.25, time is 1633915347.51 2021-10-11T01:22:30Z- LcmTrn::updateTrn() equating pose 1633915347.51 and meas times 1633915347.51 2021-10-11T01:22:30Z- LcmTrn::updateTrn() >>>> pose time 1633915347.51, meas time 1633915347.51 <<<< 2021-10-11T01:22:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915347.51 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:30Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594373.39, 50.35) 2021-10-11T01:22:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:30Z- TerrainNav:: SubcloudNIS is 0.55, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:30Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915347.51 sec.; No relevant navigation data available 2021-10-11T01:22:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:30Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:30Z- variances([0], [2], and psi_berg) = 18.832797 94.520264 0.000000 2021-10-11T01:22:30Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:30Z- LcmTrn::publishEstimates() - MLE : 4061676.59 594279.49 38.35 2021-10-11T01:22:30Z- LcmTrn::publishEstimates() - MMSE : 4061678.85 594280.20 8.93 2021-10-11T01:22:30Z- LcmTrn::publishEstimates() - COVAR: 18.83 94.52 1.58 0.00 2021-10-11T01:22:31Z- AHRS_M2 msg: 1633915347.85 epoch sec; seqNo:1160 2021-10-11T01:22:31Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.94 psi 2021-10-11T01:22:31Z- handleDepth()-Depth_Keller msg: 1633915347854 epoch sec; seqNo:1197; depth 50.37 2021-10-11T01:22:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915347.88 epoch sec; seqNo:1197; 4061674.10 north; 594373.39 east 2021-10-11T01:22:31Z- AHRS_M2 msg: 1633915348.26 epoch sec; seqNo:1161 2021-10-11T01:22:31Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.95 psi 2021-10-11T01:22:31Z- handleDepth()-Depth_Keller msg: 1633915348265 epoch sec; seqNo:1198; depth 50.37 2021-10-11T01:22:31Z- handleDvl() - RDI_Pathfinder msg: 1633915348.30 epoch sec; seqNo:273 2021-10-11T01:22:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.53 , 36.93 , 29.57 , 30.53 2021-10-11T01:22:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.10 , 0.02 2021-10-11T01:22:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915348.31 epoch sec; seqNo:1198; 4061674.48 north; 594373.38 east 2021-10-11T01:22:32Z- AHRS_M2 msg: 1633915348.66 epoch sec; seqNo:1162 2021-10-11T01:22:32Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.95 psi 2021-10-11T01:22:32Z- handleDepth()-Depth_Keller msg: 1633915348663 epoch sec; seqNo:1199; depth 50.35 2021-10-11T01:22:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915348.68 epoch sec; seqNo:1199; 4061674.86 north; 594373.38 east 2021-10-11T01:22:32Z- AHRS_M2 msg: 1633915349.07 epoch sec; seqNo:1163 2021-10-11T01:22:32Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.95 psi 2021-10-11T01:22:32Z- handleDepth()-Depth_Keller msg: 1633915349079 epoch sec; seqNo:1200; depth 50.36 2021-10-11T01:22:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915349.09 epoch sec; seqNo:1200; 4061675.24 north; 594373.37 east 2021-10-11T01:22:32Z- AHRS_M2 msg: 1633915349.46 epoch sec; seqNo:1164 2021-10-11T01:22:32Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.95 psi 2021-10-11T01:22:32Z- handleDepth()-Depth_Keller msg: 1633915349470 epoch sec; seqNo:1201; depth 50.37 2021-10-11T01:22:32Z- handleDvl() - RDI_Pathfinder msg: 1633915349.51 epoch sec; seqNo:274 2021-10-11T01:22:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.34 , 29.59 , 30.67 2021-10-11T01:22:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.09 , 0.03 2021-10-11T01:22:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915349.52 epoch sec; seqNo:1201; 4061675.62 north; 594373.37 east 2021-10-11T01:22:33Z- AHRS_M2 msg: 1633915349.87 epoch sec; seqNo:1165 2021-10-11T01:22:33Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.95 psi 2021-10-11T01:22:33Z- handleDepth()-Depth_Keller msg: 1633915349875 epoch sec; seqNo:1202; depth 50.37 2021-10-11T01:22:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915349.90 epoch sec; seqNo:1202; 4061676.00 north; 594373.37 east 2021-10-11T01:22:33Z- AHRS_M2 msg: 1633915350.29 epoch sec; seqNo:1166 2021-10-11T01:22:33Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.96 psi 2021-10-11T01:22:33Z- handleDepth()-Depth_Keller msg: 1633915350294 epoch sec; seqNo:1203; depth 50.36 2021-10-11T01:22:33Z- handleDvl() - RDI_Pathfinder msg: 1633915350.32 epoch sec; seqNo:275 2021-10-11T01:22:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.49 , 29.59 , 30.67 2021-10-11T01:22:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.05 , 0.04 2021-10-11T01:22:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915350.35 epoch sec; seqNo:1203; 4061676.38 north; 594373.36 east 2021-10-11T01:22:34Z- AHRS_M2 msg: 1633915350.69 epoch sec; seqNo:1167 2021-10-11T01:22:34Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.96 psi 2021-10-11T01:22:34Z- handleDepth()-Depth_Keller msg: 1633915350697 epoch sec; seqNo:1204; depth 50.37 2021-10-11T01:22:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915350.71 epoch sec; seqNo:1204; 4061676.36 north; 594372.14 east 2021-10-11T01:22:34Z- AHRS_M2 msg: 1633915351.09 epoch sec; seqNo:1168 2021-10-11T01:22:34Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.96 psi 2021-10-11T01:22:34Z- handleDepth()-Depth_Keller msg: 1633915351094 epoch sec; seqNo:1205; depth 50.37 2021-10-11T01:22:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915351.12 epoch sec; seqNo:1205; 4061676.74 north; 594372.14 east 2021-10-11T01:22:34Z- AHRS_M2 msg: 1633915351.49 epoch sec; seqNo:1169 2021-10-11T01:22:34Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.96 psi 2021-10-11T01:22:34Z- handleDepth()-Depth_Keller msg: 1633915351494 epoch sec; seqNo:1206; depth 50.37 2021-10-11T01:22:34Z- handleDvl() - RDI_Pathfinder msg: 1633915351.52 epoch sec; seqNo:276 2021-10-11T01:22:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 36.80 , 29.13 , 30.67 2021-10-11T01:22:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.04 , 0.03 2021-10-11T01:22:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915351.53 epoch sec; seqNo:1206; 4061677.12 north; 594372.13 east 2021-10-11T01:22:35Z- AHRS_M2 msg: 1633915351.89 epoch sec; seqNo:1170 2021-10-11T01:22:35Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 5.97 psi 2021-10-11T01:22:35Z- handleDepth()-Depth_Keller msg: 1633915351894 epoch sec; seqNo:1207; depth 50.39 2021-10-11T01:22:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915351.92 epoch sec; seqNo:1207; 4061677.50 north; 594372.13 east 2021-10-11T01:22:35Z- AHRS_M2 msg: 1633915352.31 epoch sec; seqNo:1171 2021-10-11T01:22:35Z- AHRS_M2 msg: -0.18 phi; 0.00 theta; 5.97 psi 2021-10-11T01:22:35Z- handleDepth()-Depth_Keller msg: 1633915352320 epoch sec; seqNo:1208; depth 50.39 2021-10-11T01:22:35Z- handleDvl() - RDI_Pathfinder msg: 1633915352.35 epoch sec; seqNo:277 2021-10-11T01:22:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.64 , 28.98 , 30.82 2021-10-11T01:22:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.05 , 0.03 2021-10-11T01:22:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915352.36 epoch sec; seqNo:1208; 4061677.88 north; 594372.12 east 2021-10-11T01:22:36Z- LcmTrn::handleMessages() - handling 41 messages took 0.80 ms and 125 calls... 2021-10-11T01:22:36Z- waiting for 1633915350.51, time is 1633915352.36 2021-10-11T01:22:36Z- LcmTrn::updateTrn() equating pose 1633915352.36 and meas times 1633915352.36 2021-10-11T01:22:36Z- LcmTrn::updateTrn() >>>> pose time 1633915352.36, meas time 1633915352.36 <<<< 2021-10-11T01:22:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915352.36 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:36Z- TerrainNav::motionUpdate() - currEstimate = (4061678, 594372.12, 50.39) 2021-10-11T01:22:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:36Z- TerrainNav:: SubcloudNIS is 0.55, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:36Z- TNavBF::Projecting Measurements 2021-10-11T01:22:36Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:36Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:36Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:36Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:36Z- TNavFilter::4 good beams. 2021-10-11T01:22:36Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:36Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:36Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:36Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:36Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:36Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:36Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:36Z- TerrainMapOctree: (vehN, vehE ) = (4061677.88, 594372.12). 2021-10-11T01:22:36Z- TerrainMapOctree: Min Distance = 141.83. 2021-10-11T01:22:36Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:36Z- Forcing Subcloud Comparison 2021-10-11T01:22:36Z- Filter 0 deapthBias would have been set to Nan. indexP: 9035 indexM: 2 2021-10-11T01:22:36Z- Old Depth Bias: -22.41 DepthBiasCov: 0.64 K: 0.173 ExpectedMeasDiff: nan currMeas.covariance: 1.34 2021-10-11T01:22:36Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:36Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:36Z- Filter 0 partialDeltaRmsComputation: 7.475544 terrainVariance: 0.490486 1-SumSquareWeights: 0.979812 2021-10-11T01:22:36Z- Filter 0 meanExpectedMeasDiff: -2.642926 delta_rms_squared: 0.480688 alpha: 0.960055 2021-10-11T01:22:36Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:36Z- Filter 0 partialDeltaRmsComputation: 9.504699 terrainVariance: 0.179687 1-SumSquareWeights: 0.979812 2021-10-11T01:22:36Z- Filter 0 meanExpectedMeasDiff: 3.053688 delta_rms_squared: 0.169889 alpha: 0.894675 2021-10-11T01:22:36Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:22:36Z- Filter 0 partialDeltaRmsComputation: 11.730742 terrainVariance: 0.533245 1-SumSquareWeights: 0.979812 2021-10-11T01:22:36Z- Filter 0 meanExpectedMeasDiff: -3.346266 delta_rms_squared: 0.523446 alpha: 0.963198 2021-10-11T01:22:36Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:36Z- Filter 0 partialDeltaRmsComputation: 3.430737 terrainVariance: 0.262427 1-SumSquareWeights: 0.979812 2021-10-11T01:22:36Z- Filter 0 meanExpectedMeasDiff: 1.779975 delta_rms_squared: 0.252629 alpha: 0.926640 2021-10-11T01:22:36Z- Filter 0 SubcloudNIS: 0.630189 2021-10-11T01:22:36Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:36Z- TNavBF:: Filter 0 sumWeights = 0.021714 2021-10-11T01:22:36Z- Filter 0 NorthBias: 3.9 EastBias: -93.8 DepthBias: -42.2 NorthVariance: 13.5 EastVariance: 3.1 DepthVariance: 0.5 this->DepthBiasCov: 0.5 2021-10-11T01:22:36Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915352.36 sec. 2021-10-11T01:22:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:36Z- variances([0], [2], and psi_berg) = 13.531938 3.077828 0.000000 2021-10-11T01:22:36Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:36Z- LcmTrn::publishEstimates() - MLE : 4061680.36 594278.22 38.38 2021-10-11T01:22:36Z- LcmTrn::publishEstimates() - MMSE : 4061681.81 594278.29 8.21 2021-10-11T01:22:36Z- LcmTrn::publishEstimates() - COVAR: 13.53 3.08 0.53 0.00 2021-10-11T01:22:36Z- AHRS_M2 msg: 1633915352.72 epoch sec; seqNo:1172 2021-10-11T01:22:36Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 5.97 psi 2021-10-11T01:22:36Z- handleDepth()-Depth_Keller msg: 1633915352725 epoch sec; seqNo:1209; depth 50.38 2021-10-11T01:22:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915352.74 epoch sec; seqNo:1209; 4061678.26 north; 594372.12 east 2021-10-11T01:22:36Z- AHRS_M2 msg: 1633915353.10 epoch sec; seqNo:1173 2021-10-11T01:22:36Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 5.98 psi 2021-10-11T01:22:36Z- handleDepth()-Depth_Keller msg: 1633915353111 epoch sec; seqNo:1210; depth 50.38 2021-10-11T01:22:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915353.14 epoch sec; seqNo:1210; 4061678.64 north; 594372.12 east 2021-10-11T01:22:36Z- AHRS_M2 msg: 1633915353.51 epoch sec; seqNo:1174 2021-10-11T01:22:36Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 5.98 psi 2021-10-11T01:22:36Z- handleDepth()-Depth_Keller msg: 1633915353511 epoch sec; seqNo:1211; depth 50.38 2021-10-11T01:22:36Z- handleDvl() - RDI_Pathfinder msg: 1633915353.53 epoch sec; seqNo:278 2021-10-11T01:22:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 36.64 , 28.83 , 30.67 2021-10-11T01:22:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.04 , 0.02 2021-10-11T01:22:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915353.56 epoch sec; seqNo:1211; 4061678.64 north; 594372.12 east 2021-10-11T01:22:37Z- AHRS_M2 msg: 1633915353.91 epoch sec; seqNo:1175 2021-10-11T01:22:37Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 5.98 psi 2021-10-11T01:22:37Z- handleDepth()-Depth_Keller msg: 1633915353925 epoch sec; seqNo:1212; depth 50.39 2021-10-11T01:22:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915353.94 epoch sec; seqNo:1212; 4061679.01 north; 594372.11 east 2021-10-11T01:22:37Z- AHRS_M2 msg: 1633915354.34 epoch sec; seqNo:1176 2021-10-11T01:22:37Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 5.98 psi 2021-10-11T01:22:37Z- handleDepth()-Depth_Keller msg: 1633915354341 epoch sec; seqNo:1213; depth 50.37 2021-10-11T01:22:37Z- handleDvl() - RDI_Pathfinder msg: 1633915354.37 epoch sec; seqNo:279 2021-10-11T01:22:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 37.41 , 28.67 , 30.51 2021-10-11T01:22:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.04 , 0.00 2021-10-11T01:22:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915354.38 epoch sec; seqNo:1213; 4061679.39 north; 594372.11 east 2021-10-11T01:22:38Z- AHRS_M2 msg: 1633915354.72 epoch sec; seqNo:1177 2021-10-11T01:22:38Z- AHRS_M2 msg: -0.18 phi; 0.00 theta; 5.99 psi 2021-10-11T01:22:38Z- handleDepth()-Depth_Keller msg: 1633915354727 epoch sec; seqNo:1214; depth 50.38 2021-10-11T01:22:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915354.74 epoch sec; seqNo:1214; 4061679.76 north; 594370.88 east 2021-10-11T01:22:38Z- AHRS_M2 msg: 1633915355.12 epoch sec; seqNo:1178 2021-10-11T01:22:38Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 5.99 psi 2021-10-11T01:22:38Z- handleDepth()-Depth_Keller msg: 1633915355128 epoch sec; seqNo:1215; depth 50.36 2021-10-11T01:22:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915355.15 epoch sec; seqNo:1215; 4061680.14 north; 594370.88 east 2021-10-11T01:22:38Z- AHRS_M2 msg: 1633915355.53 epoch sec; seqNo:1179 2021-10-11T01:22:38Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 5.99 psi 2021-10-11T01:22:38Z- handleDepth()-Depth_Keller msg: 1633915355536 epoch sec; seqNo:1216; depth 50.35 2021-10-11T01:22:38Z- handleDvl() - RDI_Pathfinder msg: 1633915355.56 epoch sec; seqNo:280 2021-10-11T01:22:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 37.26 , 28.83 , 30.51 2021-10-11T01:22:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , -0.00 2021-10-11T01:22:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915355.58 epoch sec; seqNo:1216; 4061680.52 north; 594370.87 east 2021-10-11T01:22:39Z- AHRS_M2 msg: 1633915355.93 epoch sec; seqNo:1180 2021-10-11T01:22:39Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.00 psi 2021-10-11T01:22:39Z- handleDepth()-Depth_Keller msg: 1633915355938 epoch sec; seqNo:1217; depth 50.36 2021-10-11T01:22:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915355.95 epoch sec; seqNo:1217; 4061680.52 north; 594370.87 east 2021-10-11T01:22:39Z- AHRS_M2 msg: 1633915356.37 epoch sec; seqNo:1181 2021-10-11T01:22:39Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.00 psi 2021-10-11T01:22:39Z- handleDepth()-Depth_Keller msg: 1633915356371 epoch sec; seqNo:1218; depth 50.34 2021-10-11T01:22:39Z- handleDvl() - RDI_Pathfinder msg: 1633915356.39 epoch sec; seqNo:281 2021-10-11T01:22:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.33 , 29.43 , 30.66 2021-10-11T01:22:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , -0.01 2021-10-11T01:22:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915356.42 epoch sec; seqNo:1218; 4061680.89 north; 594370.87 east 2021-10-11T01:22:40Z- AHRS_M2 msg: 1633915356.74 epoch sec; seqNo:1182 2021-10-11T01:22:40Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.00 psi 2021-10-11T01:22:40Z- handleDepth()-Depth_Keller msg: 1633915356742 epoch sec; seqNo:1219; depth 50.33 2021-10-11T01:22:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915356.76 epoch sec; seqNo:1219; 4061681.27 north; 594370.87 east 2021-10-11T01:22:40Z- AHRS_M2 msg: 1633915357.14 epoch sec; seqNo:1183 2021-10-11T01:22:40Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.00 psi 2021-10-11T01:22:40Z- handleDepth()-Depth_Keller msg: 1633915357148 epoch sec; seqNo:1220; depth 50.35 2021-10-11T01:22:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915357.16 epoch sec; seqNo:1220; 4061681.65 north; 594370.86 east 2021-10-11T01:22:40Z- AHRS_M2 msg: 1633915357.55 epoch sec; seqNo:1184 2021-10-11T01:22:40Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.01 psi 2021-10-11T01:22:40Z- handleDepth()-Depth_Keller msg: 1633915357556 epoch sec; seqNo:1221; depth 50.32 2021-10-11T01:22:40Z- handleDvl() - RDI_Pathfinder msg: 1633915357.58 epoch sec; seqNo:282 2021-10-11T01:22:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.29 , 36.64 , 28.98 , 30.51 2021-10-11T01:22:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.09 , -0.02 2021-10-11T01:22:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915357.61 epoch sec; seqNo:1221; 4061682.03 north; 594370.86 east 2021-10-11T01:22:41Z- LcmTrn::handleMessages() - handling 44 messages took 0.76 ms and 129 calls... 2021-10-11T01:22:41Z- waiting for 1633915355.36, time is 1633915357.61 2021-10-11T01:22:41Z- LcmTrn::updateTrn() equating pose 1633915357.61 and meas times 1633915357.61 2021-10-11T01:22:41Z- LcmTrn::updateTrn() >>>> pose time 1633915357.61, meas time 1633915357.61 <<<< 2021-10-11T01:22:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915357.61 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:41Z- TerrainNav::motionUpdate() - currEstimate = (4061682, 594370.86, 50.32) 2021-10-11T01:22:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:41Z- TerrainNav:: SubcloudNIS is 0.63, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:41Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915357.61 sec.; No relevant navigation data available 2021-10-11T01:22:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:41Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:41Z- variances([0], [2], and psi_berg) = 13.578995 36.386288 0.000000 2021-10-11T01:22:41Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:41Z- LcmTrn::publishEstimates() - MLE : 4061684.52 594276.96 38.32 2021-10-11T01:22:41Z- LcmTrn::publishEstimates() - MMSE : 4061685.96 594277.38 8.18 2021-10-11T01:22:41Z- LcmTrn::publishEstimates() - COVAR: 13.58 36.39 1.00 0.00 2021-10-11T01:22:41Z- AHRS_M2 msg: 1633915357.95 epoch sec; seqNo:1185 2021-10-11T01:22:41Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.01 psi 2021-10-11T01:22:41Z- handleDepth()-Depth_Keller msg: 1633915357954 epoch sec; seqNo:1222; depth 50.32 2021-10-11T01:22:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915357.98 epoch sec; seqNo:1222; 4061682.41 north; 594370.85 east 2021-10-11T01:22:41Z- AHRS_M2 msg: 1633915358.39 epoch sec; seqNo:1186 2021-10-11T01:22:41Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.01 psi 2021-10-11T01:22:41Z- handleDepth()-Depth_Keller msg: 1633915358398 epoch sec; seqNo:1223; depth 50.33 2021-10-11T01:22:41Z- handleDvl() - RDI_Pathfinder msg: 1633915358.43 epoch sec; seqNo:283 2021-10-11T01:22:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.53 , 19.76 , 29.16 , 30.52 2021-10-11T01:22:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.08 , -0.01 2021-10-11T01:22:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915358.44 epoch sec; seqNo:1223; 4061682.79 north; 594370.85 east 2021-10-11T01:22:42Z- AHRS_M2 msg: 1633915358.76 epoch sec; seqNo:1187 2021-10-11T01:22:42Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.01 psi 2021-10-11T01:22:42Z- handleDepth()-Depth_Keller msg: 1633915358762 epoch sec; seqNo:1224; depth 50.31 2021-10-11T01:22:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915358.79 epoch sec; seqNo:1224; 4061682.78 north; 594369.63 east 2021-10-11T01:22:42Z- AHRS_M2 msg: 1633915359.16 epoch sec; seqNo:1188 2021-10-11T01:22:42Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.02 psi 2021-10-11T01:22:42Z- handleDepth()-Depth_Keller msg: 1633915359171 epoch sec; seqNo:1225; depth 50.30 2021-10-11T01:22:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915359.20 epoch sec; seqNo:1225; 4061683.15 north; 594369.62 east 2021-10-11T01:22:42Z- AHRS_M2 msg: 1633915359.57 epoch sec; seqNo:1189 2021-10-11T01:22:42Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.02 psi 2021-10-11T01:22:42Z- handleDepth()-Depth_Keller msg: 1633915359576 epoch sec; seqNo:1226; depth 50.31 2021-10-11T01:22:42Z- handleDvl() - RDI_Pathfinder msg: 1633915359.61 epoch sec; seqNo:284 2021-10-11T01:22:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 19.91 , 29.09 , 30.76 2021-10-11T01:22:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.05 , -0.03 2021-10-11T01:22:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915359.62 epoch sec; seqNo:1226; 4061683.53 north; 594369.62 east 2021-10-11T01:22:43Z- AHRS_M2 msg: 1633915359.97 epoch sec; seqNo:1190 2021-10-11T01:22:43Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.02 psi 2021-10-11T01:22:43Z- handleDepth()-Depth_Keller msg: 1633915359976 epoch sec; seqNo:1227; depth 50.32 2021-10-11T01:22:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915359.99 epoch sec; seqNo:1227; 4061683.91 north; 594369.62 east 2021-10-11T01:22:43Z- AHRS_M2 msg: 1633915360.41 epoch sec; seqNo:1191 2021-10-11T01:22:43Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.02 psi 2021-10-11T01:22:43Z- handleDepth()-Depth_Keller msg: 1633915360423 epoch sec; seqNo:1228; depth 50.30 2021-10-11T01:22:43Z- handleDvl() - RDI_Pathfinder msg: 1633915360.45 epoch sec; seqNo:285 2021-10-11T01:22:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.26 , 18.48 , 28.86 , 30.65 2021-10-11T01:22:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.25 , -0.07 2021-10-11T01:22:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915360.47 epoch sec; seqNo:1228; 4061684.29 north; 594369.61 east 2021-10-11T01:22:44Z- AHRS_M2 msg: 1633915360.78 epoch sec; seqNo:1192 2021-10-11T01:22:44Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.03 psi 2021-10-11T01:22:44Z- handleDepth()-Depth_Keller msg: 1633915360782 epoch sec; seqNo:1229; depth 50.31 2021-10-11T01:22:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915360.80 epoch sec; seqNo:1229; 4061684.67 north; 594369.61 east 2021-10-11T01:22:44Z- AHRS_M2 msg: 1633915361.18 epoch sec; seqNo:1193 2021-10-11T01:22:44Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.03 psi 2021-10-11T01:22:44Z- handleDepth()-Depth_Keller msg: 1633915361187 epoch sec; seqNo:1230; depth 50.30 2021-10-11T01:22:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915361.20 epoch sec; seqNo:1230; 4061685.05 north; 594369.60 east 2021-10-11T01:22:44Z- AHRS_M2 msg: 1633915361.58 epoch sec; seqNo:1194 2021-10-11T01:22:44Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.03 psi 2021-10-11T01:22:44Z- handleDepth()-Depth_Keller msg: 1633915361597 epoch sec; seqNo:1231; depth 50.31 2021-10-11T01:22:44Z- handleDvl() - RDI_Pathfinder msg: 1633915361.62 epoch sec; seqNo:286 2021-10-11T01:22:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.50 , 33.74 , 28.74 , 30.52 2021-10-11T01:22:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , 0.03 2021-10-11T01:22:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915361.64 epoch sec; seqNo:1231; 4061685.43 north; 594369.60 east 2021-10-11T01:22:45Z- AHRS_M2 msg: 1633915361.99 epoch sec; seqNo:1195 2021-10-11T01:22:45Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.04 psi 2021-10-11T01:22:45Z- handleDepth()-Depth_Keller msg: 1633915361994 epoch sec; seqNo:1232; depth 50.31 2021-10-11T01:22:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915362.02 epoch sec; seqNo:1232; 4061685.43 north; 594369.60 east 2021-10-11T01:22:45Z- AHRS_M2 msg: 1633915362.42 epoch sec; seqNo:1196 2021-10-11T01:22:45Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.04 psi 2021-10-11T01:22:45Z- handleDepth()-Depth_Keller msg: 1633915362453 epoch sec; seqNo:1233; depth 50.31 2021-10-11T01:22:45Z- handleDvl() - RDI_Pathfinder msg: 1633915362.48 epoch sec; seqNo:287 2021-10-11T01:22:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.75 , 33.93 , 28.89 , 30.39 2021-10-11T01:22:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.12 , 0.04 2021-10-11T01:22:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915362.49 epoch sec; seqNo:1233; 4061685.81 north; 594369.60 east 2021-10-11T01:22:46Z- AHRS_M2 msg: 1633915362.80 epoch sec; seqNo:1197 2021-10-11T01:22:46Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.04 psi 2021-10-11T01:22:46Z- handleDepth()-Depth_Keller msg: 1633915362804 epoch sec; seqNo:1234; depth 50.32 2021-10-11T01:22:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915362.82 epoch sec; seqNo:1234; 4061686.19 north; 594369.59 east 2021-10-11T01:22:46Z- LcmTrn::handleMessages() - handling 44 messages took 0.74 ms and 129 calls... 2021-10-11T01:22:46Z- waiting for 1633915360.61, time is 1633915362.82 2021-10-11T01:22:46Z- LcmTrn::updateTrn() >>>> pose time 1633915362.82, meas time 1633915362.48 <<<< 2021-10-11T01:22:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915362.48 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:46Z- TerrainNav::motionUpdate() - currEstimate = (4061686, 594369.59, 50.32) 2021-10-11T01:22:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:46Z- TerrainNav:: SubcloudNIS is 0.63, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:46Z- TNavBF::Projecting Measurements 2021-10-11T01:22:46Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:46Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:46Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:46Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:46Z- TNavFilter::4 good beams. 2021-10-11T01:22:46Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:46Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:46Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:46Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:46Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:46Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:46Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:46Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:46Z- TerrainMapOctree: (vehN, vehE ) = (4061685.91, 594369.68). 2021-10-11T01:22:46Z- TerrainMapOctree: Min Distance = 135.76. 2021-10-11T01:22:46Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:46Z- Forcing Subcloud Comparison 2021-10-11T01:22:46Z- Filter 0 deapthBias would have been set to Nan. indexP: 8534 indexM: 2 2021-10-11T01:22:46Z- Old Depth Bias: -23.41 DepthBiasCov: 0.58 K: 0.158 ExpectedMeasDiff: nan currMeas.covariance: 1.34 2021-10-11T01:22:46Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:46Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:46Z- Filter 0 partialDeltaRmsComputation: 1.007610 terrainVariance: 0.224324 1-SumSquareWeights: 0.980090 2021-10-11T01:22:46Z- Filter 0 meanExpectedMeasDiff: -0.885034 delta_rms_squared: 0.214523 alpha: 0.914721 2021-10-11T01:22:46Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:46Z- Filter 0 partialDeltaRmsComputation: 0.589627 terrainVariance: 0.169108 1-SumSquareWeights: 0.980090 2021-10-11T01:22:46Z- Filter 0 meanExpectedMeasDiff: 0.648474 delta_rms_squared: 0.159307 alpha: 0.888460 2021-10-11T01:22:46Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:22:46Z- Filter 0 partialDeltaRmsComputation: 8.610808 terrainVariance: 0.291440 1-SumSquareWeights: 0.980090 2021-10-11T01:22:46Z- Filter 0 meanExpectedMeasDiff: -2.884331 delta_rms_squared: 0.281639 alpha: 0.933696 2021-10-11T01:22:46Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:46Z- Filter 0 partialDeltaRmsComputation: 2.530617 terrainVariance: 0.214024 1-SumSquareWeights: 0.980090 2021-10-11T01:22:46Z- Filter 0 meanExpectedMeasDiff: 1.522036 delta_rms_squared: 0.204223 alpha: 0.910803 2021-10-11T01:22:46Z- Filter 0 SubcloudNIS: 0.595807 2021-10-11T01:22:46Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:46Z- TNavBF:: Filter 0 sumWeights = 0.214705 2021-10-11T01:22:46Z- Filter 0 NorthBias: 3.5 EastBias: -93.6 DepthBias: -42.7 NorthVariance: 12.7 EastVariance: 4.2 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:22:46Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915362.48 sec. 2021-10-11T01:22:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:46Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:46Z- variances([0], [2], and psi_berg) = 12.704627 13.464148 0.000000 2021-10-11T01:22:46Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:46Z- LcmTrn::publishEstimates() - MLE : 4061685.67 594273.69 38.32 2021-10-11T01:22:46Z- LcmTrn::publishEstimates() - MMSE : 4061689.67 594276.09 7.66 2021-10-11T01:22:46Z- LcmTrn::publishEstimates() - COVAR: 12.70 13.46 0.59 0.00 2021-10-11T01:22:46Z- AHRS_M2 msg: 1633915363.20 epoch sec; seqNo:1198 2021-10-11T01:22:46Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.04 psi 2021-10-11T01:22:46Z- handleDepth()-Depth_Keller msg: 1633915363207 epoch sec; seqNo:1235; depth 50.32 2021-10-11T01:22:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915363.23 epoch sec; seqNo:1235; 4061686.56 north; 594369.59 east 2021-10-11T01:22:46Z- AHRS_M2 msg: 1633915363.61 epoch sec; seqNo:1199 2021-10-11T01:22:46Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.05 psi 2021-10-11T01:22:46Z- handleDepth()-Depth_Keller msg: 1633915363616 epoch sec; seqNo:1236; depth 50.32 2021-10-11T01:22:47Z- handleDvl() - RDI_Pathfinder msg: 1633915363.65 epoch sec; seqNo:288 2021-10-11T01:22:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.16 , 34.07 , 28.62 , 30.39 2021-10-11T01:22:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.12 , 0.03 2021-10-11T01:22:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915363.66 epoch sec; seqNo:1236; 4061686.94 north; 594369.58 east 2021-10-11T01:22:47Z- AHRS_M2 msg: 1633915364.01 epoch sec; seqNo:1200 2021-10-11T01:22:47Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.05 psi 2021-10-11T01:22:47Z- handleDepth()-Depth_Keller msg: 1633915364014 epoch sec; seqNo:1237; depth 50.32 2021-10-11T01:22:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915364.03 epoch sec; seqNo:1237; 4061687.32 north; 594369.58 east 2021-10-11T01:22:47Z- AHRS_M2 msg: 1633915364.43 epoch sec; seqNo:1201 2021-10-11T01:22:47Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.05 psi 2021-10-11T01:22:47Z- handleDepth()-Depth_Keller msg: 1633915364446 epoch sec; seqNo:1238; depth 50.32 2021-10-11T01:22:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915364.50 epoch sec; seqNo:1238; 4061687.31 north; 594368.36 east 2021-10-11T01:22:48Z- AHRS_M2 msg: 1633915364.82 epoch sec; seqNo:1202 2021-10-11T01:22:48Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.06 psi 2021-10-11T01:22:48Z- handleDepth()-Depth_Keller msg: 1633915364822 epoch sec; seqNo:1239; depth 50.32 2021-10-11T01:22:48Z- handleDvl() - RDI_Pathfinder msg: 1633915364.85 epoch sec; seqNo:289 2021-10-11T01:22:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.43 , 34.21 , 28.34 , 30.25 2021-10-11T01:22:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.13 , 0.01 2021-10-11T01:22:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915364.87 epoch sec; seqNo:1239; 4061687.69 north; 594368.35 east 2021-10-11T01:22:48Z- AHRS_M2 msg: 1633915365.22 epoch sec; seqNo:1203 2021-10-11T01:22:48Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.06 psi 2021-10-11T01:22:48Z- handleDepth()-Depth_Keller msg: 1633915365226 epoch sec; seqNo:1240; depth 50.34 2021-10-11T01:22:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915365.24 epoch sec; seqNo:1240; 4061688.07 north; 594368.35 east 2021-10-11T01:22:48Z- AHRS_M2 msg: 1633915365.63 epoch sec; seqNo:1204 2021-10-11T01:22:48Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.06 psi 2021-10-11T01:22:49Z- handleDepth()-Depth_Keller msg: 1633915365640 epoch sec; seqNo:1241; depth 50.33 2021-10-11T01:22:49Z- handleDvl() - RDI_Pathfinder msg: 1633915365.66 epoch sec; seqNo:290 2021-10-11T01:22:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.03 , 34.07 , 29.16 , 30.25 2021-10-11T01:22:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.12 , 0.01 2021-10-11T01:22:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915365.70 epoch sec; seqNo:1241; 4061688.44 north; 594368.35 east 2021-10-11T01:22:49Z- AHRS_M2 msg: 1633915366.03 epoch sec; seqNo:1205 2021-10-11T01:22:49Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.06 psi 2021-10-11T01:22:49Z- handleDepth()-Depth_Keller msg: 1633915366046 epoch sec; seqNo:1242; depth 50.34 2021-10-11T01:22:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915366.07 epoch sec; seqNo:1242; 4061688.82 north; 594368.34 east 2021-10-11T01:22:49Z- AHRS_M2 msg: 1633915366.44 epoch sec; seqNo:1206 2021-10-11T01:22:49Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.07 psi 2021-10-11T01:22:49Z- handleDepth()-Depth_Keller msg: 1633915366445 epoch sec; seqNo:1243; depth 50.35 2021-10-11T01:22:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915366.52 epoch sec; seqNo:1243; 4061689.20 north; 594368.34 east 2021-10-11T01:22:50Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:22:50Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:22:50Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:22:50Z- AHRS_M2 msg: 1633915366.83 epoch sec; seqNo:1207 2021-10-11T01:22:50Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.07 psi 2021-10-11T01:22:50Z- handleDepth()-Depth_Keller msg: 1633915366866 epoch sec; seqNo:1244; depth 50.37 2021-10-11T01:22:50Z- handleDvl() - RDI_Pathfinder msg: 1633915366.89 epoch sec; seqNo:291 2021-10-11T01:22:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.75 , 34.61 , 29.16 , 30.25 2021-10-11T01:22:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.08 , 0.03 2021-10-11T01:22:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915366.91 epoch sec; seqNo:1244; 4061689.20 north; 594368.34 east 2021-10-11T01:22:50Z- AHRS_M2 msg: 1633915367.24 epoch sec; seqNo:1208 2021-10-11T01:22:50Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.07 psi 2021-10-11T01:22:50Z- handleDepth()-Depth_Keller msg: 1633915367249 epoch sec; seqNo:1245; depth 50.37 2021-10-11T01:22:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915367.27 epoch sec; seqNo:1245; 4061689.58 north; 594368.33 east 2021-10-11T01:22:51Z- AHRS_M2 msg: 1633915367.64 epoch sec; seqNo:1209 2021-10-11T01:22:51Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.07 psi 2021-10-11T01:22:51Z- handleDepth()-Depth_Keller msg: 1633915367649 epoch sec; seqNo:1246; depth 50.37 2021-10-11T01:22:51Z- handleDvl() - RDI_Pathfinder msg: 1633915367.71 epoch sec; seqNo:292 2021-10-11T01:22:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.03 , 35.16 , 29.16 , 30.25 2021-10-11T01:22:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , 0.04 2021-10-11T01:22:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915367.73 epoch sec; seqNo:1246; 4061689.96 north; 594368.33 east 2021-10-11T01:22:51Z- AHRS_M2 msg: 1633915368.07 epoch sec; seqNo:1210 2021-10-11T01:22:51Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.08 psi 2021-10-11T01:22:51Z- handleDepth()-Depth_Keller msg: 1633915368071 epoch sec; seqNo:1247; depth 50.38 2021-10-11T01:22:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915368.09 epoch sec; seqNo:1247; 4061690.34 north; 594368.33 east 2021-10-11T01:22:51Z- LcmTrn::handleMessages() - handling 44 messages took 0.90 ms and 126 calls... 2021-10-11T01:22:51Z- waiting for 1633915365.82, time is 1633915368.09 2021-10-11T01:22:51Z- LcmTrn::updateTrn() >>>> pose time 1633915368.09, meas time 1633915367.71 <<<< 2021-10-11T01:22:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915367.71 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:51Z- TerrainNav::motionUpdate() - currEstimate = (4061690, 594368.33, 50.38) 2021-10-11T01:22:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:51Z- TerrainNav:: SubcloudNIS is 0.60, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:51Z- TNavBF::Projecting Measurements 2021-10-11T01:22:51Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:51Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:51Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:51Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:51Z- TNavFilter::4 good beams. 2021-10-11T01:22:51Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:51Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:51Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:51Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:51Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:51Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:51Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:51Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:51Z- TerrainMapOctree: (vehN, vehE ) = (4061690.03, 594368.42). 2021-10-11T01:22:51Z- TerrainMapOctree: Min Distance = 132.74. 2021-10-11T01:22:51Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:51Z- Forcing Subcloud Comparison 2021-10-11T01:22:51Z- Filter 0 deapthBias would have been set to Nan. indexP: 8136 indexM: 2 2021-10-11T01:22:51Z- Old Depth Bias: -23.18 DepthBiasCov: 0.46 K: 0.130 ExpectedMeasDiff: nan currMeas.covariance: 1.36 2021-10-11T01:22:51Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:51Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:51Z- Filter 0 partialDeltaRmsComputation: 0.345284 terrainVariance: 0.134323 1-SumSquareWeights: 0.982464 2021-10-11T01:22:51Z- Filter 0 meanExpectedMeasDiff: -0.459304 delta_rms_squared: 0.124499 alpha: 0.861591 2021-10-11T01:22:51Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:51Z- Filter 0 partialDeltaRmsComputation: 3.412427 terrainVariance: 0.171322 1-SumSquareWeights: 0.982464 2021-10-11T01:22:51Z- Filter 0 meanExpectedMeasDiff: 1.800307 delta_rms_squared: 0.161497 alpha: 0.889805 2021-10-11T01:22:51Z- Filter 0 beam number: 2 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:22:51Z- Filter 0 partialDeltaRmsComputation: 6.469939 terrainVariance: 0.310414 1-SumSquareWeights: 0.982464 2021-10-11T01:22:51Z- Filter 0 meanExpectedMeasDiff: -2.481839 delta_rms_squared: 0.300589 alpha: 0.937615 2021-10-11T01:22:51Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:51Z- Filter 0 partialDeltaRmsComputation: 2.047693 terrainVariance: 0.244271 1-SumSquareWeights: 0.982464 2021-10-11T01:22:51Z- Filter 0 meanExpectedMeasDiff: 1.342916 delta_rms_squared: 0.234447 alpha: 0.921398 2021-10-11T01:22:51Z- Filter 0 SubcloudNIS: 0.592643 2021-10-11T01:22:51Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:51Z- TNavBF:: Filter 0 sumWeights = 0.237989 2021-10-11T01:22:51Z- Filter 0 NorthBias: 3.0 EastBias: -93.2 DepthBias: -42.7 NorthVariance: 11.6 EastVariance: 5.6 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:22:51Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915367.71 sec. 2021-10-11T01:22:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:51Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:51Z- variances([0], [2], and psi_berg) = 11.658393 14.957494 0.000000 2021-10-11T01:22:51Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:51Z- LcmTrn::publishEstimates() - MLE : 4061689.82 594272.43 38.38 2021-10-11T01:22:51Z- LcmTrn::publishEstimates() - MMSE : 4061693.37 594275.26 7.74 2021-10-11T01:22:51Z- LcmTrn::publishEstimates() - COVAR: 11.66 14.96 0.57 0.00 2021-10-11T01:22:51Z- AHRS_M2 msg: 1633915368.46 epoch sec; seqNo:1211 2021-10-11T01:22:51Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.08 psi 2021-10-11T01:22:51Z- handleDepth()-Depth_Keller msg: 1633915368470 epoch sec; seqNo:1248; depth 50.39 2021-10-11T01:22:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915368.50 epoch sec; seqNo:1248; 4061690.72 north; 594368.32 east 2021-10-11T01:22:52Z- AHRS_M2 msg: 1633915368.86 epoch sec; seqNo:1212 2021-10-11T01:22:52Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.08 psi 2021-10-11T01:22:52Z- handleDepth()-Depth_Keller msg: 1633915368861 epoch sec; seqNo:1249; depth 50.39 2021-10-11T01:22:52Z- handleDvl() - RDI_Pathfinder msg: 1633915368.89 epoch sec; seqNo:293 2021-10-11T01:22:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.82 , 37.40 , 29.13 , 30.20 2021-10-11T01:22:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , 0.05 2021-10-11T01:22:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915368.91 epoch sec; seqNo:1249; 4061691.08 north; 594367.10 east 2021-10-11T01:22:52Z- AHRS_M2 msg: 1633915369.29 epoch sec; seqNo:1213 2021-10-11T01:22:52Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.09 psi 2021-10-11T01:22:52Z- handleDepth()-Depth_Keller msg: 1633915369317 epoch sec; seqNo:1250; depth 50.41 2021-10-11T01:22:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915369.33 epoch sec; seqNo:1250; 4061691.46 north; 594367.09 east 2021-10-11T01:22:53Z- AHRS_M2 msg: 1633915369.67 epoch sec; seqNo:1214 2021-10-11T01:22:53Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.09 psi 2021-10-11T01:22:53Z- handleDepth()-Depth_Keller msg: 1633915369672 epoch sec; seqNo:1251; depth 50.41 2021-10-11T01:22:53Z- handleDvl() - RDI_Pathfinder msg: 1633915369.69 epoch sec; seqNo:294 2021-10-11T01:22:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.82 , 37.86 , 29.28 , 30.20 2021-10-11T01:22:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.05 , 0.04 2021-10-11T01:22:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915369.71 epoch sec; seqNo:1251; 4061691.46 north; 594367.09 east 2021-10-11T01:22:53Z- AHRS_M2 msg: 1633915370.07 epoch sec; seqNo:1215 2021-10-11T01:22:53Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.10 psi 2021-10-11T01:22:53Z- handleDepth()-Depth_Keller msg: 1633915370084 epoch sec; seqNo:1252; depth 50.42 2021-10-11T01:22:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915370.12 epoch sec; seqNo:1252; 4061691.84 north; 594367.09 east 2021-10-11T01:22:53Z- AHRS_M2 msg: 1633915370.48 epoch sec; seqNo:1216 2021-10-11T01:22:53Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.10 psi 2021-10-11T01:22:53Z- handleDepth()-Depth_Keller msg: 1633915370489 epoch sec; seqNo:1253; depth 50.43 2021-10-11T01:22:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915370.51 epoch sec; seqNo:1253; 4061692.22 north; 594367.08 east 2021-10-11T01:22:54Z- AHRS_M2 msg: 1633915370.88 epoch sec; seqNo:1217 2021-10-11T01:22:54Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.10 psi 2021-10-11T01:22:54Z- handleDepth()-Depth_Keller msg: 1633915370884 epoch sec; seqNo:1254; depth 50.43 2021-10-11T01:22:54Z- handleDvl() - RDI_Pathfinder msg: 1633915370.91 epoch sec; seqNo:295 2021-10-11T01:22:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.51 , 38.02 , 29.13 , 30.20 2021-10-11T01:22:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.04 , 0.02 2021-10-11T01:22:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915370.92 epoch sec; seqNo:1254; 4061692.60 north; 594367.08 east 2021-10-11T01:22:54Z- AHRS_M2 msg: 1633915371.28 epoch sec; seqNo:1218 2021-10-11T01:22:54Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.11 psi 2021-10-11T01:22:54Z- handleDepth()-Depth_Keller msg: 1633915371288 epoch sec; seqNo:1255; depth 50.41 2021-10-11T01:22:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915371.32 epoch sec; seqNo:1255; 4061692.98 north; 594367.08 east 2021-10-11T01:22:55Z- AHRS_M2 msg: 1633915371.68 epoch sec; seqNo:1219 2021-10-11T01:22:55Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.11 psi 2021-10-11T01:22:55Z- handleDepth()-Depth_Keller msg: 1633915371690 epoch sec; seqNo:1256; depth 50.43 2021-10-11T01:22:55Z- handleDvl() - RDI_Pathfinder msg: 1633915371.72 epoch sec; seqNo:296 2021-10-11T01:22:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 38.48 , 29.13 , 30.35 2021-10-11T01:22:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.04 , 0.01 2021-10-11T01:22:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915371.74 epoch sec; seqNo:1256; 4061693.36 north; 594367.07 east 2021-10-11T01:22:55Z- AHRS_M2 msg: 1633915372.10 epoch sec; seqNo:1220 2021-10-11T01:22:55Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.11 psi 2021-10-11T01:22:55Z- handleDepth()-Depth_Keller msg: 1633915372109 epoch sec; seqNo:1257; depth 50.42 2021-10-11T01:22:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915372.15 epoch sec; seqNo:1257; 4061693.74 north; 594367.07 east 2021-10-11T01:22:55Z- AHRS_M2 msg: 1633915372.49 epoch sec; seqNo:1221 2021-10-11T01:22:55Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.12 psi 2021-10-11T01:22:55Z- handleDepth()-Depth_Keller msg: 1633915372503 epoch sec; seqNo:1258; depth 50.42 2021-10-11T01:22:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915372.52 epoch sec; seqNo:1258; 4061694.11 north; 594367.06 east 2021-10-11T01:22:56Z- AHRS_M2 msg: 1633915372.90 epoch sec; seqNo:1222 2021-10-11T01:22:56Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.12 psi 2021-10-11T01:22:56Z- handleDepth()-Depth_Keller msg: 1633915372904 epoch sec; seqNo:1259; depth 50.43 2021-10-11T01:22:56Z- handleDvl() - RDI_Pathfinder msg: 1633915372.93 epoch sec; seqNo:297 2021-10-11T01:22:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.60 , 38.63 , 28.98 , 30.20 2021-10-11T01:22:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.04 , -0.01 2021-10-11T01:22:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915372.95 epoch sec; seqNo:1259; 4061694.11 north; 594367.06 east 2021-10-11T01:22:56Z- AHRS_M2 msg: 1633915373.30 epoch sec; seqNo:1223 2021-10-11T01:22:56Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 6.12 psi 2021-10-11T01:22:56Z- handleDepth()-Depth_Keller msg: 1633915373316 epoch sec; seqNo:1260; depth 50.42 2021-10-11T01:22:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915373.33 epoch sec; seqNo:1260; 4061694.49 north; 594367.06 east 2021-10-11T01:22:56Z- LcmTrn::handleMessages() - handling 44 messages took 0.74 ms and 129 calls... 2021-10-11T01:22:56Z- waiting for 1633915371.09, time is 1633915373.33 2021-10-11T01:22:56Z- LcmTrn::updateTrn() >>>> pose time 1633915373.33, meas time 1633915372.93 <<<< 2021-10-11T01:22:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915372.93 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:22:56Z- TerrainNav::motionUpdate() - currEstimate = (4061694, 594367.06, 50.42) 2021-10-11T01:22:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:22:56Z- TerrainNav:: SubcloudNIS is 0.59, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:22:56Z- TNavBF::Projecting Measurements 2021-10-11T01:22:56Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:22:56Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:22:56Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:22:56Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:22:56Z- TNavFilter::4 good beams. 2021-10-11T01:22:56Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:22:56Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:22:56Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:22:56Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:22:56Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:22:56Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:22:56Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:22:56Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:56Z- TerrainMapOctree: (vehN, vehE ) = (4061694.18, 594367.16). 2021-10-11T01:22:56Z- TerrainMapOctree: Min Distance = 129.78. 2021-10-11T01:22:56Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:22:56Z- Forcing Subcloud Comparison 2021-10-11T01:22:56Z- Filter 0 deapthBias would have been set to Nan. indexP: 7934 indexM: 2 2021-10-11T01:22:56Z- Old Depth Bias: -23.26 DepthBiasCov: 0.43 K: 0.123 ExpectedMeasDiff: nan currMeas.covariance: 1.34 2021-10-11T01:22:56Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:22:56Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:56Z- Filter 0 partialDeltaRmsComputation: 3.124331 terrainVariance: 0.114945 1-SumSquareWeights: 0.984077 2021-10-11T01:22:56Z- Filter 0 meanExpectedMeasDiff: -1.734758 delta_rms_squared: 0.105104 alpha: 0.840133 2021-10-11T01:22:56Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:56Z- Filter 0 partialDeltaRmsComputation: 25.236696 terrainVariance: 0.322004 1-SumSquareWeights: 0.984077 2021-10-11T01:22:56Z- Filter 0 meanExpectedMeasDiff: 4.991462 delta_rms_squared: 0.312164 alpha: 0.939789 2021-10-11T01:22:56Z- Filter 0 beam number: 2 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:22:56Z- Filter 0 partialDeltaRmsComputation: 7.770248 terrainVariance: 0.447728 1-SumSquareWeights: 0.984077 2021-10-11T01:22:56Z- Filter 0 meanExpectedMeasDiff: -2.706016 delta_rms_squared: 0.437887 alpha: 0.956321 2021-10-11T01:22:56Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:22:56Z- Filter 0 partialDeltaRmsComputation: 1.570383 terrainVariance: 0.211905 1-SumSquareWeights: 0.984077 2021-10-11T01:22:56Z- Filter 0 meanExpectedMeasDiff: 1.165537 delta_rms_squared: 0.202065 alpha: 0.909936 2021-10-11T01:22:56Z- Filter 0 SubcloudNIS: 0.640606 2021-10-11T01:22:56Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:22:56Z- TNavBF:: Filter 0 sumWeights = 0.017738 2021-10-11T01:22:56Z- Filter 0 NorthBias: 2.2 EastBias: -92.2 DepthBias: -42.5 NorthVariance: 10.2 EastVariance: 7.1 DepthVariance: 0.5 this->DepthBiasCov: 0.3 2021-10-11T01:22:56Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915372.93 sec. 2021-10-11T01:22:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:22:56Z- TNavBF::mmse selected from filter -1 2021-10-11T01:22:56Z- variances([0], [2], and psi_berg) = 10.234346 13.665962 0.000000 2021-10-11T01:22:56Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:22:56Z- LcmTrn::publishEstimates() - MLE : 4061696.98 594274.16 38.42 2021-10-11T01:22:56Z- LcmTrn::publishEstimates() - MMSE : 4061696.71 594274.90 7.94 2021-10-11T01:22:56Z- LcmTrn::publishEstimates() - COVAR: 10.23 13.67 0.58 0.00 2021-10-11T01:22:57Z- handleDepth()-Depth_Keller msg: 1633915373727 epoch sec; seqNo:1261; depth 50.42 2021-10-11T01:22:57Z- handleDvl() - RDI_Pathfinder msg: 1633915373.75 epoch sec; seqNo:298 2021-10-11T01:22:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 38.79 , 28.98 , 30.20 2021-10-11T01:22:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.07 , -0.01 2021-10-11T01:22:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915373.76 epoch sec; seqNo:1261; 4061694.87 north; 594367.05 east 2021-10-11T01:22:57Z- AHRS_M2 msg: 1633915374.11 epoch sec; seqNo:1224 2021-10-11T01:22:57Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 6.13 psi 2021-10-11T01:22:57Z- handleDepth()-Depth_Keller msg: 1633915374117 epoch sec; seqNo:1262; depth 50.42 2021-10-11T01:22:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915374.14 epoch sec; seqNo:1262; 4061695.25 north; 594367.05 east 2021-10-11T01:22:57Z- AHRS_M2 msg: 1633915374.51 epoch sec; seqNo:1225 2021-10-11T01:22:57Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 6.13 psi 2021-10-11T01:22:57Z- handleDepth()-Depth_Keller msg: 1633915374520 epoch sec; seqNo:1263; depth 50.43 2021-10-11T01:22:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915374.54 epoch sec; seqNo:1263; 4061695.63 north; 594367.05 east 2021-10-11T01:22:58Z- AHRS_M2 msg: 1633915374.92 epoch sec; seqNo:1226 2021-10-11T01:22:58Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.13 psi 2021-10-11T01:22:58Z- handleDepth()-Depth_Keller msg: 1633915374924 epoch sec; seqNo:1264; depth 50.40 2021-10-11T01:22:58Z- handleDvl() - RDI_Pathfinder msg: 1633915374.94 epoch sec; seqNo:299 2021-10-11T01:22:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 38.94 , 29.28 , 30.05 2021-10-11T01:22:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.09 , -0.02 2021-10-11T01:22:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915374.96 epoch sec; seqNo:1264; 4061696.01 north; 594367.04 east 2021-10-11T01:22:58Z- AHRS_M2 msg: 1633915375.33 epoch sec; seqNo:1227 2021-10-11T01:22:58Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.13 psi 2021-10-11T01:22:58Z- handleDepth()-Depth_Keller msg: 1633915375330 epoch sec; seqNo:1265; depth 50.41 2021-10-11T01:22:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915375.36 epoch sec; seqNo:1265; 4061696.37 north; 594365.82 east 2021-10-11T01:22:59Z- AHRS_M2 msg: 1633915375.72 epoch sec; seqNo:1228 2021-10-11T01:22:59Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.13 psi 2021-10-11T01:22:59Z- handleDepth()-Depth_Keller msg: 1633915375730 epoch sec; seqNo:1266; depth 50.42 2021-10-11T01:22:59Z- handleDvl() - RDI_Pathfinder msg: 1633915375.76 epoch sec; seqNo:300 2021-10-11T01:22:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 39.55 , 29.43 , 30.20 2021-10-11T01:22:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.11 , -0.00 2021-10-11T01:22:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915375.77 epoch sec; seqNo:1266; 4061696.75 north; 594365.81 east 2021-10-11T01:22:59Z- AHRS_M2 msg: 1633915376.13 epoch sec; seqNo:1229 2021-10-11T01:22:59Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.13 psi 2021-10-11T01:22:59Z- handleDepth()-Depth_Keller msg: 1633915376134 epoch sec; seqNo:1267; depth 50.42 2021-10-11T01:22:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915376.15 epoch sec; seqNo:1267; 4061696.75 north; 594365.81 east 2021-10-11T01:22:59Z- AHRS_M2 msg: 1633915376.54 epoch sec; seqNo:1230 2021-10-11T01:22:59Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.13 psi 2021-10-11T01:22:59Z- handleDepth()-Depth_Keller msg: 1633915376545 epoch sec; seqNo:1268; depth 50.42 2021-10-11T01:22:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915376.56 epoch sec; seqNo:1268; 4061697.13 north; 594365.81 east 2021-10-11T01:23:00Z- AHRS_M2 msg: 1633915376.94 epoch sec; seqNo:1231 2021-10-11T01:23:00Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.13 psi 2021-10-11T01:23:00Z- handleDepth()-Depth_Keller msg: 1633915376941 epoch sec; seqNo:1269; depth 50.43 2021-10-11T01:23:00Z- handleDvl() - RDI_Pathfinder msg: 1633915376.97 epoch sec; seqNo:301 2021-10-11T01:23:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 39.71 , 29.43 , 30.05 2021-10-11T01:23:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.12 , 0.01 2021-10-11T01:23:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915376.99 epoch sec; seqNo:1269; 4061697.51 north; 594365.81 east 2021-10-11T01:23:00Z- AHRS_M2 msg: 1633915377.35 epoch sec; seqNo:1232 2021-10-11T01:23:00Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.14 psi 2021-10-11T01:23:00Z- handleDepth()-Depth_Keller msg: 1633915377355 epoch sec; seqNo:1270; depth 50.42 2021-10-11T01:23:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915377.37 epoch sec; seqNo:1270; 4061697.89 north; 594365.80 east 2021-10-11T01:23:01Z- AHRS_M2 msg: 1633915377.75 epoch sec; seqNo:1233 2021-10-11T01:23:01Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.14 psi 2021-10-11T01:23:01Z- handleDepth()-Depth_Keller msg: 1633915377766 epoch sec; seqNo:1271; depth 50.42 2021-10-11T01:23:01Z- handleDvl() - RDI_Pathfinder msg: 1633915377.79 epoch sec; seqNo:302 2021-10-11T01:23:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 39.55 , 30.51 , 30.05 2021-10-11T01:23:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.12 , 0.04 2021-10-11T01:23:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915377.80 epoch sec; seqNo:1271; 4061698.27 north; 594365.80 east 2021-10-11T01:23:01Z- AHRS_M2 msg: 1633915378.15 epoch sec; seqNo:1234 2021-10-11T01:23:01Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 6.14 psi 2021-10-11T01:23:01Z- handleDepth()-Depth_Keller msg: 1633915378157 epoch sec; seqNo:1272; depth 50.43 2021-10-11T01:23:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915378.17 epoch sec; seqNo:1272; 4061698.65 north; 594365.79 east 2021-10-11T01:23:01Z- AHRS_M2 msg: 1633915378.56 epoch sec; seqNo:1235 2021-10-11T01:23:01Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 6.14 psi 2021-10-11T01:23:01Z- handleDepth()-Depth_Keller msg: 1633915378566 epoch sec; seqNo:1273; depth 50.43 2021-10-11T01:23:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915378.58 epoch sec; seqNo:1273; 4061699.03 north; 594365.79 east 2021-10-11T01:23:01Z- LcmTrn::handleMessages() - handling 43 messages took 0.76 ms and 127 calls... 2021-10-11T01:23:01Z- waiting for 1633915376.33, time is 1633915378.58 2021-10-11T01:23:01Z- LcmTrn::updateTrn() >>>> pose time 1633915378.58, meas time 1633915377.79 <<<< 2021-10-11T01:23:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915377.79 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:01Z- TerrainNav::motionUpdate() - currEstimate = (4061699, 594365.79, 50.43) 2021-10-11T01:23:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:01Z- TerrainNav:: SubcloudNIS is 0.64, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:02Z- TNavBF::Projecting Measurements 2021-10-11T01:23:02Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:23:02Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:23:02Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:23:02Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:23:02Z- TNavFilter::4 good beams. 2021-10-11T01:23:02Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:23:02Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:23:02Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:23:02Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:23:02Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:23:02Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:23:02Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:23:02Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:02Z- TerrainMapOctree: (vehN, vehE ) = (4061698.34, 594365.98). 2021-10-11T01:23:02Z- TerrainMapOctree: Min Distance = 126.96. 2021-10-11T01:23:02Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:23:02Z- Forcing Subcloud Comparison 2021-10-11T01:23:02Z- Filter 0 deapthBias would have been set to Nan. indexP: 7436 indexM: 2 2021-10-11T01:23:02Z- Old Depth Bias: -23.19 DepthBiasCov: 0.42 K: 0.116 ExpectedMeasDiff: nan currMeas.covariance: 1.49 2021-10-11T01:23:02Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:23:02Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:02Z- Filter 0 partialDeltaRmsComputation: 2.499475 terrainVariance: 0.109518 1-SumSquareWeights: 0.982846 2021-10-11T01:23:02Z- Filter 0 meanExpectedMeasDiff: -1.545949 delta_rms_squared: 0.099690 alpha: 0.832901 2021-10-11T01:23:02Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:02Z- Filter 0 partialDeltaRmsComputation: 29.016591 terrainVariance: 0.355449 1-SumSquareWeights: 0.982846 2021-10-11T01:23:02Z- Filter 0 meanExpectedMeasDiff: 5.353610 delta_rms_squared: 0.345620 alpha: 0.945298 2021-10-11T01:23:02Z- Filter 0 beam number: 2 num in subcloud: 9995 num not in subcloud: 5 2021-10-11T01:23:02Z- Filter 0 partialDeltaRmsComputation: 2.988825 terrainVariance: 0.519475 1-SumSquareWeights: 0.982846 2021-10-11T01:23:02Z- Filter 0 meanExpectedMeasDiff: -1.571417 delta_rms_squared: 0.509646 alpha: 0.962239 2021-10-11T01:23:02Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:02Z- Filter 0 partialDeltaRmsComputation: 0.798389 terrainVariance: 0.193608 1-SumSquareWeights: 0.982846 2021-10-11T01:23:02Z- Filter 0 meanExpectedMeasDiff: 0.777677 delta_rms_squared: 0.183779 alpha: 0.901854 2021-10-11T01:23:02Z- Filter 0 SubcloudNIS: 0.680121 2021-10-11T01:23:02Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:23:02Z- TNavBF:: Filter 0 sumWeights = 0.029307 2021-10-11T01:23:02Z- Filter 0 NorthBias: 1.5 EastBias: -91.5 DepthBias: -42.1 NorthVariance: 9.4 EastVariance: 7.8 DepthVariance: 0.5 this->DepthBiasCov: 0.3 2021-10-11T01:23:02Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915377.79 sec. 2021-10-11T01:23:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:02Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:02Z- variances([0], [2], and psi_berg) = 9.442924 15.243705 0.000000 2021-10-11T01:23:02Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:02Z- LcmTrn::publishEstimates() - MLE : 4061700.51 594272.89 38.43 2021-10-11T01:23:02Z- LcmTrn::publishEstimates() - MMSE : 4061700.49 594274.40 8.33 2021-10-11T01:23:02Z- LcmTrn::publishEstimates() - COVAR: 9.44 15.24 0.63 0.00 2021-10-11T01:23:02Z- AHRS_M2 msg: 1633915378.96 epoch sec; seqNo:1236 2021-10-11T01:23:02Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 6.15 psi 2021-10-11T01:23:02Z- handleDepth()-Depth_Keller msg: 1633915378969 epoch sec; seqNo:1274; depth 50.43 2021-10-11T01:23:02Z- handleDvl() - RDI_Pathfinder msg: 1633915379.00 epoch sec; seqNo:303 2021-10-11T01:23:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 39.70 , 30.05 , 29.89 2021-10-11T01:23:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.11 , 0.05 2021-10-11T01:23:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915379.01 epoch sec; seqNo:1274; 4061699.40 north; 594365.78 east 2021-10-11T01:23:02Z- AHRS_M2 msg: 1633915379.36 epoch sec; seqNo:1237 2021-10-11T01:23:02Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.15 psi 2021-10-11T01:23:02Z- handleDepth()-Depth_Keller msg: 1633915379366 epoch sec; seqNo:1275; depth 50.44 2021-10-11T01:23:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915379.38 epoch sec; seqNo:1275; 4061699.78 north; 594365.78 east 2021-10-11T01:23:03Z- AHRS_M2 msg: 1633915379.76 epoch sec; seqNo:1238 2021-10-11T01:23:03Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.15 psi 2021-10-11T01:23:03Z- handleDepth()-Depth_Keller msg: 1633915379769 epoch sec; seqNo:1276; depth 50.45 2021-10-11T01:23:03Z- handleDvl() - RDI_Pathfinder msg: 1633915379.79 epoch sec; seqNo:304 2021-10-11T01:23:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 38.94 , 30.20 , 29.89 2021-10-11T01:23:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.04 2021-10-11T01:23:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915379.82 epoch sec; seqNo:1276; 4061699.78 north; 594365.78 east 2021-10-11T01:23:03Z- AHRS_M2 msg: 1633915380.18 epoch sec; seqNo:1239 2021-10-11T01:23:03Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.16 psi 2021-10-11T01:23:03Z- handleDepth()-Depth_Keller msg: 1633915380185 epoch sec; seqNo:1277; depth 50.44 2021-10-11T01:23:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915380.20 epoch sec; seqNo:1277; 4061700.16 north; 594365.78 east 2021-10-11T01:23:03Z- AHRS_M2 msg: 1633915380.57 epoch sec; seqNo:1240 2021-10-11T01:23:03Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.16 psi 2021-10-11T01:23:03Z- handleDepth()-Depth_Keller msg: 1633915380583 epoch sec; seqNo:1278; depth 50.44 2021-10-11T01:23:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915380.61 epoch sec; seqNo:1278; 4061700.53 north; 594364.55 east 2021-10-11T01:23:04Z- AHRS_M2 msg: 1633915380.98 epoch sec; seqNo:1241 2021-10-11T01:23:04Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.16 psi 2021-10-11T01:23:04Z- handleDepth()-Depth_Keller msg: 1633915380981 epoch sec; seqNo:1279; depth 50.46 2021-10-11T01:23:04Z- handleDvl() - RDI_Pathfinder msg: 1633915381.00 epoch sec; seqNo:305 2021-10-11T01:23:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.51 , 38.78 , 30.66 , 29.89 2021-10-11T01:23:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , 0.02 2021-10-11T01:23:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915381.03 epoch sec; seqNo:1279; 4061700.91 north; 594364.55 east 2021-10-11T01:23:04Z- AHRS_M2 msg: 1633915381.39 epoch sec; seqNo:1242 2021-10-11T01:23:04Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.17 psi 2021-10-11T01:23:04Z- handleDepth()-Depth_Keller msg: 1633915381395 epoch sec; seqNo:1280; depth 50.47 2021-10-11T01:23:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915381.41 epoch sec; seqNo:1280; 4061701.29 north; 594364.54 east 2021-10-11T01:23:05Z- AHRS_M2 msg: 1633915381.79 epoch sec; seqNo:1243 2021-10-11T01:23:05Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.17 psi 2021-10-11T01:23:05Z- handleDepth()-Depth_Keller msg: 1633915381798 epoch sec; seqNo:1281; depth 50.47 2021-10-11T01:23:05Z- handleDvl() - RDI_Pathfinder msg: 1633915381.82 epoch sec; seqNo:306 2021-10-11T01:23:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.51 , 38.32 , 30.35 , 29.74 2021-10-11T01:23:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.09 , -0.02 2021-10-11T01:23:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915381.84 epoch sec; seqNo:1281; 4061701.29 north; 594364.54 east 2021-10-11T01:23:05Z- AHRS_M2 msg: 1633915382.19 epoch sec; seqNo:1244 2021-10-11T01:23:05Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.17 psi 2021-10-11T01:23:05Z- handleDepth()-Depth_Keller msg: 1633915382196 epoch sec; seqNo:1282; depth 50.47 2021-10-11T01:23:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915382.21 epoch sec; seqNo:1282; 4061701.66 north; 594364.54 east 2021-10-11T01:23:05Z- AHRS_M2 msg: 1633915382.60 epoch sec; seqNo:1245 2021-10-11T01:23:05Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.18 psi 2021-10-11T01:23:05Z- handleDepth()-Depth_Keller msg: 1633915382601 epoch sec; seqNo:1283; depth 50.47 2021-10-11T01:23:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915382.61 epoch sec; seqNo:1283; 4061702.04 north; 594364.53 east 2021-10-11T01:23:06Z- AHRS_M2 msg: 1633915383.00 epoch sec; seqNo:1246 2021-10-11T01:23:06Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.18 psi 2021-10-11T01:23:06Z- handleDepth()-Depth_Keller msg: 1633915383002 epoch sec; seqNo:1284; depth 50.47 2021-10-11T01:23:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915383.04 epoch sec; seqNo:1284; 4061702.42 north; 594364.53 east 2021-10-11T01:23:06Z- AHRS_M2 msg: 1633915383.40 epoch sec; seqNo:1247 2021-10-11T01:23:06Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.18 psi 2021-10-11T01:23:06Z- handleDepth()-Depth_Keller msg: 1633915383407 epoch sec; seqNo:1285; depth 50.48 2021-10-11T01:23:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915383.46 epoch sec; seqNo:1285; 4061702.80 north; 594364.53 east 2021-10-11T01:23:07Z- AHRS_M2 msg: 1633915383.81 epoch sec; seqNo:1248 2021-10-11T01:23:07Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.19 psi 2021-10-11T01:23:07Z- handleDepth()-Depth_Keller msg: 1633915383820 epoch sec; seqNo:1286; depth 50.47 2021-10-11T01:23:07Z- handleDvl() - RDI_Pathfinder msg: 1633915383.85 epoch sec; seqNo:307 2021-10-11T01:23:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.59 , 38.63 , 30.35 , 29.74 2021-10-11T01:23:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.14 , -0.04 2021-10-11T01:23:07Z- LcmTrn::handleMessages() - handling 43 messages took 0.83 ms and 126 calls... 2021-10-11T01:23:07Z- waiting for 1633915381.58, time is 1633915383.85 2021-10-11T01:23:07Z- LcmTrn::updateTrn() equating pose 1633915383.85 and meas times 1633915383.85 2021-10-11T01:23:07Z- LcmTrn::updateTrn() >>>> pose time 1633915383.85, meas time 1633915383.85 <<<< 2021-10-11T01:23:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915383.85 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:07Z- TerrainNav::motionUpdate() - currEstimate = (4061703, 594364.53, 50.47) 2021-10-11T01:23:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:07Z- TerrainNav:: SubcloudNIS is 0.68, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:07Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915383.85 sec.; No relevant navigation data available 2021-10-11T01:23:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:07Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:07Z- variances([0], [2], and psi_berg) = 9.485541 32.499946 0.000000 2021-10-11T01:23:07Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:07Z- LcmTrn::publishEstimates() - MLE : 4061704.29 594271.63 38.47 2021-10-11T01:23:07Z- LcmTrn::publishEstimates() - MMSE : 4061704.27 594273.33 8.38 2021-10-11T01:23:07Z- LcmTrn::publishEstimates() - COVAR: 9.49 32.50 0.95 0.00 2021-10-11T01:23:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915383.88 epoch sec; seqNo:1286; 4061702.80 north; 594364.53 east 2021-10-11T01:23:07Z- AHRS_M2 msg: 1633915384.21 epoch sec; seqNo:1249 2021-10-11T01:23:07Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.19 psi 2021-10-11T01:23:07Z- handleDepth()-Depth_Keller msg: 1633915384215 epoch sec; seqNo:1287; depth 50.47 2021-10-11T01:23:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915384.25 epoch sec; seqNo:1287; 4061703.18 north; 594364.52 east 2021-10-11T01:23:07Z- AHRS_M2 msg: 1633915384.61 epoch sec; seqNo:1250 2021-10-11T01:23:07Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.19 psi 2021-10-11T01:23:07Z- handleDepth()-Depth_Keller msg: 1633915384620 epoch sec; seqNo:1288; depth 50.49 2021-10-11T01:23:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915384.64 epoch sec; seqNo:1288; 4061703.56 north; 594364.52 east 2021-10-11T01:23:08Z- AHRS_M2 msg: 1633915385.02 epoch sec; seqNo:1251 2021-10-11T01:23:08Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.19 psi 2021-10-11T01:23:08Z- handleDepth()-Depth_Keller msg: 1633915385027 epoch sec; seqNo:1289; depth 50.50 2021-10-11T01:23:08Z- handleDvl() - RDI_Pathfinder msg: 1633915385.05 epoch sec; seqNo:308 2021-10-11T01:23:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.83 , 29.00 , 30.35 , 29.74 2021-10-11T01:23:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.15 , -0.03 2021-10-11T01:23:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915385.09 epoch sec; seqNo:1289; 4061703.94 north; 594364.51 east 2021-10-11T01:23:08Z- AHRS_M2 msg: 1633915385.43 epoch sec; seqNo:1252 2021-10-11T01:23:08Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:08Z- handleDepth()-Depth_Keller msg: 1633915385433 epoch sec; seqNo:1290; depth 50.52 2021-10-11T01:23:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915385.45 epoch sec; seqNo:1290; 4061704.32 north; 594364.51 east 2021-10-11T01:23:09Z- AHRS_M2 msg: 1633915385.83 epoch sec; seqNo:1253 2021-10-11T01:23:09Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:09Z- handleDepth()-Depth_Keller msg: 1633915385836 epoch sec; seqNo:1291; depth 50.52 2021-10-11T01:23:09Z- handleDvl() - RDI_Pathfinder msg: 1633915385.86 epoch sec; seqNo:309 2021-10-11T01:23:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.71 , 38.57 , 30.52 , 29.71 2021-10-11T01:23:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.17 , 0.01 2021-10-11T01:23:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915385.88 epoch sec; seqNo:1291; 4061704.70 north; 594364.51 east 2021-10-11T01:23:09Z- AHRS_M2 msg: 1633915386.28 epoch sec; seqNo:1254 2021-10-11T01:23:09Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:09Z- handleDepth()-Depth_Keller msg: 1633915386305 epoch sec; seqNo:1292; depth 50.55 2021-10-11T01:23:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915386.33 epoch sec; seqNo:1292; 4061705.07 north; 594364.50 east 2021-10-11T01:23:10Z- AHRS_M2 msg: 1633915386.63 epoch sec; seqNo:1255 2021-10-11T01:23:10Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:10Z- handleDepth()-Depth_Keller msg: 1633915386639 epoch sec; seqNo:1293; depth 50.57 2021-10-11T01:23:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915386.65 epoch sec; seqNo:1293; 4061705.07 north; 594364.50 east 2021-10-11T01:23:10Z- AHRS_M2 msg: 1633915387.04 epoch sec; seqNo:1256 2021-10-11T01:23:10Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:10Z- handleDepth()-Depth_Keller msg: 1633915387062 epoch sec; seqNo:1294; depth 50.58 2021-10-11T01:23:10Z- handleDvl() - RDI_Pathfinder msg: 1633915387.09 epoch sec; seqNo:310 2021-10-11T01:23:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.83 , 31.00 , 30.35 , 29.59 2021-10-11T01:23:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.17 , 0.05 2021-10-11T01:23:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915387.12 epoch sec; seqNo:1294; 4061705.44 north; 594363.28 east 2021-10-11T01:23:10Z- AHRS_M2 msg: 1633915387.44 epoch sec; seqNo:1257 2021-10-11T01:23:10Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:10Z- handleDepth()-Depth_Keller msg: 1633915387452 epoch sec; seqNo:1295; depth 50.59 2021-10-11T01:23:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915387.47 epoch sec; seqNo:1295; 4061705.82 north; 594363.27 east 2021-10-11T01:23:11Z- AHRS_M2 msg: 1633915387.85 epoch sec; seqNo:1258 2021-10-11T01:23:11Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:11Z- handleDepth()-Depth_Keller msg: 1633915387858 epoch sec; seqNo:1296; depth 50.62 2021-10-11T01:23:11Z- handleDvl() - RDI_Pathfinder msg: 1633915387.88 epoch sec; seqNo:311 2021-10-11T01:23:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.98 , 31.00 , 30.80 , 29.57 2021-10-11T01:23:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.13 , 0.08 2021-10-11T01:23:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915387.92 epoch sec; seqNo:1296; 4061706.20 north; 594363.27 east 2021-10-11T01:23:11Z- AHRS_M2 msg: 1633915388.25 epoch sec; seqNo:1259 2021-10-11T01:23:11Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 6.20 psi 2021-10-11T01:23:11Z- handleDepth()-Depth_Keller msg: 1633915388256 epoch sec; seqNo:1297; depth 50.63 2021-10-11T01:23:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915388.27 epoch sec; seqNo:1297; 4061706.58 north; 594363.26 east 2021-10-11T01:23:12Z- AHRS_M2 msg: 1633915388.65 epoch sec; seqNo:1260 2021-10-11T01:23:12Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.21 psi 2021-10-11T01:23:12Z- handleDepth()-Depth_Keller msg: 1633915388662 epoch sec; seqNo:1298; depth 50.66 2021-10-11T01:23:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915388.67 epoch sec; seqNo:1298; 4061706.95 north; 594363.26 east 2021-10-11T01:23:12Z- LcmTrn::handleMessages() - handling 41 messages took 0.86 ms and 123 calls... 2021-10-11T01:23:12Z- waiting for 1633915386.85, time is 1633915388.67 2021-10-11T01:23:12Z- LcmTrn::updateTrn() >>>> pose time 1633915388.67, meas time 1633915387.88 <<<< 2021-10-11T01:23:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915387.88 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:12Z- TerrainNav::motionUpdate() - currEstimate = (4061707, 594363.26, 50.66) 2021-10-11T01:23:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:12Z- TerrainNav:: SubcloudNIS is 0.68, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:12Z- TNavBF::Projecting Measurements 2021-10-11T01:23:12Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:23:12Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:23:12Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:23:12Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:23:12Z- TNavFilter::4 good beams. 2021-10-11T01:23:12Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:23:12Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:23:12Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:23:12Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:23:12Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:23:12Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:23:12Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:23:12Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:12Z- TerrainMapOctree: (vehN, vehE ) = (4061706.28, 594363.47). 2021-10-11T01:23:12Z- TerrainMapOctree: Min Distance = 121.60. 2021-10-11T01:23:12Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:23:12Z- Forcing Subcloud Comparison 2021-10-11T01:23:12Z- Filter 0 deapthBias would have been set to Nan. indexP: 8669 indexM: 0 2021-10-11T01:23:12Z- Old Depth Bias: -19.60 DepthBiasCov: 0.76 K: 0.208 ExpectedMeasDiff: nan currMeas.covariance: 1.16 2021-10-11T01:23:12Z- Filter 0 deapthBias would have been set to Nan. indexP: 6838 indexM: 2 2021-10-11T01:23:12Z- Old Depth Bias: -24.36 DepthBiasCov: 0.51 K: 0.135 ExpectedMeasDiff: nan currMeas.covariance: 1.52 2021-10-11T01:23:12Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:23:12Z- Filter 0 beam number: 0 num in subcloud: 9997 num not in subcloud: 3 2021-10-11T01:23:12Z- Filter 0 partialDeltaRmsComputation: 3.461734 terrainVariance: 0.185429 1-SumSquareWeights: 0.983949 2021-10-11T01:23:12Z- Filter 0 meanExpectedMeasDiff: -1.810057 delta_rms_squared: 0.175590 alpha: 0.897745 2021-10-11T01:23:12Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:12Z- Filter 0 partialDeltaRmsComputation: 2.908421 terrainVariance: 0.522947 1-SumSquareWeights: 0.983949 2021-10-11T01:23:12Z- Filter 0 meanExpectedMeasDiff: -1.544498 delta_rms_squared: 0.513107 alpha: 0.962484 2021-10-11T01:23:12Z- Filter 0 beam number: 2 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:23:12Z- Filter 0 partialDeltaRmsComputation: 0.861297 terrainVariance: 0.698618 1-SumSquareWeights: 0.983949 2021-10-11T01:23:12Z- Filter 0 meanExpectedMeasDiff: -0.403334 delta_rms_squared: 0.688779 alpha: 0.971782 2021-10-11T01:23:12Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:12Z- Filter 0 partialDeltaRmsComputation: 0.422233 terrainVariance: 0.221634 1-SumSquareWeights: 0.983949 2021-10-11T01:23:12Z- Filter 0 meanExpectedMeasDiff: 0.447882 delta_rms_squared: 0.211794 alpha: 0.913717 2021-10-11T01:23:12Z- Filter 0 SubcloudNIS: 0.722281 2021-10-11T01:23:12Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:23:12Z- TNavBF:: Filter 0 sumWeights = 0.395440 2021-10-11T01:23:12Z- Filter 0 NorthBias: 1.5 EastBias: -92.0 DepthBias: -43.0 NorthVariance: 9.5 EastVariance: 7.0 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:23:12Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915387.88 sec. 2021-10-11T01:23:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:12Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:12Z- variances([0], [2], and psi_berg) = 9.474594 16.312784 0.000000 2021-10-11T01:23:12Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:12Z- LcmTrn::publishEstimates() - MLE : 4061711.44 594270.36 38.66 2021-10-11T01:23:12Z- LcmTrn::publishEstimates() - MMSE : 4061708.44 594271.33 7.67 2021-10-11T01:23:12Z- LcmTrn::publishEstimates() - COVAR: 9.47 16.31 0.64 0.00 2021-10-11T01:23:12Z- AHRS_M2 msg: 1633915389.06 epoch sec; seqNo:1261 2021-10-11T01:23:12Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.21 psi 2021-10-11T01:23:12Z- handleDepth()-Depth_Keller msg: 1633915389080 epoch sec; seqNo:1299; depth 50.68 2021-10-11T01:23:12Z- handleDvl() - RDI_Pathfinder msg: 1633915389.10 epoch sec; seqNo:312 2021-10-11T01:23:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.39 , 33.00 , 30.66 , 29.02 2021-10-11T01:23:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , 0.09 2021-10-11T01:23:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915389.13 epoch sec; seqNo:1299; 4061707.33 north; 594363.26 east 2021-10-11T01:23:12Z- AHRS_M2 msg: 1633915389.46 epoch sec; seqNo:1262 2021-10-11T01:23:12Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.21 psi 2021-10-11T01:23:12Z- handleDepth()-Depth_Keller msg: 1633915389472 epoch sec; seqNo:1300; depth 50.70 2021-10-11T01:23:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915389.50 epoch sec; seqNo:1300; 4061707.33 north; 594363.26 east 2021-10-11T01:23:13Z- AHRS_M2 msg: 1633915389.87 epoch sec; seqNo:1263 2021-10-11T01:23:13Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.21 psi 2021-10-11T01:23:13Z- handleDepth()-Depth_Keller msg: 1633915389877 epoch sec; seqNo:1301; depth 50.73 2021-10-11T01:23:13Z- handleDvl() - RDI_Pathfinder msg: 1633915389.91 epoch sec; seqNo:313 2021-10-11T01:23:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.25 , 33.00 , 30.93 , 27.52 2021-10-11T01:23:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.04 , 0.07 2021-10-11T01:23:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915389.92 epoch sec; seqNo:1301; 4061707.71 north; 594363.25 east 2021-10-11T01:23:13Z- AHRS_M2 msg: 1633915390.27 epoch sec; seqNo:1264 2021-10-11T01:23:13Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.22 psi 2021-10-11T01:23:13Z- handleDepth()-Depth_Keller msg: 1633915390278 epoch sec; seqNo:1302; depth 50.74 2021-10-11T01:23:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915390.30 epoch sec; seqNo:1302; 4061708.09 north; 594363.25 east 2021-10-11T01:23:14Z- AHRS_M2 msg: 1633915390.67 epoch sec; seqNo:1265 2021-10-11T01:23:14Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.22 psi 2021-10-11T01:23:14Z- handleDepth()-Depth_Keller msg: 1633915390682 epoch sec; seqNo:1303; depth 50.75 2021-10-11T01:23:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915390.70 epoch sec; seqNo:1303; 4061708.47 north; 594363.24 east 2021-10-11T01:23:14Z- AHRS_M2 msg: 1633915391.08 epoch sec; seqNo:1266 2021-10-11T01:23:14Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.23 psi 2021-10-11T01:23:14Z- handleDepth()-Depth_Keller msg: 1633915391087 epoch sec; seqNo:1304; depth 50.75 2021-10-11T01:23:14Z- handleDvl() - RDI_Pathfinder msg: 1633915391.12 epoch sec; seqNo:314 2021-10-11T01:23:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.71 , 1.00 , 30.93 , 27.25 2021-10-11T01:23:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.01 , 0.04 2021-10-11T01:23:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915391.14 epoch sec; seqNo:1304; 4061708.85 north; 594363.24 east 2021-10-11T01:23:14Z- AHRS_M2 msg: 1633915391.48 epoch sec; seqNo:1267 2021-10-11T01:23:14Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.23 psi 2021-10-11T01:23:14Z- handleDepth()-Depth_Keller msg: 1633915391492 epoch sec; seqNo:1305; depth 50.77 2021-10-11T01:23:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915391.51 epoch sec; seqNo:1305; 4061709.23 north; 594363.24 east 2021-10-11T01:23:15Z- AHRS_M2 msg: 1633915391.90 epoch sec; seqNo:1268 2021-10-11T01:23:15Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.24 psi 2021-10-11T01:23:15Z- handleDepth()-Depth_Keller msg: 1633915391904 epoch sec; seqNo:1306; depth 50.78 2021-10-11T01:23:15Z- handleDvl() - RDI_Pathfinder msg: 1633915391.92 epoch sec; seqNo:315 2021-10-11T01:23:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 1.00 , 30.93 , 27.39 2021-10-11T01:23:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.03 , -0.01 2021-10-11T01:23:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915391.95 epoch sec; seqNo:1306; 4061709.61 north; 594363.23 east 2021-10-11T01:23:15Z- AHRS_M2 msg: 1633915392.29 epoch sec; seqNo:1269 2021-10-11T01:23:15Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.24 psi 2021-10-11T01:23:15Z- handleDepth()-Depth_Keller msg: 1633915392294 epoch sec; seqNo:1307; depth 50.79 2021-10-11T01:23:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915392.32 epoch sec; seqNo:1307; 4061709.61 north; 594363.23 east 2021-10-11T01:23:16Z- AHRS_M2 msg: 1633915392.69 epoch sec; seqNo:1270 2021-10-11T01:23:16Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.24 psi 2021-10-11T01:23:16Z- handleDepth()-Depth_Keller msg: 1633915392698 epoch sec; seqNo:1308; depth 50.78 2021-10-11T01:23:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915392.75 epoch sec; seqNo:1308; 4061709.99 north; 594363.23 east 2021-10-11T01:23:16Z- AHRS_M2 msg: 1633915393.10 epoch sec; seqNo:1271 2021-10-11T01:23:16Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 6.25 psi 2021-10-11T01:23:16Z- handleDepth()-Depth_Keller msg: 1633915393106 epoch sec; seqNo:1309; depth 50.79 2021-10-11T01:23:16Z- handleDvl() - RDI_Pathfinder msg: 1633915393.13 epoch sec; seqNo:316 2021-10-11T01:23:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.03 , 3.00 , 31.75 , 27.66 2021-10-11T01:23:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.01 , -0.05 2021-10-11T01:23:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915393.16 epoch sec; seqNo:1309; 4061710.36 north; 594363.22 east 2021-10-11T01:23:16Z- AHRS_M2 msg: 1633915393.50 epoch sec; seqNo:1272 2021-10-11T01:23:16Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.25 psi 2021-10-11T01:23:16Z- handleDepth()-Depth_Keller msg: 1633915393506 epoch sec; seqNo:1310; depth 50.79 2021-10-11T01:23:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915393.55 epoch sec; seqNo:1310; 4061710.74 north; 594363.22 east 2021-10-11T01:23:17Z- AHRS_M2 msg: 1633915393.92 epoch sec; seqNo:1273 2021-10-11T01:23:17Z- AHRS_M2 msg: -0.18 phi; -0.00 theta; 6.25 psi 2021-10-11T01:23:17Z- handleDepth()-Depth_Keller msg: 1633915393937 epoch sec; seqNo:1311; depth 50.78 2021-10-11T01:23:17Z- handleDvl() - RDI_Pathfinder msg: 1633915393.96 epoch sec; seqNo:317 2021-10-11T01:23:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.89 , 38.29 , 31.34 , 27.52 2021-10-11T01:23:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.04 , -0.06 2021-10-11T01:23:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915393.97 epoch sec; seqNo:1311; 4061711.12 north; 594363.21 east 2021-10-11T01:23:17Z- LcmTrn::handleMessages() - handling 45 messages took 0.92 ms and 126 calls... 2021-10-11T01:23:17Z- waiting for 1633915391.67, time is 1633915393.97 2021-10-11T01:23:17Z- LcmTrn::updateTrn() equating pose 1633915393.97 and meas times 1633915393.97 2021-10-11T01:23:17Z- LcmTrn::updateTrn() >>>> pose time 1633915393.97, meas time 1633915393.97 <<<< 2021-10-11T01:23:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915393.97 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:17Z- TerrainNav::motionUpdate() - currEstimate = (4061711, 594363.21, 50.78) 2021-10-11T01:23:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:17Z- TerrainNav:: SubcloudNIS is 0.72, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:17Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915393.97 sec.; No relevant navigation data available 2021-10-11T01:23:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:17Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:17Z- variances([0], [2], and psi_berg) = 9.521351 38.366434 0.000000 2021-10-11T01:23:17Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:17Z- LcmTrn::publishEstimates() - MLE : 4061715.61 594270.32 38.77 2021-10-11T01:23:17Z- LcmTrn::publishEstimates() - MMSE : 4061712.61 594271.53 7.80 2021-10-11T01:23:17Z- LcmTrn::publishEstimates() - COVAR: 9.52 38.37 1.02 0.00 2021-10-11T01:23:17Z- AHRS_M2 msg: 1633915394.31 epoch sec; seqNo:1274 2021-10-11T01:23:17Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.25 psi 2021-10-11T01:23:17Z- handleDepth()-Depth_Keller msg: 1633915394314 epoch sec; seqNo:1312; depth 50.78 2021-10-11T01:23:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915394.33 epoch sec; seqNo:1312; 4061711.50 north; 594363.21 east 2021-10-11T01:23:18Z- AHRS_M2 msg: 1633915394.72 epoch sec; seqNo:1275 2021-10-11T01:23:18Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.26 psi 2021-10-11T01:23:18Z- handleDepth()-Depth_Keller msg: 1633915394724 epoch sec; seqNo:1313; depth 50.77 2021-10-11T01:23:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915394.73 epoch sec; seqNo:1313; 4061711.88 north; 594363.21 east 2021-10-11T01:23:18Z- AHRS_M2 msg: 1633915395.12 epoch sec; seqNo:1276 2021-10-11T01:23:18Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 6.26 psi 2021-10-11T01:23:18Z- handleDepth()-Depth_Keller msg: 1633915395121 epoch sec; seqNo:1314; depth 50.78 2021-10-11T01:23:18Z- handleDvl() - RDI_Pathfinder msg: 1633915395.15 epoch sec; seqNo:318 2021-10-11T01:23:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.03 , 5.00 , 31.48 , 27.66 2021-10-11T01:23:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.08 , -0.06 2021-10-11T01:23:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915395.16 epoch sec; seqNo:1314; 4061712.26 north; 594363.20 east 2021-10-11T01:23:18Z- AHRS_M2 msg: 1633915395.52 epoch sec; seqNo:1277 2021-10-11T01:23:18Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 6.26 psi 2021-10-11T01:23:18Z- handleDepth()-Depth_Keller msg: 1633915395526 epoch sec; seqNo:1315; depth 50.77 2021-10-11T01:23:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915395.54 epoch sec; seqNo:1315; 4061712.26 north; 594363.20 east 2021-10-11T01:23:19Z- AHRS_M2 msg: 1633915395.94 epoch sec; seqNo:1278 2021-10-11T01:23:19Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 6.26 psi 2021-10-11T01:23:19Z- handleDepth()-Depth_Keller msg: 1633915395948 epoch sec; seqNo:1316; depth 50.76 2021-10-11T01:23:19Z- handleDvl() - RDI_Pathfinder msg: 1633915395.99 epoch sec; seqNo:319 2021-10-11T01:23:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.89 , 5.00 , 31.34 , 27.52 2021-10-11T01:23:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.12 , -0.04 2021-10-11T01:23:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915396.00 epoch sec; seqNo:1316; 4061712.64 north; 594363.20 east 2021-10-11T01:23:19Z- AHRS_M2 msg: 1633915396.33 epoch sec; seqNo:1279 2021-10-11T01:23:19Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 6.26 psi 2021-10-11T01:23:19Z- handleDepth()-Depth_Keller msg: 1633915396336 epoch sec; seqNo:1317; depth 50.76 2021-10-11T01:23:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915396.35 epoch sec; seqNo:1317; 4061713.02 north; 594363.19 east 2021-10-11T01:23:20Z- AHRS_M2 msg: 1633915396.73 epoch sec; seqNo:1280 2021-10-11T01:23:20Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 6.26 psi 2021-10-11T01:23:20Z- handleDepth()-Depth_Keller msg: 1633915396738 epoch sec; seqNo:1318; depth 50.76 2021-10-11T01:23:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915396.76 epoch sec; seqNo:1318; 4061713.40 north; 594363.19 east 2021-10-11T01:23:20Z- AHRS_M2 msg: 1633915397.14 epoch sec; seqNo:1281 2021-10-11T01:23:20Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 6.26 psi 2021-10-11T01:23:20Z- handleDepth()-Depth_Keller msg: 1633915397145 epoch sec; seqNo:1319; depth 50.75 2021-10-11T01:23:20Z- handleDvl() - RDI_Pathfinder msg: 1633915397.17 epoch sec; seqNo:320 2021-10-11T01:23:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.07 , 38.29 , 31.48 , 27.93 2021-10-11T01:23:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.15 , -0.01 2021-10-11T01:23:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915397.18 epoch sec; seqNo:1319; 4061713.77 north; 594363.19 east 2021-10-11T01:23:20Z- AHRS_M2 msg: 1633915397.54 epoch sec; seqNo:1282 2021-10-11T01:23:20Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 6.26 psi 2021-10-11T01:23:20Z- handleDepth()-Depth_Keller msg: 1633915397557 epoch sec; seqNo:1320; depth 50.76 2021-10-11T01:23:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915397.57 epoch sec; seqNo:1320; 4061714.14 north; 594361.96 east 2021-10-11T01:23:21Z- AHRS_M2 msg: 1633915397.97 epoch sec; seqNo:1283 2021-10-11T01:23:21Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 6.26 psi 2021-10-11T01:23:21Z- handleDepth()-Depth_Keller msg: 1633915397977 epoch sec; seqNo:1321; depth 50.75 2021-10-11T01:23:21Z- handleDvl() - RDI_Pathfinder msg: 1633915398.01 epoch sec; seqNo:321 2021-10-11T01:23:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 37.61 , 31.61 , 27.80 2021-10-11T01:23:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.17 , 0.01 2021-10-11T01:23:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915398.04 epoch sec; seqNo:1321; 4061714.52 north; 594361.96 east 2021-10-11T01:23:21Z- AHRS_M2 msg: 1633915398.35 epoch sec; seqNo:1284 2021-10-11T01:23:21Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 6.26 psi 2021-10-11T01:23:21Z- handleDepth()-Depth_Keller msg: 1633915398358 epoch sec; seqNo:1322; depth 50.75 2021-10-11T01:23:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915398.38 epoch sec; seqNo:1322; 4061714.52 north; 594361.96 east 2021-10-11T01:23:22Z- AHRS_M2 msg: 1633915398.76 epoch sec; seqNo:1285 2021-10-11T01:23:22Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 6.26 psi 2021-10-11T01:23:22Z- handleDepth()-Depth_Keller msg: 1633915398769 epoch sec; seqNo:1323; depth 50.75 2021-10-11T01:23:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915398.78 epoch sec; seqNo:1323; 4061714.90 north; 594361.95 east 2021-10-11T01:23:22Z- LcmTrn::handleMessages() - handling 40 messages took 0.83 ms and 123 calls... 2021-10-11T01:23:22Z- waiting for 1633915396.97, time is 1633915398.78 2021-10-11T01:23:22Z- LcmTrn::updateTrn() >>>> pose time 1633915398.78, meas time 1633915398.01 <<<< 2021-10-11T01:23:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915398.01 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:22Z- TerrainNav::motionUpdate() - currEstimate = (4061715, 594361.95, 50.75) 2021-10-11T01:23:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:22Z- TerrainNav:: SubcloudNIS is 0.72, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:22Z- TNavBF::Projecting Measurements 2021-10-11T01:23:22Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:23:22Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:23:22Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:23:22Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:23:22Z- TNavFilter::4 good beams. 2021-10-11T01:23:22Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:23:22Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:23:22Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:23:22Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:23:22Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:23:22Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:23:22Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:23:22Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:22Z- TerrainMapOctree: (vehN, vehE ) = (4061714.29, 594362.16). 2021-10-11T01:23:22Z- TerrainMapOctree: Min Distance = 117.70. 2021-10-11T01:23:22Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:23:22Z- Forcing Subcloud Comparison 2021-10-11T01:23:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 7670 indexM: 0 2021-10-11T01:23:22Z- Old Depth Bias: -20.75 DepthBiasCov: 0.80 K: 0.224 ExpectedMeasDiff: nan currMeas.covariance: 1.06 2021-10-11T01:23:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 9838 indexM: 1 2021-10-11T01:23:22Z- Old Depth Bias: -25.64 DepthBiasCov: 0.62 K: 0.135 ExpectedMeasDiff: nan currMeas.covariance: 2.26 2021-10-11T01:23:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 6038 indexM: 2 2021-10-11T01:23:22Z- Old Depth Bias: -24.47 DepthBiasCov: 0.54 K: 0.139 ExpectedMeasDiff: nan currMeas.covariance: 1.60 2021-10-11T01:23:22Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:23:22Z- Filter 0 beam number: 0 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:23:22Z- Filter 0 partialDeltaRmsComputation: 11.593478 terrainVariance: 0.197113 1-SumSquareWeights: 0.982787 2021-10-11T01:23:22Z- Filter 0 meanExpectedMeasDiff: -3.375850 delta_rms_squared: 0.187286 alpha: 0.903515 2021-10-11T01:23:22Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:23:22Z- Filter 0 partialDeltaRmsComputation: 43.691734 terrainVariance: 0.415225 1-SumSquareWeights: 0.982787 2021-10-11T01:23:22Z- Filter 0 meanExpectedMeasDiff: 6.578488 delta_rms_squared: 0.405397 alpha: 0.952985 2021-10-11T01:23:22Z- Filter 0 beam number: 2 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:23:22Z- Filter 0 partialDeltaRmsComputation: 1.851391 terrainVariance: 0.756860 1-SumSquareWeights: 0.982787 2021-10-11T01:23:22Z- Filter 0 meanExpectedMeasDiff: -1.046198 delta_rms_squared: 0.747032 alpha: 0.973925 2021-10-11T01:23:22Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:22Z- Filter 0 partialDeltaRmsComputation: 0.759645 terrainVariance: 0.261791 1-SumSquareWeights: 0.982787 2021-10-11T01:23:22Z- Filter 0 meanExpectedMeasDiff: -0.705588 delta_rms_squared: 0.251963 alpha: 0.926461 2021-10-11T01:23:22Z- Filter 0 SubcloudNIS: 0.763592 2021-10-11T01:23:22Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:23:22Z- TNavBF:: Filter 0 sumWeights = 0.001563 2021-10-11T01:23:22Z- Filter 0 NorthBias: 0.5 EastBias: -91.5 DepthBias: -43.1 NorthVariance: 9.7 EastVariance: 21.8 DepthVariance: 0.7 this->DepthBiasCov: 0.4 2021-10-11T01:23:22Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915398.01 sec. 2021-10-11T01:23:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:22Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:22Z- variances([0], [2], and psi_berg) = 9.740167 36.054858 0.000000 2021-10-11T01:23:22Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:22Z- LcmTrn::publishEstimates() - MLE : 4061714.38 594266.05 38.74 2021-10-11T01:23:22Z- LcmTrn::publishEstimates() - MMSE : 4061715.37 594270.66 7.71 2021-10-11T01:23:22Z- LcmTrn::publishEstimates() - COVAR: 9.74 36.05 0.80 0.00 2021-10-11T01:23:22Z- AHRS_M2 msg: 1633915399.16 epoch sec; seqNo:1286 2021-10-11T01:23:22Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 6.26 psi 2021-10-11T01:23:22Z- handleDepth()-Depth_Keller msg: 1633915399177 epoch sec; seqNo:1324; depth 50.75 2021-10-11T01:23:22Z- handleDvl() - RDI_Pathfinder msg: 1633915399.20 epoch sec; seqNo:322 2021-10-11T01:23:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.48 , 37.74 , 31.89 , 27.52 2021-10-11T01:23:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.14 , 0.03 2021-10-11T01:23:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915399.21 epoch sec; seqNo:1324; 4061715.28 north; 594361.95 east 2021-10-11T01:23:22Z- AHRS_M2 msg: 1633915399.56 epoch sec; seqNo:1287 2021-10-11T01:23:22Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 6.27 psi 2021-10-11T01:23:22Z- handleDepth()-Depth_Keller msg: 1633915399572 epoch sec; seqNo:1325; depth 50.75 2021-10-11T01:23:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915399.60 epoch sec; seqNo:1325; 4061715.65 north; 594361.94 east 2021-10-11T01:23:23Z- AHRS_M2 msg: 1633915399.99 epoch sec; seqNo:1288 2021-10-11T01:23:23Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 6.27 psi 2021-10-11T01:23:23Z- handleDepth()-Depth_Keller msg: 1633915399999 epoch sec; seqNo:1326; depth 50.75 2021-10-11T01:23:23Z- handleDvl() - RDI_Pathfinder msg: 1633915400.04 epoch sec; seqNo:323 2021-10-11T01:23:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.03 , 37.88 , 31.75 , 27.66 2021-10-11T01:23:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , 0.04 2021-10-11T01:23:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915400.05 epoch sec; seqNo:1326; 4061716.03 north; 594361.94 east 2021-10-11T01:23:23Z- AHRS_M2 msg: 1633915400.37 epoch sec; seqNo:1289 2021-10-11T01:23:23Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 6.27 psi 2021-10-11T01:23:23Z- handleDepth()-Depth_Keller msg: 1633915400380 epoch sec; seqNo:1327; depth 50.75 2021-10-11T01:23:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915400.40 epoch sec; seqNo:1327; 4061716.41 north; 594361.94 east 2021-10-11T01:23:24Z- AHRS_M2 msg: 1633915400.77 epoch sec; seqNo:1290 2021-10-11T01:23:24Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 6.27 psi 2021-10-11T01:23:24Z- handleDepth()-Depth_Keller msg: 1633915400778 epoch sec; seqNo:1328; depth 50.76 2021-10-11T01:23:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915400.80 epoch sec; seqNo:1328; 4061716.41 north; 594361.94 east 2021-10-11T01:23:24Z- AHRS_M2 msg: 1633915401.18 epoch sec; seqNo:1291 2021-10-11T01:23:24Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 6.27 psi 2021-10-11T01:23:24Z- handleDepth()-Depth_Keller msg: 1633915401187 epoch sec; seqNo:1329; depth 50.76 2021-10-11T01:23:24Z- handleDvl() - RDI_Pathfinder msg: 1633915401.22 epoch sec; seqNo:324 2021-10-11T01:23:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.34 , 37.88 , 31.48 , 27.39 2021-10-11T01:23:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.12 , 0.03 2021-10-11T01:23:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915401.24 epoch sec; seqNo:1329; 4061716.79 north; 594361.93 east 2021-10-11T01:23:24Z- AHRS_M2 msg: 1633915401.58 epoch sec; seqNo:1292 2021-10-11T01:23:24Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 6.28 psi 2021-10-11T01:23:24Z- handleDepth()-Depth_Keller msg: 1633915401588 epoch sec; seqNo:1330; depth 50.76 2021-10-11T01:23:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915401.61 epoch sec; seqNo:1330; 4061717.17 north; 594361.93 east 2021-10-11T01:23:25Z- AHRS_M2 msg: 1633915402.03 epoch sec; seqNo:1293 2021-10-11T01:23:25Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 6.28 psi 2021-10-11T01:23:25Z- handleDepth()-Depth_Keller msg: 1633915402031 epoch sec; seqNo:1331; depth 50.77 2021-10-11T01:23:25Z- handleDvl() - RDI_Pathfinder msg: 1633915402.07 epoch sec; seqNo:325 2021-10-11T01:23:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.21 , 37.61 , 31.61 , 27.52 2021-10-11T01:23:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , 0.01 2021-10-11T01:23:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915402.09 epoch sec; seqNo:1331; 4061717.55 north; 594361.92 east 2021-10-11T01:23:25Z- AHRS_M2 msg: 1633915402.39 epoch sec; seqNo:1294 2021-10-11T01:23:25Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.00 psi 2021-10-11T01:23:25Z- handleDepth()-Depth_Keller msg: 1633915402399 epoch sec; seqNo:1332; depth 50.75 2021-10-11T01:23:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915402.43 epoch sec; seqNo:1332; 4061717.93 north; 594361.92 east 2021-10-11T01:23:26Z- AHRS_M2 msg: 1633915402.80 epoch sec; seqNo:1295 2021-10-11T01:23:26Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.00 psi 2021-10-11T01:23:26Z- handleDepth()-Depth_Keller msg: 1633915402804 epoch sec; seqNo:1333; depth 50.75 2021-10-11T01:23:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915402.81 epoch sec; seqNo:1333; 4061717.93 north; 594361.92 east 2021-10-11T01:23:26Z- AHRS_M2 msg: 1633915403.20 epoch sec; seqNo:1296 2021-10-11T01:23:26Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.01 psi 2021-10-11T01:23:26Z- handleDepth()-Depth_Keller msg: 1633915403207 epoch sec; seqNo:1334; depth 50.77 2021-10-11T01:23:26Z- handleDvl() - RDI_Pathfinder msg: 1633915403.24 epoch sec; seqNo:326 2021-10-11T01:23:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.21 , 37.61 , 31.89 , 27.39 2021-10-11T01:23:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.11 , 0.00 2021-10-11T01:23:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915403.26 epoch sec; seqNo:1334; 4061718.31 north; 594361.91 east 2021-10-11T01:23:26Z- AHRS_M2 msg: 1633915403.60 epoch sec; seqNo:1297 2021-10-11T01:23:26Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.01 psi 2021-10-11T01:23:26Z- handleDepth()-Depth_Keller msg: 1633915403606 epoch sec; seqNo:1335; depth 50.75 2021-10-11T01:23:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915403.62 epoch sec; seqNo:1335; 4061718.69 north; 594361.91 east 2021-10-11T01:23:27Z- AHRS_M2 msg: 1633915404.04 epoch sec; seqNo:1298 2021-10-11T01:23:27Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.01 psi 2021-10-11T01:23:27Z- handleDepth()-Depth_Keller msg: 1633915404061 epoch sec; seqNo:1336; depth 50.74 2021-10-11T01:23:27Z- handleDvl() - RDI_Pathfinder msg: 1633915404.09 epoch sec; seqNo:327 2021-10-11T01:23:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.07 , 37.34 , 31.61 , 27.52 2021-10-11T01:23:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , -0.00 2021-10-11T01:23:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915404.12 epoch sec; seqNo:1336; 4061719.06 north; 594361.91 east 2021-10-11T01:23:27Z- LcmTrn::handleMessages() - handling 45 messages took 0.84 ms and 128 calls... 2021-10-11T01:23:27Z- waiting for 1633915401.78, time is 1633915404.12 2021-10-11T01:23:27Z- LcmTrn::updateTrn() equating pose 1633915404.12 and meas times 1633915404.12 2021-10-11T01:23:27Z- LcmTrn::updateTrn() >>>> pose time 1633915404.12, meas time 1633915404.12 <<<< 2021-10-11T01:23:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915404.12 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:27Z- TerrainNav::motionUpdate() - currEstimate = (4061719, 594361.91, 50.74) 2021-10-11T01:23:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:27Z- TerrainNav:: SubcloudNIS is 0.76, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:27Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915404.12 sec.; No relevant navigation data available 2021-10-11T01:23:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:27Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:27Z- variances([0], [2], and psi_berg) = 9.788997 71.507611 0.000000 2021-10-11T01:23:27Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:27Z- LcmTrn::publishEstimates() - MLE : 4061718.55 594266.01 38.74 2021-10-11T01:23:27Z- LcmTrn::publishEstimates() - MMSE : 4061719.54 594271.01 7.74 2021-10-11T01:23:27Z- LcmTrn::publishEstimates() - COVAR: 9.79 71.51 1.31 0.00 2021-10-11T01:23:27Z- AHRS_M2 msg: 1633915404.41 epoch sec; seqNo:1299 2021-10-11T01:23:27Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.01 psi 2021-10-11T01:23:27Z- handleDepth()-Depth_Keller msg: 1633915404415 epoch sec; seqNo:1337; depth 50.76 2021-10-11T01:23:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915404.44 epoch sec; seqNo:1337; 4061719.44 north; 594361.90 east 2021-10-11T01:23:28Z- AHRS_M2 msg: 1633915404.82 epoch sec; seqNo:1300 2021-10-11T01:23:28Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.01 psi 2021-10-11T01:23:28Z- handleDepth()-Depth_Keller msg: 1633915404824 epoch sec; seqNo:1338; depth 50.74 2021-10-11T01:23:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915404.84 epoch sec; seqNo:1338; 4061719.44 north; 594361.90 east 2021-10-11T01:23:28Z- AHRS_M2 msg: 1633915405.22 epoch sec; seqNo:1301 2021-10-11T01:23:28Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.01 psi 2021-10-11T01:23:28Z- handleDepth()-Depth_Keller msg: 1633915405221 epoch sec; seqNo:1339; depth 50.73 2021-10-11T01:23:28Z- handleDvl() - RDI_Pathfinder msg: 1633915405.24 epoch sec; seqNo:328 2021-10-11T01:23:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.57 , 37.61 , 31.48 , 27.80 2021-10-11T01:23:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.11 , 0.00 2021-10-11T01:23:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915405.27 epoch sec; seqNo:1339; 4061719.82 north; 594361.90 east 2021-10-11T01:23:28Z- AHRS_M2 msg: 1633915405.62 epoch sec; seqNo:1302 2021-10-11T01:23:28Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.01 psi 2021-10-11T01:23:28Z- handleDepth()-Depth_Keller msg: 1633915405628 epoch sec; seqNo:1340; depth 50.74 2021-10-11T01:23:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915405.64 epoch sec; seqNo:1340; 4061720.20 north; 594361.89 east 2021-10-11T01:23:29Z- AHRS_M2 msg: 1633915406.05 epoch sec; seqNo:1303 2021-10-11T01:23:29Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.02 psi 2021-10-11T01:23:29Z- handleDepth()-Depth_Keller msg: 1633915406073 epoch sec; seqNo:1341; depth 50.73 2021-10-11T01:23:29Z- handleDvl() - RDI_Pathfinder msg: 1633915406.11 epoch sec; seqNo:329 2021-10-11T01:23:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.66 , 37.34 , 31.07 , 27.80 2021-10-11T01:23:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.16 , 0.02 2021-10-11T01:23:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915406.13 epoch sec; seqNo:1341; 4061720.58 north; 594361.89 east 2021-10-11T01:23:29Z- AHRS_M2 msg: 1633915406.43 epoch sec; seqNo:1304 2021-10-11T01:23:29Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.02 psi 2021-10-11T01:23:29Z- handleDepth()-Depth_Keller msg: 1633915406434 epoch sec; seqNo:1342; depth 50.74 2021-10-11T01:23:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915406.45 epoch sec; seqNo:1342; 4061720.96 north; 594361.89 east 2021-10-11T01:23:30Z- AHRS_M2 msg: 1633915406.83 epoch sec; seqNo:1305 2021-10-11T01:23:30Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.02 psi 2021-10-11T01:23:30Z- handleDepth()-Depth_Keller msg: 1633915406839 epoch sec; seqNo:1343; depth 50.73 2021-10-11T01:23:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915406.85 epoch sec; seqNo:1343; 4061721.34 north; 594361.88 east 2021-10-11T01:23:30Z- AHRS_M2 msg: 1633915407.24 epoch sec; seqNo:1306 2021-10-11T01:23:30Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.02 psi 2021-10-11T01:23:30Z- handleDepth()-Depth_Keller msg: 1633915407248 epoch sec; seqNo:1344; depth 50.72 2021-10-11T01:23:30Z- handleDvl() - RDI_Pathfinder msg: 1633915407.27 epoch sec; seqNo:330 2021-10-11T01:23:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 37.20 , 30.80 , 27.93 2021-10-11T01:23:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.12 , 0.03 2021-10-11T01:23:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915407.29 epoch sec; seqNo:1344; 4061721.70 north; 594360.66 east 2021-10-11T01:23:31Z- AHRS_M2 msg: 1633915407.64 epoch sec; seqNo:1307 2021-10-11T01:23:31Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.02 psi 2021-10-11T01:23:31Z- handleDepth()-Depth_Keller msg: 1633915407645 epoch sec; seqNo:1345; depth 50.71 2021-10-11T01:23:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915407.67 epoch sec; seqNo:1345; 4061721.70 north; 594360.66 east 2021-10-11T01:23:31Z- AHRS_M2 msg: 1633915408.07 epoch sec; seqNo:1308 2021-10-11T01:23:31Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.02 psi 2021-10-11T01:23:31Z- handleDepth()-Depth_Keller msg: 1633915408094 epoch sec; seqNo:1346; depth 50.72 2021-10-11T01:23:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915408.13 epoch sec; seqNo:1346; 4061722.08 north; 594360.65 east 2021-10-11T01:23:31Z- AHRS_M2 msg: 1633915408.45 epoch sec; seqNo:1309 2021-10-11T01:23:31Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.02 psi 2021-10-11T01:23:31Z- handleDepth()-Depth_Keller msg: 1633915408456 epoch sec; seqNo:1347; depth 50.70 2021-10-11T01:23:31Z- handleDvl() - RDI_Pathfinder msg: 1633915408.48 epoch sec; seqNo:331 2021-10-11T01:23:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.48 , 18.00 , 30.80 , 28.07 2021-10-11T01:23:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.11 , 0.03 2021-10-11T01:23:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915408.51 epoch sec; seqNo:1347; 4061722.46 north; 594360.65 east 2021-10-11T01:23:32Z- AHRS_M2 msg: 1633915408.85 epoch sec; seqNo:1310 2021-10-11T01:23:32Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.03 psi 2021-10-11T01:23:32Z- handleDepth()-Depth_Keller msg: 1633915408864 epoch sec; seqNo:1348; depth 50.71 2021-10-11T01:23:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915408.88 epoch sec; seqNo:1348; 4061722.84 north; 594360.64 east 2021-10-11T01:23:32Z- AHRS_M2 msg: 1633915409.26 epoch sec; seqNo:1311 2021-10-11T01:23:32Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.03 psi 2021-10-11T01:23:32Z- handleDepth()-Depth_Keller msg: 1633915409274 epoch sec; seqNo:1349; depth 50.69 2021-10-11T01:23:32Z- handleDvl() - RDI_Pathfinder msg: 1633915409.30 epoch sec; seqNo:332 2021-10-11T01:23:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.53 , 36.93 , 30.66 , 27.93 2021-10-11T01:23:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.10 , 0.02 2021-10-11T01:23:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915409.32 epoch sec; seqNo:1349; 4061723.22 north; 594360.64 east 2021-10-11T01:23:32Z- LcmTrn::handleMessages() - handling 44 messages took 0.85 ms and 127 calls... 2021-10-11T01:23:32Z- waiting for 1633915407.12, time is 1633915409.32 2021-10-11T01:23:32Z- LcmTrn::updateTrn() equating pose 1633915409.32 and meas times 1633915409.32 2021-10-11T01:23:32Z- LcmTrn::updateTrn() >>>> pose time 1633915409.32, meas time 1633915409.32 <<<< 2021-10-11T01:23:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915409.32 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:32Z- TerrainNav::motionUpdate() - currEstimate = (4061723, 594360.64, 50.69) 2021-10-11T01:23:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:32Z- TerrainNav:: SubcloudNIS is 0.76, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:32Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915409.32 sec.; No relevant navigation data available 2021-10-11T01:23:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:32Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:32Z- variances([0], [2], and psi_berg) = 9.838143 105.518222 0.000000 2021-10-11T01:23:32Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:32Z- LcmTrn::publishEstimates() - MLE : 4061722.70 594264.74 38.69 2021-10-11T01:23:32Z- LcmTrn::publishEstimates() - MMSE : 4061723.69 594270.13 7.73 2021-10-11T01:23:32Z- LcmTrn::publishEstimates() - COVAR: 9.84 105.52 1.81 0.00 2021-10-11T01:23:33Z- AHRS_M2 msg: 1633915409.66 epoch sec; seqNo:1312 2021-10-11T01:23:33Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.03 psi 2021-10-11T01:23:33Z- handleDepth()-Depth_Keller msg: 1633915409672 epoch sec; seqNo:1350; depth 50.68 2021-10-11T01:23:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915409.70 epoch sec; seqNo:1350; 4061723.60 north; 594360.64 east 2021-10-11T01:23:33Z- AHRS_M2 msg: 1633915410.09 epoch sec; seqNo:1313 2021-10-11T01:23:33Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.03 psi 2021-10-11T01:23:33Z- handleDepth()-Depth_Keller msg: 1633915410127 epoch sec; seqNo:1351; depth 50.69 2021-10-11T01:23:33Z- handleDvl() - RDI_Pathfinder msg: 1633915410.16 epoch sec; seqNo:333 2021-10-11T01:23:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.53 , 37.47 , 30.80 , 27.66 2021-10-11T01:23:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.01 2021-10-11T01:23:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915410.18 epoch sec; seqNo:1351; 4061723.98 north; 594360.63 east 2021-10-11T01:23:33Z- AHRS_M2 msg: 1633915410.47 epoch sec; seqNo:1314 2021-10-11T01:23:33Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.03 psi 2021-10-11T01:23:33Z- handleDepth()-Depth_Keller msg: 1633915410483 epoch sec; seqNo:1352; depth 50.67 2021-10-11T01:23:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915410.50 epoch sec; seqNo:1352; 4061724.35 north; 594360.63 east 2021-10-11T01:23:34Z- AHRS_M2 msg: 1633915410.87 epoch sec; seqNo:1315 2021-10-11T01:23:34Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.04 psi 2021-10-11T01:23:34Z- handleDepth()-Depth_Keller msg: 1633915410878 epoch sec; seqNo:1353; depth 50.66 2021-10-11T01:23:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915410.90 epoch sec; seqNo:1353; 4061724.35 north; 594360.63 east 2021-10-11T01:23:34Z- AHRS_M2 msg: 1633915411.28 epoch sec; seqNo:1316 2021-10-11T01:23:34Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.04 psi 2021-10-11T01:23:34Z- handleDepth()-Depth_Keller msg: 1633915411281 epoch sec; seqNo:1354; depth 50.66 2021-10-11T01:23:34Z- handleDvl() - RDI_Pathfinder msg: 1633915411.31 epoch sec; seqNo:334 2021-10-11T01:23:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.53 , 37.34 , 30.80 , 27.66 2021-10-11T01:23:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , 0.01 2021-10-11T01:23:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915411.33 epoch sec; seqNo:1354; 4061724.73 north; 594360.62 east 2021-10-11T01:23:35Z- AHRS_M2 msg: 1633915411.68 epoch sec; seqNo:1317 2021-10-11T01:23:35Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.04 psi 2021-10-11T01:23:35Z- handleDepth()-Depth_Keller msg: 1633915411690 epoch sec; seqNo:1355; depth 50.65 2021-10-11T01:23:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915411.71 epoch sec; seqNo:1355; 4061725.11 north; 594360.62 east 2021-10-11T01:23:35Z- AHRS_M2 msg: 1633915412.10 epoch sec; seqNo:1318 2021-10-11T01:23:35Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.04 psi 2021-10-11T01:23:35Z- handleDepth()-Depth_Keller msg: 1633915412100 epoch sec; seqNo:1356; depth 50.63 2021-10-11T01:23:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915412.14 epoch sec; seqNo:1356; 4061725.49 north; 594360.62 east 2021-10-11T01:23:35Z- AHRS_M2 msg: 1633915412.49 epoch sec; seqNo:1319 2021-10-11T01:23:35Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.04 psi 2021-10-11T01:23:35Z- handleDepth()-Depth_Keller msg: 1633915412497 epoch sec; seqNo:1357; depth 50.61 2021-10-11T01:23:35Z- handleDvl() - RDI_Pathfinder msg: 1633915412.53 epoch sec; seqNo:335 2021-10-11T01:23:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.39 , 37.47 , 30.52 , 27.80 2021-10-11T01:23:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , -0.00 2021-10-11T01:23:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915412.55 epoch sec; seqNo:1357; 4061725.87 north; 594360.61 east 2021-10-11T01:23:36Z- AHRS_M2 msg: 1633915412.89 epoch sec; seqNo:1320 2021-10-11T01:23:36Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.05 psi 2021-10-11T01:23:36Z- handleDepth()-Depth_Keller msg: 1633915412899 epoch sec; seqNo:1358; depth 50.60 2021-10-11T01:23:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915412.92 epoch sec; seqNo:1358; 4061726.25 north; 594360.61 east 2021-10-11T01:23:36Z- AHRS_M2 msg: 1633915413.30 epoch sec; seqNo:1321 2021-10-11T01:23:36Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.05 psi 2021-10-11T01:23:36Z- handleDepth()-Depth_Keller msg: 1633915413310 epoch sec; seqNo:1359; depth 50.58 2021-10-11T01:23:36Z- handleDvl() - RDI_Pathfinder msg: 1633915413.33 epoch sec; seqNo:336 2021-10-11T01:23:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 37.06 , 30.66 , 27.80 2021-10-11T01:23:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , -0.00 2021-10-11T01:23:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915413.35 epoch sec; seqNo:1359; 4061726.63 north; 594360.60 east 2021-10-11T01:23:37Z- AHRS_M2 msg: 1633915413.70 epoch sec; seqNo:1322 2021-10-11T01:23:37Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.05 psi 2021-10-11T01:23:37Z- handleDepth()-Depth_Keller msg: 1633915413705 epoch sec; seqNo:1360; depth 50.56 2021-10-11T01:23:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915413.72 epoch sec; seqNo:1360; 4061726.63 north; 594360.60 east 2021-10-11T01:23:37Z- AHRS_M2 msg: 1633915414.11 epoch sec; seqNo:1323 2021-10-11T01:23:37Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.05 psi 2021-10-11T01:23:37Z- handleDepth()-Depth_Keller msg: 1633915414110 epoch sec; seqNo:1361; depth 50.54 2021-10-11T01:23:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915414.12 epoch sec; seqNo:1361; 4061727.01 north; 594360.60 east 2021-10-11T01:23:37Z- LcmTrn::handleMessages() - handling 40 messages took 0.72 ms and 125 calls... 2021-10-11T01:23:37Z- waiting for 1633915412.32, time is 1633915414.12 2021-10-11T01:23:37Z- LcmTrn::updateTrn() >>>> pose time 1633915414.12, meas time 1633915413.33 <<<< 2021-10-11T01:23:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915413.33 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:37Z- TerrainNav::motionUpdate() - currEstimate = (4061727, 594360.60, 50.54) 2021-10-11T01:23:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:37Z- TerrainNav:: SubcloudNIS is 0.76, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:37Z- TNavBF::Projecting Measurements 2021-10-11T01:23:37Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:23:37Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:23:37Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:23:37Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:23:37Z- TNavFilter::4 good beams. 2021-10-11T01:23:37Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:23:37Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:23:37Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:23:37Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:23:37Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:23:37Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:23:37Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:23:37Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:37Z- TerrainMapOctree: (vehN, vehE ) = (4061726.38, 594360.61). 2021-10-11T01:23:37Z- TerrainMapOctree: Min Distance = 113.10. 2021-10-11T01:23:37Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:23:37Z- Forcing Subcloud Comparison 2021-10-11T01:23:37Z- Filter 0 deapthBias would have been set to Nan. indexP: 6170 indexM: 0 2021-10-11T01:23:37Z- Old Depth Bias: -21.03 DepthBiasCov: 1.03 K: 0.266 ExpectedMeasDiff: nan currMeas.covariance: 1.11 2021-10-11T01:23:37Z- Filter 0 deapthBias would have been set to Nan. indexP: 4737 indexM: 2 2021-10-11T01:23:37Z- Old Depth Bias: -25.98 DepthBiasCov: 0.63 K: 0.164 ExpectedMeasDiff: nan currMeas.covariance: 1.50 2021-10-11T01:23:38Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:23:38Z- Filter 0 beam number: 0 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:23:38Z- Filter 0 partialDeltaRmsComputation: 15.864275 terrainVariance: 0.766398 1-SumSquareWeights: 0.982724 2021-10-11T01:23:38Z- Filter 0 meanExpectedMeasDiff: -3.885599 delta_rms_squared: 0.756571 alpha: 0.974246 2021-10-11T01:23:38Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:38Z- Filter 0 partialDeltaRmsComputation: 56.759139 terrainVariance: 0.519572 1-SumSquareWeights: 0.982724 2021-10-11T01:23:38Z- Filter 0 meanExpectedMeasDiff: 7.499304 delta_rms_squared: 0.509745 alpha: 0.962246 2021-10-11T01:23:38Z- Filter 0 beam number: 2 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:23:38Z- Filter 0 partialDeltaRmsComputation: 14.392744 terrainVariance: 1.838953 1-SumSquareWeights: 0.982724 2021-10-11T01:23:38Z- Filter 0 meanExpectedMeasDiff: -3.543133 delta_rms_squared: 1.829126 alpha: 0.989184 2021-10-11T01:23:38Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:38Z- Filter 0 partialDeltaRmsComputation: 0.515945 terrainVariance: 0.267507 1-SumSquareWeights: 0.982724 2021-10-11T01:23:38Z- Filter 0 meanExpectedMeasDiff: 0.498435 delta_rms_squared: 0.257680 alpha: 0.927975 2021-10-11T01:23:38Z- Filter 0 SubcloudNIS: 0.931569 2021-10-11T01:23:38Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:23:38Z- TNavBF:: Filter 0 sumWeights = 0.000046 2021-10-11T01:23:38Z- Filter 0 NorthBias: 0.1 EastBias: -89.0 DepthBias: -43.2 NorthVariance: 12.0 EastVariance: 45.2 DepthVariance: 0.9 this->DepthBiasCov: 0.4 2021-10-11T01:23:38Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915413.33 sec. 2021-10-11T01:23:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:38Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:38Z- variances([0], [2], and psi_berg) = 12.001887 49.759924 0.000000 2021-10-11T01:23:38Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:38Z- LcmTrn::publishEstimates() - MLE : 4061726.49 594273.70 38.54 2021-10-11T01:23:38Z- LcmTrn::publishEstimates() - MMSE : 4061727.12 594271.66 7.40 2021-10-11T01:23:38Z- LcmTrn::publishEstimates() - COVAR: 12.00 49.76 1.00 0.00 2021-10-11T01:23:38Z- AHRS_M2 msg: 1633915414.51 epoch sec; seqNo:1324 2021-10-11T01:23:38Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.05 psi 2021-10-11T01:23:38Z- handleDepth()-Depth_Keller msg: 1633915414515 epoch sec; seqNo:1362; depth 50.52 2021-10-11T01:23:38Z- handleDvl() - RDI_Pathfinder msg: 1633915414.55 epoch sec; seqNo:337 2021-10-11T01:23:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.43 , 37.34 , 30.39 , 28.07 2021-10-11T01:23:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.00 2021-10-11T01:23:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915414.57 epoch sec; seqNo:1362; 4061727.39 north; 594360.59 east 2021-10-11T01:23:38Z- AHRS_M2 msg: 1633915414.91 epoch sec; seqNo:1325 2021-10-11T01:23:38Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.05 psi 2021-10-11T01:23:38Z- handleDepth()-Depth_Keller msg: 1633915414918 epoch sec; seqNo:1363; depth 50.50 2021-10-11T01:23:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915414.95 epoch sec; seqNo:1363; 4061727.76 north; 594360.59 east 2021-10-11T01:23:38Z- AHRS_M2 msg: 1633915415.32 epoch sec; seqNo:1326 2021-10-11T01:23:38Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.05 psi 2021-10-11T01:23:38Z- handleDepth()-Depth_Keller msg: 1633915415322 epoch sec; seqNo:1364; depth 50.49 2021-10-11T01:23:38Z- handleDvl() - RDI_Pathfinder msg: 1633915415.34 epoch sec; seqNo:338 2021-10-11T01:23:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.07 , 37.06 , 30.11 , 28.07 2021-10-11T01:23:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.00 2021-10-11T01:23:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915415.37 epoch sec; seqNo:1364; 4061728.14 north; 594360.59 east 2021-10-11T01:23:39Z- AHRS_M2 msg: 1633915415.72 epoch sec; seqNo:1327 2021-10-11T01:23:39Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.06 psi 2021-10-11T01:23:39Z- handleDepth()-Depth_Keller msg: 1633915415728 epoch sec; seqNo:1365; depth 50.46 2021-10-11T01:23:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915415.74 epoch sec; seqNo:1365; 4061728.52 north; 594360.58 east 2021-10-11T01:23:39Z- AHRS_M2 msg: 1633915416.13 epoch sec; seqNo:1328 2021-10-11T01:23:39Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.06 psi 2021-10-11T01:23:39Z- handleDepth()-Depth_Keller msg: 1633915416136 epoch sec; seqNo:1366; depth 50.44 2021-10-11T01:23:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915416.15 epoch sec; seqNo:1366; 4061728.90 north; 594360.58 east 2021-10-11T01:23:39Z- AHRS_M2 msg: 1633915416.54 epoch sec; seqNo:1329 2021-10-11T01:23:39Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.06 psi 2021-10-11T01:23:39Z- handleDepth()-Depth_Keller msg: 1633915416548 epoch sec; seqNo:1367; depth 50.42 2021-10-11T01:23:39Z- handleDvl() - RDI_Pathfinder msg: 1633915416.58 epoch sec; seqNo:339 2021-10-11T01:23:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.34 , 37.20 , 29.98 , 28.34 2021-10-11T01:23:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , 0.00 2021-10-11T01:23:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915416.59 epoch sec; seqNo:1367; 4061728.90 north; 594360.58 east 2021-10-11T01:23:40Z- AHRS_M2 msg: 1633915416.93 epoch sec; seqNo:1330 2021-10-11T01:23:40Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.06 psi 2021-10-11T01:23:40Z- handleDepth()-Depth_Keller msg: 1633915416944 epoch sec; seqNo:1368; depth 50.39 2021-10-11T01:23:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915416.96 epoch sec; seqNo:1368; 4061729.28 north; 594360.57 east 2021-10-11T01:23:40Z- AHRS_M2 msg: 1633915417.34 epoch sec; seqNo:1331 2021-10-11T01:23:40Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.06 psi 2021-10-11T01:23:40Z- handleDepth()-Depth_Keller msg: 1633915417341 epoch sec; seqNo:1369; depth 50.38 2021-10-11T01:23:40Z- handleDvl() - RDI_Pathfinder msg: 1633915417.37 epoch sec; seqNo:340 2021-10-11T01:23:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 37.06 , 29.84 , 28.34 2021-10-11T01:23:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , -0.00 2021-10-11T01:23:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915417.39 epoch sec; seqNo:1369; 4061729.66 north; 594360.57 east 2021-10-11T01:23:41Z- AHRS_M2 msg: 1633915417.76 epoch sec; seqNo:1332 2021-10-11T01:23:41Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.07 psi 2021-10-11T01:23:41Z- handleDepth()-Depth_Keller msg: 1633915417764 epoch sec; seqNo:1370; depth 50.35 2021-10-11T01:23:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915417.78 epoch sec; seqNo:1370; 4061730.04 north; 594360.57 east 2021-10-11T01:23:41Z- AHRS_M2 msg: 1633915418.15 epoch sec; seqNo:1333 2021-10-11T01:23:41Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.07 psi 2021-10-11T01:23:41Z- handleDepth()-Depth_Keller msg: 1633915418156 epoch sec; seqNo:1371; depth 50.33 2021-10-11T01:23:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915418.17 epoch sec; seqNo:1371; 4061730.42 north; 594360.56 east 2021-10-11T01:23:41Z- AHRS_M2 msg: 1633915418.55 epoch sec; seqNo:1334 2021-10-11T01:23:41Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.07 psi 2021-10-11T01:23:41Z- handleDepth()-Depth_Keller msg: 1633915418557 epoch sec; seqNo:1372; depth 50.30 2021-10-11T01:23:41Z- handleDvl() - RDI_Pathfinder msg: 1633915418.59 epoch sec; seqNo:341 2021-10-11T01:23:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.57 , 37.34 , 30.25 , 28.34 2021-10-11T01:23:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.08 , -0.01 2021-10-11T01:23:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915418.61 epoch sec; seqNo:1372; 4061730.80 north; 594360.56 east 2021-10-11T01:23:42Z- AHRS_M2 msg: 1633915418.95 epoch sec; seqNo:1335 2021-10-11T01:23:42Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.07 psi 2021-10-11T01:23:42Z- handleDepth()-Depth_Keller msg: 1633915418960 epoch sec; seqNo:1373; depth 50.27 2021-10-11T01:23:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915418.98 epoch sec; seqNo:1373; 4061731.17 north; 594360.55 east 2021-10-11T01:23:42Z- AHRS_M2 msg: 1633915419.37 epoch sec; seqNo:1336 2021-10-11T01:23:42Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.08 psi 2021-10-11T01:23:42Z- handleDepth()-Depth_Keller msg: 1633915419374 epoch sec; seqNo:1374; depth 50.24 2021-10-11T01:23:42Z- handleDvl() - RDI_Pathfinder msg: 1633915419.39 epoch sec; seqNo:342 2021-10-11T01:23:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 36.93 , 29.98 , 28.34 2021-10-11T01:23:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , -0.02 2021-10-11T01:23:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915419.43 epoch sec; seqNo:1374; 4061731.17 north; 594360.55 east 2021-10-11T01:23:43Z- LcmTrn::handleMessages() - handling 45 messages took 0.86 ms and 128 calls... 2021-10-11T01:23:43Z- waiting for 1633915417.12, time is 1633915419.43 2021-10-11T01:23:43Z- LcmTrn::updateTrn() equating pose 1633915419.43 and meas times 1633915419.43 2021-10-11T01:23:43Z- LcmTrn::updateTrn() >>>> pose time 1633915419.43, meas time 1633915419.43 <<<< 2021-10-11T01:23:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915419.43 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:43Z- TerrainNav::motionUpdate() - currEstimate = (4061731, 594360.55, 50.24) 2021-10-11T01:23:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:43Z- TerrainNav:: SubcloudNIS is 0.93, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:43Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915419.43 sec.; No relevant navigation data available 2021-10-11T01:23:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:43Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:43Z- variances([0], [2], and psi_berg) = 12.033616 61.303281 0.000000 2021-10-11T01:23:43Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:43Z- LcmTrn::publishEstimates() - MLE : 4061730.66 594273.65 38.24 2021-10-11T01:23:43Z- LcmTrn::publishEstimates() - MMSE : 4061731.29 594271.76 7.11 2021-10-11T01:23:43Z- LcmTrn::publishEstimates() - COVAR: 12.03 61.30 1.32 0.00 2021-10-11T01:23:43Z- AHRS_M2 msg: 1633915419.77 epoch sec; seqNo:1337 2021-10-11T01:23:43Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.08 psi 2021-10-11T01:23:43Z- handleDepth()-Depth_Keller msg: 1633915419777 epoch sec; seqNo:1375; depth 50.22 2021-10-11T01:23:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915419.79 epoch sec; seqNo:1375; 4061731.55 north; 594360.55 east 2021-10-11T01:23:43Z- AHRS_M2 msg: 1633915420.17 epoch sec; seqNo:1338 2021-10-11T01:23:43Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.08 psi 2021-10-11T01:23:43Z- handleDepth()-Depth_Keller msg: 1633915420177 epoch sec; seqNo:1376; depth 50.20 2021-10-11T01:23:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915420.20 epoch sec; seqNo:1376; 4061731.93 north; 594360.54 east 2021-10-11T01:23:43Z- AHRS_M2 msg: 1633915420.58 epoch sec; seqNo:1339 2021-10-11T01:23:43Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.08 psi 2021-10-11T01:23:43Z- handleDepth()-Depth_Keller msg: 1633915420588 epoch sec; seqNo:1377; depth 50.17 2021-10-11T01:23:43Z- handleDvl() - RDI_Pathfinder msg: 1633915420.62 epoch sec; seqNo:343 2021-10-11T01:23:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.25 , 36.38 , 29.84 , 28.48 2021-10-11T01:23:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.12 , -0.02 2021-10-11T01:23:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915420.64 epoch sec; seqNo:1377; 4061732.31 north; 594360.54 east 2021-10-11T01:23:44Z- AHRS_M2 msg: 1633915420.97 epoch sec; seqNo:1340 2021-10-11T01:23:44Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.08 psi 2021-10-11T01:23:44Z- handleDepth()-Depth_Keller msg: 1633915420983 epoch sec; seqNo:1378; depth 50.15 2021-10-11T01:23:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915421.00 epoch sec; seqNo:1378; 4061732.69 north; 594360.54 east 2021-10-11T01:23:44Z- AHRS_M2 msg: 1633915421.38 epoch sec; seqNo:1341 2021-10-11T01:23:44Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.08 psi 2021-10-11T01:23:44Z- handleDepth()-Depth_Keller msg: 1633915421388 epoch sec; seqNo:1379; depth 50.12 2021-10-11T01:23:44Z- handleDvl() - RDI_Pathfinder msg: 1633915421.42 epoch sec; seqNo:344 2021-10-11T01:23:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.12 , 31.00 , 30.11 , 28.89 2021-10-11T01:23:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.13 , -0.01 2021-10-11T01:23:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915421.43 epoch sec; seqNo:1379; 4061733.07 north; 594360.53 east 2021-10-11T01:23:45Z- AHRS_M2 msg: 1633915421.78 epoch sec; seqNo:1342 2021-10-11T01:23:45Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:45Z- handleDepth()-Depth_Keller msg: 1633915421787 epoch sec; seqNo:1380; depth 50.11 2021-10-11T01:23:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915421.80 epoch sec; seqNo:1380; 4061733.07 north; 594360.53 east 2021-10-11T01:23:45Z- AHRS_M2 msg: 1633915422.19 epoch sec; seqNo:1343 2021-10-11T01:23:45Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:45Z- handleDepth()-Depth_Keller msg: 1633915422190 epoch sec; seqNo:1381; depth 50.09 2021-10-11T01:23:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915422.20 epoch sec; seqNo:1381; 4061733.45 north; 594360.53 east 2021-10-11T01:23:45Z- AHRS_M2 msg: 1633915422.59 epoch sec; seqNo:1344 2021-10-11T01:23:45Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:45Z- handleDepth()-Depth_Keller msg: 1633915422594 epoch sec; seqNo:1382; depth 50.08 2021-10-11T01:23:45Z- handleDvl() - RDI_Pathfinder msg: 1633915422.63 epoch sec; seqNo:345 2021-10-11T01:23:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 32.00 , 30.39 , 30.39 2021-10-11T01:23:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.14 , 0.00 2021-10-11T01:23:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915422.64 epoch sec; seqNo:1382; 4061733.83 north; 594360.52 east 2021-10-11T01:23:46Z- AHRS_M2 msg: 1633915422.99 epoch sec; seqNo:1345 2021-10-11T01:23:46Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:46Z- handleDepth()-Depth_Keller msg: 1633915422998 epoch sec; seqNo:1383; depth 50.06 2021-10-11T01:23:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915423.02 epoch sec; seqNo:1383; 4061734.20 north; 594360.52 east 2021-10-11T01:23:46Z- AHRS_M2 msg: 1633915423.40 epoch sec; seqNo:1346 2021-10-11T01:23:46Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:46Z- handleDepth()-Depth_Keller msg: 1633915423408 epoch sec; seqNo:1384; depth 50.05 2021-10-11T01:23:46Z- handleDvl() - RDI_Pathfinder msg: 1633915423.43 epoch sec; seqNo:346 2021-10-11T01:23:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.52 , 33.00 , 30.11 , 30.39 2021-10-11T01:23:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.14 , 0.02 2021-10-11T01:23:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915423.46 epoch sec; seqNo:1384; 4061734.58 north; 594360.52 east 2021-10-11T01:23:47Z- AHRS_M2 msg: 1633915423.80 epoch sec; seqNo:1347 2021-10-11T01:23:47Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:47Z- handleDepth()-Depth_Keller msg: 1633915423811 epoch sec; seqNo:1385; depth 50.05 2021-10-11T01:23:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915423.83 epoch sec; seqNo:1385; 4061734.96 north; 594360.51 east 2021-10-11T01:23:47Z- AHRS_M2 msg: 1633915424.20 epoch sec; seqNo:1348 2021-10-11T01:23:47Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:47Z- handleDepth()-Depth_Keller msg: 1633915424216 epoch sec; seqNo:1386; depth 50.02 2021-10-11T01:23:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915424.24 epoch sec; seqNo:1386; 4061734.96 north; 594360.51 east 2021-10-11T01:23:47Z- AHRS_M2 msg: 1633915424.61 epoch sec; seqNo:1349 2021-10-11T01:23:47Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.09 psi 2021-10-11T01:23:47Z- handleDepth()-Depth_Keller msg: 1633915424613 epoch sec; seqNo:1387; depth 50.00 2021-10-11T01:23:48Z- handleDvl() - RDI_Pathfinder msg: 1633915424.63 epoch sec; seqNo:347 2021-10-11T01:23:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.66 , 0.00 , 29.98 , 30.66 2021-10-11T01:23:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , 0.02 2021-10-11T01:23:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915424.67 epoch sec; seqNo:1387; 4061735.34 north; 594360.51 east 2021-10-11T01:23:48Z- LcmTrn::handleMessages() - handling 44 messages took 0.88 ms and 126 calls... 2021-10-11T01:23:48Z- waiting for 1633915422.43, time is 1633915424.67 2021-10-11T01:23:48Z- LcmTrn::updateTrn() equating pose 1633915424.67 and meas times 1633915424.67 2021-10-11T01:23:48Z- LcmTrn::updateTrn() >>>> pose time 1633915424.67, meas time 1633915424.67 <<<< 2021-10-11T01:23:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915424.67 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:48Z- TerrainNav::motionUpdate() - currEstimate = (4061735, 594360.51, 50.00) 2021-10-11T01:23:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:48Z- TerrainNav:: SubcloudNIS is 0.93, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:48Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915424.67 sec.; No relevant navigation data available 2021-10-11T01:23:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:48Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:48Z- variances([0], [2], and psi_berg) = 12.065575 72.212558 0.000000 2021-10-11T01:23:48Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:48Z- LcmTrn::publishEstimates() - MLE : 4061734.83 594273.61 38.00 2021-10-11T01:23:48Z- LcmTrn::publishEstimates() - MMSE : 4061735.45 594271.84 6.88 2021-10-11T01:23:48Z- LcmTrn::publishEstimates() - COVAR: 12.07 72.21 1.64 0.00 2021-10-11T01:23:48Z- AHRS_M2 msg: 1633915425.02 epoch sec; seqNo:1350 2021-10-11T01:23:48Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.10 psi 2021-10-11T01:23:48Z- handleDepth()-Depth_Keller msg: 1633915425022 epoch sec; seqNo:1388; depth 49.99 2021-10-11T01:23:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915425.04 epoch sec; seqNo:1388; 4061735.72 north; 594360.50 east 2021-10-11T01:23:48Z- AHRS_M2 msg: 1633915425.42 epoch sec; seqNo:1351 2021-10-11T01:23:48Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.10 psi 2021-10-11T01:23:48Z- handleDepth()-Depth_Keller msg: 1633915425421 epoch sec; seqNo:1389; depth 49.99 2021-10-11T01:23:48Z- handleDvl() - RDI_Pathfinder msg: 1633915425.46 epoch sec; seqNo:348 2021-10-11T01:23:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.93 , 1.00 , 30.39 , 30.93 2021-10-11T01:23:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.12 , 0.03 2021-10-11T01:23:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915425.47 epoch sec; seqNo:1389; 4061736.10 north; 594360.50 east 2021-10-11T01:23:49Z- AHRS_M2 msg: 1633915425.82 epoch sec; seqNo:1352 2021-10-11T01:23:49Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.10 psi 2021-10-11T01:23:49Z- handleDepth()-Depth_Keller msg: 1633915425826 epoch sec; seqNo:1390; depth 49.99 2021-10-11T01:23:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915425.84 epoch sec; seqNo:1390; 4061736.48 north; 594360.49 east 2021-10-11T01:23:49Z- AHRS_M2 msg: 1633915426.30 epoch sec; seqNo:1353 2021-10-11T01:23:49Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.10 psi 2021-10-11T01:23:49Z- handleDepth()-Depth_Keller msg: 1633915426307 epoch sec; seqNo:1391; depth 49.97 2021-10-11T01:23:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915426.36 epoch sec; seqNo:1391; 4061736.86 north; 594360.49 east 2021-10-11T01:23:49Z- AHRS_M2 msg: 1633915426.63 epoch sec; seqNo:1354 2021-10-11T01:23:50Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.10 psi 2021-10-11T01:23:50Z- handleDepth()-Depth_Keller msg: 1633915426633 epoch sec; seqNo:1392; depth 49.97 2021-10-11T01:23:50Z- handleDvl() - RDI_Pathfinder msg: 1633915426.66 epoch sec; seqNo:349 2021-10-11T01:23:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.93 , 33.38 , 2.00 , 31.07 2021-10-11T01:23:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.11 , 0.03 2021-10-11T01:23:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915426.68 epoch sec; seqNo:1392; 4061736.86 north; 594360.49 east 2021-10-11T01:23:50Z- AHRS_M2 msg: 1633915427.03 epoch sec; seqNo:1355 2021-10-11T01:23:50Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.10 psi 2021-10-11T01:23:50Z- handleDepth()-Depth_Keller msg: 1633915427038 epoch sec; seqNo:1393; depth 49.97 2021-10-11T01:23:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915427.06 epoch sec; seqNo:1393; 4061737.24 north; 594360.49 east 2021-10-11T01:23:50Z- AHRS_M2 msg: 1633915427.44 epoch sec; seqNo:1356 2021-10-11T01:23:50Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.11 psi 2021-10-11T01:23:50Z- handleDepth()-Depth_Keller msg: 1633915427446 epoch sec; seqNo:1394; depth 49.96 2021-10-11T01:23:50Z- handleDvl() - RDI_Pathfinder msg: 1633915427.48 epoch sec; seqNo:350 2021-10-11T01:23:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.80 , 33.66 , 3.00 , 31.07 2021-10-11T01:23:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.04 2021-10-11T01:23:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915427.51 epoch sec; seqNo:1394; 4061737.61 north; 594360.48 east 2021-10-11T01:23:51Z- AHRS_M2 msg: 1633915427.84 epoch sec; seqNo:1357 2021-10-11T01:23:51Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.11 psi 2021-10-11T01:23:51Z- handleDepth()-Depth_Keller msg: 1633915427858 epoch sec; seqNo:1395; depth 49.94 2021-10-11T01:23:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915427.87 epoch sec; seqNo:1395; 4061737.99 north; 594360.48 east 2021-10-11T01:23:51Z- AHRS_M2 msg: 1633915428.24 epoch sec; seqNo:1358 2021-10-11T01:23:51Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.11 psi 2021-10-11T01:23:51Z- handleDepth()-Depth_Keller msg: 1633915428249 epoch sec; seqNo:1396; depth 49.95 2021-10-11T01:23:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915428.26 epoch sec; seqNo:1396; 4061738.37 north; 594360.47 east 2021-10-11T01:23:52Z- AHRS_M2 msg: 1633915428.65 epoch sec; seqNo:1359 2021-10-11T01:23:52Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.11 psi 2021-10-11T01:23:52Z- handleDepth()-Depth_Keller msg: 1633915428659 epoch sec; seqNo:1397; depth 49.94 2021-10-11T01:23:52Z- handleDvl() - RDI_Pathfinder msg: 1633915428.68 epoch sec; seqNo:351 2021-10-11T01:23:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 27.80 , 4.00 , 4.00 , 30.93 2021-10-11T01:23:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2021-10-11T01:23:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915428.71 epoch sec; seqNo:1397; 4061738.37 north; 594360.47 east 2021-10-11T01:23:52Z- AHRS_M2 msg: 1633915429.05 epoch sec; seqNo:1360 2021-10-11T01:23:52Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.11 psi 2021-10-11T01:23:52Z- handleDepth()-Depth_Keller msg: 1633915429068 epoch sec; seqNo:1398; depth 49.93 2021-10-11T01:23:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915429.09 epoch sec; seqNo:1398; 4061738.75 north; 594360.47 east 2021-10-11T01:23:52Z- AHRS_M2 msg: 1633915429.46 epoch sec; seqNo:1361 2021-10-11T01:23:52Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.12 psi 2021-10-11T01:23:52Z- handleDepth()-Depth_Keller msg: 1633915429464 epoch sec; seqNo:1399; depth 49.93 2021-10-11T01:23:52Z- handleDvl() - RDI_Pathfinder msg: 1633915429.49 epoch sec; seqNo:352 2021-10-11T01:23:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.54 , 5.00 , 32.79 , 30.91 2021-10-11T01:23:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.02 2021-10-11T01:23:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915429.52 epoch sec; seqNo:1399; 4061739.13 north; 594360.46 east 2021-10-11T01:23:53Z- LcmTrn::handleMessages() - handling 41 messages took 0.83 ms and 124 calls... 2021-10-11T01:23:53Z- waiting for 1633915427.67, time is 1633915429.52 2021-10-11T01:23:53Z- LcmTrn::updateTrn() equating pose 1633915429.52 and meas times 1633915429.52 2021-10-11T01:23:53Z- LcmTrn::updateTrn() >>>> pose time 1633915429.52, meas time 1633915429.52 <<<< 2021-10-11T01:23:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915429.52 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:53Z- TerrainNav::motionUpdate() - currEstimate = (4061739, 594360.46, 49.93) 2021-10-11T01:23:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:53Z- TerrainNav:: SubcloudNIS is 0.93, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:53Z- TNavBF::Projecting Measurements 2021-10-11T01:23:53Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:23:53Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:23:53Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:23:53Z- TNavFilter::Excluded 1 beam(s) from correlation due to poor sonar data. 2021-10-11T01:23:53Z- TNavFilter::3 good beams. 2021-10-11T01:23:53Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:23:53Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:23:53Z- TNavBF:: beamIndex[1] = 2 2021-10-11T01:23:53Z- TNavBF:: beamIndex[2] = 3 2021-10-11T01:23:53Z- TNavBF:: beamIndex[3] = 0 2021-10-11T01:23:53Z- TNavBF:: *** beamsVF.Ncols() = 3 *** 2021-10-11T01:23:53Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:23:53Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:53Z- TerrainMapOctree: (vehN, vehE ) = (4061739.13, 594360.46). 2021-10-11T01:23:53Z- TerrainMapOctree: Min Distance = 111.00. 2021-10-11T01:23:53Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:23:53Z- Forcing Subcloud Comparison 2021-10-11T01:23:53Z- Filter 0 deapthBias would have been set to Nan. indexP: 4869 indexM: 0 2021-10-11T01:23:53Z- Old Depth Bias: -21.44 DepthBiasCov: 1.10 K: 0.272 ExpectedMeasDiff: nan currMeas.covariance: 1.21 2021-10-11T01:23:53Z- Filter 0 deapthBias would have been set to Nan. indexP: 3736 indexM: 1 2021-10-11T01:23:53Z- Old Depth Bias: -27.23 DepthBiasCov: 0.80 K: 0.188 ExpectedMeasDiff: nan currMeas.covariance: 1.72 2021-10-11T01:23:53Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:23:53Z- Filter 0 beam number: 0 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:23:53Z- Filter 0 partialDeltaRmsComputation: 9.824360 terrainVariance: 0.450282 1-SumSquareWeights: 0.981805 2021-10-11T01:23:53Z- Filter 0 meanExpectedMeasDiff: -3.061711 delta_rms_squared: 0.440464 alpha: 0.956566 2021-10-11T01:23:53Z- Filter 0 beam number: 1 num in subcloud: 9995 num not in subcloud: 5 2021-10-11T01:23:53Z- Filter 0 partialDeltaRmsComputation: 1.610256 terrainVariance: 1.605646 1-SumSquareWeights: 0.981805 2021-10-11T01:23:53Z- Filter 0 meanExpectedMeasDiff: 0.067900 delta_rms_squared: 1.595828 alpha: 0.987622 2021-10-11T01:23:53Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:23:53Z- Filter 0 partialDeltaRmsComputation: 7.080504 terrainVariance: 0.174955 1-SumSquareWeights: 0.981805 2021-10-11T01:23:53Z- Filter 0 meanExpectedMeasDiff: 2.627841 delta_rms_squared: 0.165137 alpha: 0.891972 2021-10-11T01:23:53Z- Filter 0 SubcloudNIS: 0.924810 2021-10-11T01:23:53Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:23:53Z- TNavBF:: Filter 0 sumWeights = 0.101091 2021-10-11T01:23:53Z- Filter 0 NorthBias: 0.4 EastBias: -89.8 DepthBias: -43.5 NorthVariance: 11.0 EastVariance: 10.9 DepthVariance: 0.7 this->DepthBiasCov: 0.5 2021-10-11T01:23:53Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915429.52 sec. 2021-10-11T01:23:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:53Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:53Z- variances([0], [2], and psi_berg) = 11.000183 10.866967 0.000000 2021-10-11T01:23:53Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:53Z- LcmTrn::publishEstimates() - MLE : 4061742.61 594264.57 37.93 2021-10-11T01:23:53Z- LcmTrn::publishEstimates() - MMSE : 4061739.52 594270.66 6.43 2021-10-11T01:23:53Z- LcmTrn::publishEstimates() - COVAR: 11.00 10.87 0.74 0.00 2021-10-11T01:23:53Z- AHRS_M2 msg: 1633915429.86 epoch sec; seqNo:1362 2021-10-11T01:23:53Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.12 psi 2021-10-11T01:23:53Z- handleDepth()-Depth_Keller msg: 1633915429866 epoch sec; seqNo:1400; depth 49.92 2021-10-11T01:23:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915429.88 epoch sec; seqNo:1400; 4061739.51 north; 594360.46 east 2021-10-11T01:23:53Z- AHRS_M2 msg: 1633915430.27 epoch sec; seqNo:1363 2021-10-11T01:23:53Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.12 psi 2021-10-11T01:23:53Z- handleDepth()-Depth_Keller msg: 1633915430276 epoch sec; seqNo:1401; depth 49.92 2021-10-11T01:23:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:23:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:23:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:23:53Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:23:53Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:23:53Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:23:53Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:23:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:23:53Z- handleDvl() - RDI_Pathfinder msg: 1633915430.28 epoch sec; seqNo:353 2021-10-11T01:23:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:23:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.02 2021-10-11T01:23:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915430.29 epoch sec; seqNo:1401; 4061739.89 north; 594360.46 east 2021-10-11T01:23:54Z- AHRS_M2 msg: 1633915430.67 epoch sec; seqNo:1364 2021-10-11T01:23:54Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.12 psi 2021-10-11T01:23:54Z- handleDepth()-Depth_Keller msg: 1633915430674 epoch sec; seqNo:1402; depth 49.91 2021-10-11T01:23:54Z- handleDvl() - RDI_Pathfinder msg: 1633915430.70 epoch sec; seqNo:354 2021-10-11T01:23:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.93 , 36.11 , 33.25 , 30.93 2021-10-11T01:23:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.06 , 0.01 2021-10-11T01:23:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915430.72 epoch sec; seqNo:1402; 4061740.27 north; 594360.45 east 2021-10-11T01:23:54Z- AHRS_M2 msg: 1633915431.08 epoch sec; seqNo:1365 2021-10-11T01:23:54Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.12 psi 2021-10-11T01:23:54Z- handleDepth()-Depth_Keller msg: 1633915431088 epoch sec; seqNo:1403; depth 49.91 2021-10-11T01:23:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915431.12 epoch sec; seqNo:1403; 4061740.65 north; 594360.45 east 2021-10-11T01:23:54Z- AHRS_M2 msg: 1633915431.48 epoch sec; seqNo:1366 2021-10-11T01:23:54Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.13 psi 2021-10-11T01:23:54Z- handleDepth()-Depth_Keller msg: 1633915431489 epoch sec; seqNo:1404; depth 49.90 2021-10-11T01:23:54Z- handleDvl() - RDI_Pathfinder msg: 1633915431.52 epoch sec; seqNo:355 2021-10-11T01:23:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 35.72 , 33.72 , 30.81 2021-10-11T01:23:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , -0.01 2021-10-11T01:23:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915431.54 epoch sec; seqNo:1404; 4061740.65 north; 594360.45 east 2021-10-11T01:23:55Z- AHRS_M2 msg: 1633915431.89 epoch sec; seqNo:1367 2021-10-11T01:23:55Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.13 psi 2021-10-11T01:23:55Z- handleDepth()-Depth_Keller msg: 1633915431893 epoch sec; seqNo:1405; depth 49.89 2021-10-11T01:23:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915431.91 epoch sec; seqNo:1405; 4061741.02 north; 594360.44 east 2021-10-11T01:23:55Z- AHRS_M2 msg: 1633915432.29 epoch sec; seqNo:1368 2021-10-11T01:23:55Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.13 psi 2021-10-11T01:23:55Z- handleDepth()-Depth_Keller msg: 1633915432298 epoch sec; seqNo:1406; depth 49.87 2021-10-11T01:23:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915432.31 epoch sec; seqNo:1406; 4061741.40 north; 594360.44 east 2021-10-11T01:23:56Z- AHRS_M2 msg: 1633915432.69 epoch sec; seqNo:1369 2021-10-11T01:23:56Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.13 psi 2021-10-11T01:23:56Z- handleDepth()-Depth_Keller msg: 1633915432694 epoch sec; seqNo:1407; depth 49.87 2021-10-11T01:23:56Z- handleDvl() - RDI_Pathfinder msg: 1633915432.72 epoch sec; seqNo:356 2021-10-11T01:23:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.72 , 33.26 , 30.81 2021-10-11T01:23:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.03 , -0.01 2021-10-11T01:23:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915432.76 epoch sec; seqNo:1407; 4061741.78 north; 594360.44 east 2021-10-11T01:23:56Z- AHRS_M2 msg: 1633915433.10 epoch sec; seqNo:1370 2021-10-11T01:23:56Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.13 psi 2021-10-11T01:23:56Z- handleDepth()-Depth_Keller msg: 1633915433104 epoch sec; seqNo:1408; depth 49.86 2021-10-11T01:23:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915433.12 epoch sec; seqNo:1408; 4061742.16 north; 594360.43 east 2021-10-11T01:23:56Z- AHRS_M2 msg: 1633915433.52 epoch sec; seqNo:1371 2021-10-11T01:23:56Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.13 psi 2021-10-11T01:23:56Z- handleDepth()-Depth_Keller msg: 1633915433520 epoch sec; seqNo:1409; depth 49.86 2021-10-11T01:23:56Z- handleDvl() - RDI_Pathfinder msg: 1633915433.54 epoch sec; seqNo:357 2021-10-11T01:23:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.05 , 9.00 , 33.11 , 30.66 2021-10-11T01:23:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.06 , -0.01 2021-10-11T01:23:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915433.59 epoch sec; seqNo:1409; 4061742.54 north; 594360.43 east 2021-10-11T01:23:57Z- AHRS_M2 msg: 1633915433.90 epoch sec; seqNo:1372 2021-10-11T01:23:57Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.13 psi 2021-10-11T01:23:57Z- handleDepth()-Depth_Keller msg: 1633915433907 epoch sec; seqNo:1410; depth 49.85 2021-10-11T01:23:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915433.93 epoch sec; seqNo:1410; 4061742.92 north; 594360.42 east 2021-10-11T01:23:57Z- AHRS_M2 msg: 1633915434.31 epoch sec; seqNo:1373 2021-10-11T01:23:57Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.14 psi 2021-10-11T01:23:57Z- handleDepth()-Depth_Keller msg: 1633915434316 epoch sec; seqNo:1411; depth 49.83 2021-10-11T01:23:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915434.33 epoch sec; seqNo:1411; 4061742.92 north; 594360.42 east 2021-10-11T01:23:58Z- AHRS_M2 msg: 1633915434.71 epoch sec; seqNo:1374 2021-10-11T01:23:58Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.14 psi 2021-10-11T01:23:58Z- handleDepth()-Depth_Keller msg: 1633915434723 epoch sec; seqNo:1412; depth 49.84 2021-10-11T01:23:58Z- handleDvl() - RDI_Pathfinder msg: 1633915434.74 epoch sec; seqNo:358 2021-10-11T01:23:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.07 , 34.20 , 33.38 , 30.93 2021-10-11T01:23:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.07 , -0.00 2021-10-11T01:23:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915434.77 epoch sec; seqNo:1412; 4061743.30 north; 594360.42 east 2021-10-11T01:23:58Z- LcmTrn::handleMessages() - handling 45 messages took 0.79 ms and 129 calls... 2021-10-11T01:23:58Z- waiting for 1633915432.52, time is 1633915434.77 2021-10-11T01:23:58Z- LcmTrn::updateTrn() equating pose 1633915434.77 and meas times 1633915434.77 2021-10-11T01:23:58Z- LcmTrn::updateTrn() >>>> pose time 1633915434.77, meas time 1633915434.77 <<<< 2021-10-11T01:23:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915434.77 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:23:58Z- TerrainNav::motionUpdate() - currEstimate = (4061743, 594360.42, 49.84) 2021-10-11T01:23:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:23:58Z- TerrainNav:: SubcloudNIS is 0.92, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:23:58Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915434.77 sec.; No relevant navigation data available 2021-10-11T01:23:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:23:58Z- TNavBF::mmse selected from filter -1 2021-10-11T01:23:58Z- variances([0], [2], and psi_berg) = 11.027813 27.468247 0.000000 2021-10-11T01:23:58Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:23:58Z- LcmTrn::publishEstimates() - MLE : 4061746.78 594264.52 37.83 2021-10-11T01:23:58Z- LcmTrn::publishEstimates() - MMSE : 4061743.68 594270.81 6.36 2021-10-11T01:23:58Z- LcmTrn::publishEstimates() - COVAR: 11.03 27.47 1.15 0.00 2021-10-11T01:23:58Z- AHRS_M2 msg: 1633915435.11 epoch sec; seqNo:1375 2021-10-11T01:23:58Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.14 psi 2021-10-11T01:23:58Z- handleDepth()-Depth_Keller msg: 1633915435120 epoch sec; seqNo:1413; depth 49.81 2021-10-11T01:23:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915435.14 epoch sec; seqNo:1413; 4061743.68 north; 594360.41 east 2021-10-11T01:23:58Z- AHRS_M2 msg: 1633915435.54 epoch sec; seqNo:1376 2021-10-11T01:23:58Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.14 psi 2021-10-11T01:23:58Z- handleDepth()-Depth_Keller msg: 1633915435555 epoch sec; seqNo:1414; depth 49.80 2021-10-11T01:23:58Z- handleDvl() - RDI_Pathfinder msg: 1633915435.58 epoch sec; seqNo:359 2021-10-11T01:23:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.98 , 34.19 , 33.11 , 30.97 2021-10-11T01:23:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.06 , -0.00 2021-10-11T01:23:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915435.62 epoch sec; seqNo:1414; 4061744.05 north; 594360.41 east 2021-10-11T01:23:59Z- AHRS_M2 msg: 1633915435.92 epoch sec; seqNo:1377 2021-10-11T01:23:59Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.14 psi 2021-10-11T01:23:59Z- handleDepth()-Depth_Keller msg: 1633915435926 epoch sec; seqNo:1415; depth 49.81 2021-10-11T01:23:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915435.95 epoch sec; seqNo:1415; 4061744.43 north; 594360.41 east 2021-10-11T01:23:59Z- AHRS_M2 msg: 1633915436.33 epoch sec; seqNo:1378 2021-10-11T01:23:59Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.14 psi 2021-10-11T01:23:59Z- handleDepth()-Depth_Keller msg: 1633915436338 epoch sec; seqNo:1416; depth 49.80 2021-10-11T01:23:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915436.35 epoch sec; seqNo:1416; 4061744.81 north; 594360.40 east 2021-10-11T01:24:00Z- AHRS_M2 msg: 1633915436.73 epoch sec; seqNo:1379 2021-10-11T01:24:00Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.15 psi 2021-10-11T01:24:00Z- handleDepth()-Depth_Keller msg: 1633915436749 epoch sec; seqNo:1417; depth 49.79 2021-10-11T01:24:00Z- handleDvl() - RDI_Pathfinder msg: 1633915436.77 epoch sec; seqNo:360 2021-10-11T01:24:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.13 , 33.72 , 33.26 , 31.12 2021-10-11T01:24:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.00 2021-10-11T01:24:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915436.79 epoch sec; seqNo:1417; 4061745.19 north; 594360.40 east 2021-10-11T01:24:00Z- AHRS_M2 msg: 1633915437.14 epoch sec; seqNo:1380 2021-10-11T01:24:00Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.15 psi 2021-10-11T01:24:00Z- handleDepth()-Depth_Keller msg: 1633915437145 epoch sec; seqNo:1418; depth 49.78 2021-10-11T01:24:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915437.16 epoch sec; seqNo:1418; 4061745.57 north; 594360.39 east 2021-10-11T01:24:00Z- AHRS_M2 msg: 1633915437.57 epoch sec; seqNo:1381 2021-10-11T01:24:00Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.15 psi 2021-10-11T01:24:00Z- handleDepth()-Depth_Keller msg: 1633915437573 epoch sec; seqNo:1419; depth 49.79 2021-10-11T01:24:00Z- handleDvl() - RDI_Pathfinder msg: 1633915437.61 epoch sec; seqNo:361 2021-10-11T01:24:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.13 , 13.00 , 33.11 , 31.12 2021-10-11T01:24:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , -0.01 2021-10-11T01:24:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915437.63 epoch sec; seqNo:1419; 4061745.95 north; 594360.39 east 2021-10-11T01:24:01Z- AHRS_M2 msg: 1633915437.94 epoch sec; seqNo:1382 2021-10-11T01:24:01Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.15 psi 2021-10-11T01:24:01Z- handleDepth()-Depth_Keller msg: 1633915437945 epoch sec; seqNo:1420; depth 49.75 2021-10-11T01:24:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915437.97 epoch sec; seqNo:1420; 4061745.95 north; 594360.39 east 2021-10-11T01:24:01Z- AHRS_M2 msg: 1633915438.35 epoch sec; seqNo:1383 2021-10-11T01:24:01Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.15 psi 2021-10-11T01:24:01Z- handleDepth()-Depth_Keller msg: 1633915438350 epoch sec; seqNo:1421; depth 49.76 2021-10-11T01:24:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915438.36 epoch sec; seqNo:1421; 4061746.33 north; 594360.39 east 2021-10-11T01:24:02Z- AHRS_M2 msg: 1633915438.75 epoch sec; seqNo:1384 2021-10-11T01:24:02Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.16 psi 2021-10-11T01:24:02Z- handleDepth()-Depth_Keller msg: 1633915438760 epoch sec; seqNo:1422; depth 49.75 2021-10-11T01:24:02Z- handleDvl() - RDI_Pathfinder msg: 1633915438.79 epoch sec; seqNo:362 2021-10-11T01:24:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.39 , 33.38 , 32.97 , 31.07 2021-10-11T01:24:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , -0.01 2021-10-11T01:24:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915438.80 epoch sec; seqNo:1422; 4061746.71 north; 594360.38 east 2021-10-11T01:24:02Z- AHRS_M2 msg: 1633915439.15 epoch sec; seqNo:1385 2021-10-11T01:24:02Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.16 psi 2021-10-11T01:24:02Z- handleDepth()-Depth_Keller msg: 1633915439163 epoch sec; seqNo:1423; depth 49.75 2021-10-11T01:24:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915439.18 epoch sec; seqNo:1423; 4061747.09 north; 594360.38 east 2021-10-11T01:24:02Z- AHRS_M2 msg: 1633915439.60 epoch sec; seqNo:1386 2021-10-11T01:24:02Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.16 psi 2021-10-11T01:24:02Z- handleDepth()-Depth_Keller msg: 1633915439608 epoch sec; seqNo:1424; depth 49.73 2021-10-11T01:24:03Z- handleDvl() - RDI_Pathfinder msg: 1633915439.65 epoch sec; seqNo:363 2021-10-11T01:24:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 15.00 , 32.96 , 31.27 2021-10-11T01:24:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.02 2021-10-11T01:24:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915439.66 epoch sec; seqNo:1424; 4061747.46 north; 594360.37 east 2021-10-11T01:24:03Z- AHRS_M2 msg: 1633915439.96 epoch sec; seqNo:1387 2021-10-11T01:24:03Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.16 psi 2021-10-11T01:24:03Z- handleDepth()-Depth_Keller msg: 1633915439966 epoch sec; seqNo:1425; depth 49.73 2021-10-11T01:24:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915439.98 epoch sec; seqNo:1425; 4061747.46 north; 594360.37 east 2021-10-11T01:24:03Z- LcmTrn::handleMessages() - handling 44 messages took 0.81 ms and 127 calls... 2021-10-11T01:24:03Z- waiting for 1633915437.77, time is 1633915439.98 2021-10-11T01:24:03Z- LcmTrn::updateTrn() >>>> pose time 1633915439.98, meas time 1633915439.65 <<<< 2021-10-11T01:24:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915439.65 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:03Z- TerrainNav::motionUpdate() - currEstimate = (4061747, 594360.37, 49.73) 2021-10-11T01:24:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:03Z- TerrainNav:: SubcloudNIS is 0.92, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:03Z- TNavBF::Projecting Measurements 2021-10-11T01:24:03Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:24:03Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:24:03Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:24:03Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:24:03Z- TNavFilter::4 good beams. 2021-10-11T01:24:03Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:24:03Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:24:03Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:24:03Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:24:03Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:24:03Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:24:03Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:24:03Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:03Z- TerrainMapOctree: (vehN, vehE ) = (4061747.19, 594360.38). 2021-10-11T01:24:03Z- TerrainMapOctree: Min Distance = 110.41. 2021-10-11T01:24:03Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:24:03Z- Forcing Subcloud Comparison 2021-10-11T01:24:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 4068 indexM: 0 2021-10-11T01:24:03Z- Old Depth Bias: -21.56 DepthBiasCov: 0.95 K: 0.245 ExpectedMeasDiff: nan currMeas.covariance: 1.20 2021-10-11T01:24:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 7734 indexM: 1 2021-10-11T01:24:03Z- Old Depth Bias: -28.08 DepthBiasCov: 0.72 K: 0.256 ExpectedMeasDiff: nan currMeas.covariance: 0.36 2021-10-11T01:24:03Z- Filter 0 deapthBias would have been set to Nan. indexP: 3236 indexM: 2 2021-10-11T01:24:03Z- Old Depth Bias: -31.69 DepthBiasCov: 0.54 K: 0.134 ExpectedMeasDiff: nan currMeas.covariance: 1.74 2021-10-11T01:24:03Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:24:03Z- Filter 0 beam number: 0 num in subcloud: 9997 num not in subcloud: 3 2021-10-11T01:24:03Z- Filter 0 partialDeltaRmsComputation: 0.943930 terrainVariance: 0.413314 1-SumSquareWeights: 0.980383 2021-10-11T01:24:03Z- Filter 0 meanExpectedMeasDiff: 0.728434 delta_rms_squared: 0.403511 alpha: 0.952776 2021-10-11T01:24:03Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:03Z- Filter 0 partialDeltaRmsComputation: 186.212654 terrainVariance: 0.369386 1-SumSquareWeights: 0.980383 2021-10-11T01:24:03Z- Filter 0 meanExpectedMeasDiff: -13.632434 delta_rms_squared: 0.359583 alpha: 0.947311 2021-10-11T01:24:03Z- Filter 0 beam number: 2 num in subcloud: 9995 num not in subcloud: 5 2021-10-11T01:24:03Z- Filter 0 partialDeltaRmsComputation: 13.843836 terrainVariance: 1.678594 1-SumSquareWeights: 0.980383 2021-10-11T01:24:03Z- Filter 0 meanExpectedMeasDiff: 3.487871 delta_rms_squared: 1.668790 alpha: 0.988157 2021-10-11T01:24:03Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:03Z- Filter 0 partialDeltaRmsComputation: 31.434453 terrainVariance: 0.175442 1-SumSquareWeights: 0.980383 2021-10-11T01:24:03Z- Filter 0 meanExpectedMeasDiff: 5.590976 delta_rms_squared: 0.165638 alpha: 0.892263 2021-10-11T01:24:03Z- Filter 0 SubcloudNIS: 0.959108 2021-10-11T01:24:03Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:24:03Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-11T01:24:03Z- Filter 0 NorthBias: 3.1 EastBias: -86.5 DepthBias: -46.5 NorthVariance: 9.3 EastVariance: 2.6 DepthVariance: 0.6 this->DepthBiasCov: 0.4 2021-10-11T01:24:03Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915439.65 sec. 2021-10-11T01:24:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:03Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:03Z- variances([0], [2], and psi_berg) = 9.261263 2.585952 0.000000 2021-10-11T01:24:03Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:03Z- LcmTrn::publishEstimates() - MLE : 4061749.95 594274.47 37.73 2021-10-11T01:24:03Z- LcmTrn::publishEstimates() - MMSE : 4061750.61 594273.92 3.28 2021-10-11T01:24:03Z- LcmTrn::publishEstimates() - COVAR: 9.26 2.59 0.57 0.00 2021-10-11T01:24:03Z- AHRS_M2 msg: 1633915440.37 epoch sec; seqNo:1388 2021-10-11T01:24:03Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.16 psi 2021-10-11T01:24:03Z- handleDepth()-Depth_Keller msg: 1633915440372 epoch sec; seqNo:1426; depth 49.71 2021-10-11T01:24:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915440.38 epoch sec; seqNo:1426; 4061747.84 north; 594360.37 east 2021-10-11T01:24:04Z- AHRS_M2 msg: 1633915440.77 epoch sec; seqNo:1389 2021-10-11T01:24:04Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:04Z- handleDepth()-Depth_Keller msg: 1633915440782 epoch sec; seqNo:1427; depth 49.71 2021-10-11T01:24:04Z- handleDvl() - RDI_Pathfinder msg: 1633915440.81 epoch sec; seqNo:364 2021-10-11T01:24:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.39 , 16.00 , 32.70 , 31.34 2021-10-11T01:24:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , -0.03 2021-10-11T01:24:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915440.82 epoch sec; seqNo:1427; 4061748.22 north; 594360.36 east 2021-10-11T01:24:04Z- AHRS_M2 msg: 1633915441.17 epoch sec; seqNo:1390 2021-10-11T01:24:04Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:04Z- handleDepth()-Depth_Keller msg: 1633915441178 epoch sec; seqNo:1428; depth 49.70 2021-10-11T01:24:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915441.21 epoch sec; seqNo:1428; 4061748.60 north; 594360.36 east 2021-10-11T01:24:05Z- AHRS_M2 msg: 1633915441.63 epoch sec; seqNo:1391 2021-10-11T01:24:05Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:05Z- handleDepth()-Depth_Keller msg: 1633915441635 epoch sec; seqNo:1429; depth 49.71 2021-10-11T01:24:05Z- handleDvl() - RDI_Pathfinder msg: 1633915441.67 epoch sec; seqNo:365 2021-10-11T01:24:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.52 , 34.34 , 32.57 , 31.48 2021-10-11T01:24:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.13 , -0.03 2021-10-11T01:24:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915441.68 epoch sec; seqNo:1429; 4061748.98 north; 594360.36 east 2021-10-11T01:24:05Z- AHRS_M2 msg: 1633915441.98 epoch sec; seqNo:1392 2021-10-11T01:24:05Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:05Z- handleDepth()-Depth_Keller msg: 1633915441989 epoch sec; seqNo:1430; depth 49.69 2021-10-11T01:24:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915442.01 epoch sec; seqNo:1430; 4061749.36 north; 594360.35 east 2021-10-11T01:24:05Z- AHRS_M2 msg: 1633915442.39 epoch sec; seqNo:1393 2021-10-11T01:24:05Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:05Z- handleDepth()-Depth_Keller msg: 1633915442392 epoch sec; seqNo:1431; depth 49.68 2021-10-11T01:24:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915442.40 epoch sec; seqNo:1431; 4061749.36 north; 594360.35 east 2021-10-11T01:24:06Z- AHRS_M2 msg: 1633915442.79 epoch sec; seqNo:1394 2021-10-11T01:24:06Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:06Z- handleDepth()-Depth_Keller msg: 1633915442809 epoch sec; seqNo:1432; depth 49.67 2021-10-11T01:24:06Z- handleDvl() - RDI_Pathfinder msg: 1633915442.83 epoch sec; seqNo:366 2021-10-11T01:24:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 18.00 , 32.81 , 31.42 2021-10-11T01:24:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.12 , -0.03 2021-10-11T01:24:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915442.85 epoch sec; seqNo:1432; 4061749.74 north; 594360.35 east 2021-10-11T01:24:06Z- AHRS_M2 msg: 1633915443.19 epoch sec; seqNo:1395 2021-10-11T01:24:06Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:06Z- handleDepth()-Depth_Keller msg: 1633915443199 epoch sec; seqNo:1433; depth 49.69 2021-10-11T01:24:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915443.23 epoch sec; seqNo:1433; 4061750.12 north; 594360.34 east 2021-10-11T01:24:07Z- AHRS_M2 msg: 1633915443.65 epoch sec; seqNo:1396 2021-10-11T01:24:07Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:07Z- handleDepth()-Depth_Keller msg: 1633915443663 epoch sec; seqNo:1434; depth 49.68 2021-10-11T01:24:07Z- handleDvl() - RDI_Pathfinder msg: 1633915443.69 epoch sec; seqNo:367 2021-10-11T01:24:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.52 , 34.47 , 32.70 , 31.20 2021-10-11T01:24:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.16 , -0.02 2021-10-11T01:24:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915443.71 epoch sec; seqNo:1434; 4061750.50 north; 594360.34 east 2021-10-11T01:24:07Z- AHRS_M2 msg: 1633915444.00 epoch sec; seqNo:1397 2021-10-11T01:24:07Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:07Z- handleDepth()-Depth_Keller msg: 1633915444016 epoch sec; seqNo:1435; depth 49.69 2021-10-11T01:24:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915444.03 epoch sec; seqNo:1435; 4061750.87 north; 594360.34 east 2021-10-11T01:24:07Z- AHRS_M2 msg: 1633915444.41 epoch sec; seqNo:1398 2021-10-11T01:24:07Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:07Z- handleDepth()-Depth_Keller msg: 1633915444411 epoch sec; seqNo:1436; depth 49.69 2021-10-11T01:24:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915444.43 epoch sec; seqNo:1436; 4061750.87 north; 594360.34 east 2021-10-11T01:24:08Z- AHRS_M2 msg: 1633915444.81 epoch sec; seqNo:1399 2021-10-11T01:24:08Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:08Z- handleDepth()-Depth_Keller msg: 1633915444827 epoch sec; seqNo:1437; depth 49.68 2021-10-11T01:24:08Z- handleDvl() - RDI_Pathfinder msg: 1633915444.85 epoch sec; seqNo:368 2021-10-11T01:24:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 34.49 , 32.65 , 31.27 2021-10-11T01:24:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.17 , 0.00 2021-10-11T01:24:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915444.86 epoch sec; seqNo:1437; 4061751.25 north; 594360.33 east 2021-10-11T01:24:08Z- AHRS_M2 msg: 1633915445.21 epoch sec; seqNo:1400 2021-10-11T01:24:08Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:08Z- handleDepth()-Depth_Keller msg: 1633915445217 epoch sec; seqNo:1438; depth 49.70 2021-10-11T01:24:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915445.24 epoch sec; seqNo:1438; 4061751.63 north; 594360.33 east 2021-10-11T01:24:08Z- LcmTrn::handleMessages() - handling 44 messages took 0.93 ms and 125 calls... 2021-10-11T01:24:08Z- waiting for 1633915442.98, time is 1633915445.24 2021-10-11T01:24:08Z- LcmTrn::updateTrn() >>>> pose time 1633915445.24, meas time 1633915444.85 <<<< 2021-10-11T01:24:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915444.85 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:08Z- TerrainNav::motionUpdate() - currEstimate = (4061752, 594360.33, 49.70) 2021-10-11T01:24:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:08Z- TerrainNav:: SubcloudNIS is 0.96, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:08Z- TNavBF::Projecting Measurements 2021-10-11T01:24:08Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:24:08Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:24:08Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:24:08Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:24:08Z- TNavFilter::4 good beams. 2021-10-11T01:24:08Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:24:08Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:24:08Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:24:08Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:24:08Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:24:08Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:24:08Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:24:08Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:08Z- TerrainMapOctree: (vehN, vehE ) = (4061751.32, 594360.33). 2021-10-11T01:24:08Z- TerrainMapOctree: Min Distance = 110.34. 2021-10-11T01:24:08Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:24:08Z- Forcing Subcloud Comparison 2021-10-11T01:24:08Z- Filter 0 deapthBias would have been set to Nan. indexP: 4555 indexM: 0 2021-10-11T01:24:08Z- Old Depth Bias: -25.73 DepthBiasCov: 0.62 K: 0.172 ExpectedMeasDiff: nan currMeas.covariance: 1.23 2021-10-11T01:24:08Z- Filter 0 deapthBias would have been set to Nan. indexP: 6642 indexM: 1 2021-10-11T01:24:08Z- Old Depth Bias: -28.96 DepthBiasCov: 0.51 K: 0.123 ExpectedMeasDiff: nan currMeas.covariance: 1.90 2021-10-11T01:24:08Z- Filter 0 deapthBias would have been set to Nan. indexP: 2835 indexM: 2 2021-10-11T01:24:08Z- Old Depth Bias: -29.34 DepthBiasCov: 0.45 K: 0.115 ExpectedMeasDiff: nan currMeas.covariance: 1.71 2021-10-11T01:24:08Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:24:08Z- Filter 0 beam number: 0 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:08Z- Filter 0 partialDeltaRmsComputation: 0.405814 terrainVariance: 0.137970 1-SumSquareWeights: 0.950393 2021-10-11T01:24:08Z- Filter 0 meanExpectedMeasDiff: -0.517536 delta_rms_squared: 0.128466 alpha: 0.865289 2021-10-11T01:24:08Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:08Z- Filter 0 partialDeltaRmsComputation: 21.893044 terrainVariance: 0.169029 1-SumSquareWeights: 0.950393 2021-10-11T01:24:08Z- Filter 0 meanExpectedMeasDiff: 4.660903 delta_rms_squared: 0.159526 alpha: 0.888595 2021-10-11T01:24:08Z- Filter 0 beam number: 2 num in subcloud: 9994 num not in subcloud: 6 2021-10-11T01:24:08Z- Filter 0 partialDeltaRmsComputation: 0.890800 terrainVariance: 0.860686 1-SumSquareWeights: 0.950393 2021-10-11T01:24:08Z- Filter 0 meanExpectedMeasDiff: -0.173533 delta_rms_squared: 0.851182 alpha: 0.977043 2021-10-11T01:24:08Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:08Z- Filter 0 partialDeltaRmsComputation: 14.886423 terrainVariance: 0.136269 1-SumSquareWeights: 0.950393 2021-10-11T01:24:08Z- Filter 0 meanExpectedMeasDiff: 3.840593 delta_rms_squared: 0.126765 alpha: 0.863728 2021-10-11T01:24:08Z- Filter 0 SubcloudNIS: 0.686902 2021-10-11T01:24:08Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:24:08Z- TNavBF:: Filter 0 sumWeights = 0.013387 2021-10-11T01:24:08Z- Filter 0 NorthBias: 2.6 EastBias: -86.6 DepthBias: -45.1 NorthVariance: 8.5 EastVariance: 3.1 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:24:08Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915444.85 sec. 2021-10-11T01:24:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:08Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:08Z- variances([0], [2], and psi_berg) = 8.509557 3.088688 0.000000 2021-10-11T01:24:08Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:08Z- LcmTrn::publishEstimates() - MLE : 4061754.12 594274.43 37.69 2021-10-11T01:24:08Z- LcmTrn::publishEstimates() - MMSE : 4061754.19 594273.75 4.63 2021-10-11T01:24:08Z- LcmTrn::publishEstimates() - COVAR: 8.51 3.09 0.51 0.00 2021-10-11T01:24:09Z- AHRS_M2 msg: 1633915445.62 epoch sec; seqNo:1401 2021-10-11T01:24:09Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:09Z- handleDepth()-Depth_Keller msg: 1633915445669 epoch sec; seqNo:1439; depth 49.68 2021-10-11T01:24:09Z- handleDvl() - RDI_Pathfinder msg: 1633915445.72 epoch sec; seqNo:369 2021-10-11T01:24:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 34.49 , 32.50 , 31.73 2021-10-11T01:24:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.14 , 0.03 2021-10-11T01:24:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915445.74 epoch sec; seqNo:1439; 4061752.01 north; 594360.32 east 2021-10-11T01:24:09Z- AHRS_M2 msg: 1633915446.02 epoch sec; seqNo:1402 2021-10-11T01:24:09Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:09Z- handleDepth()-Depth_Keller msg: 1633915446028 epoch sec; seqNo:1440; depth 49.72 2021-10-11T01:24:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915446.04 epoch sec; seqNo:1440; 4061752.39 north; 594360.32 east 2021-10-11T01:24:09Z- AHRS_M2 msg: 1633915446.43 epoch sec; seqNo:1403 2021-10-11T01:24:09Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:09Z- handleDepth()-Depth_Keller msg: 1633915446432 epoch sec; seqNo:1441; depth 49.73 2021-10-11T01:24:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915446.44 epoch sec; seqNo:1441; 4061752.77 north; 594360.31 east 2021-10-11T01:24:10Z- AHRS_M2 msg: 1633915446.83 epoch sec; seqNo:1404 2021-10-11T01:24:10Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:10Z- handleDepth()-Depth_Keller msg: 1633915446842 epoch sec; seqNo:1442; depth 49.72 2021-10-11T01:24:10Z- handleDvl() - RDI_Pathfinder msg: 1633915446.86 epoch sec; seqNo:370 2021-10-11T01:24:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 34.64 , 32.35 , 31.12 2021-10-11T01:24:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.14 , 0.03 2021-10-11T01:24:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915446.88 epoch sec; seqNo:1442; 4061752.77 north; 594360.31 east 2021-10-11T01:24:10Z- AHRS_M2 msg: 1633915447.23 epoch sec; seqNo:1405 2021-10-11T01:24:10Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:10Z- handleDepth()-Depth_Keller msg: 1633915447238 epoch sec; seqNo:1443; depth 49.75 2021-10-11T01:24:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915447.26 epoch sec; seqNo:1443; 4061753.15 north; 594360.31 east 2021-10-11T01:24:11Z- AHRS_M2 msg: 1633915447.66 epoch sec; seqNo:1406 2021-10-11T01:24:11Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.17 psi 2021-10-11T01:24:11Z- handleDepth()-Depth_Keller msg: 1633915447705 epoch sec; seqNo:1444; depth 49.74 2021-10-11T01:24:11Z- handleDvl() - RDI_Pathfinder msg: 1633915447.77 epoch sec; seqNo:371 2021-10-11T01:24:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 34.80 , 32.50 , 30.66 2021-10-11T01:24:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.11 , 0.04 2021-10-11T01:24:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915447.82 epoch sec; seqNo:1444; 4061753.53 north; 594360.31 east 2021-10-11T01:24:11Z- AHRS_M2 msg: 1633915448.05 epoch sec; seqNo:1407 2021-10-11T01:24:11Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.17 psi 2021-10-11T01:24:11Z- handleDepth()-Depth_Keller msg: 1633915448051 epoch sec; seqNo:1445; depth 49.76 2021-10-11T01:24:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915448.07 epoch sec; seqNo:1445; 4061753.90 north; 594360.30 east 2021-10-11T01:24:11Z- AHRS_M2 msg: 1633915448.44 epoch sec; seqNo:1408 2021-10-11T01:24:11Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:11Z- handleDepth()-Depth_Keller msg: 1633915448450 epoch sec; seqNo:1446; depth 49.79 2021-10-11T01:24:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915448.47 epoch sec; seqNo:1446; 4061754.28 north; 594360.30 east 2021-10-11T01:24:12Z- AHRS_M2 msg: 1633915448.85 epoch sec; seqNo:1409 2021-10-11T01:24:12Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:12Z- handleDepth()-Depth_Keller msg: 1633915448856 epoch sec; seqNo:1447; depth 49.78 2021-10-11T01:24:12Z- handleDvl() - RDI_Pathfinder msg: 1633915448.88 epoch sec; seqNo:372 2021-10-11T01:24:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 34.49 , 32.81 , 30.97 2021-10-11T01:24:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.04 2021-10-11T01:24:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915448.91 epoch sec; seqNo:1447; 4061754.66 north; 594360.29 east 2021-10-11T01:24:12Z- AHRS_M2 msg: 1633915449.26 epoch sec; seqNo:1410 2021-10-11T01:24:12Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:12Z- handleDepth()-Depth_Keller msg: 1633915449265 epoch sec; seqNo:1448; depth 49.81 2021-10-11T01:24:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915449.32 epoch sec; seqNo:1448; 4061755.04 north; 594360.29 east 2021-10-11T01:24:13Z- AHRS_M2 msg: 1633915449.66 epoch sec; seqNo:1411 2021-10-11T01:24:13Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:13Z- handleDepth()-Depth_Keller msg: 1633915449670 epoch sec; seqNo:1449; depth 49.82 2021-10-11T01:24:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915449.74 epoch sec; seqNo:1449; 4061755.04 north; 594360.29 east 2021-10-11T01:24:13Z- AHRS_M2 msg: 1633915450.06 epoch sec; seqNo:1412 2021-10-11T01:24:13Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:13Z- handleDepth()-Depth_Keller msg: 1633915450074 epoch sec; seqNo:1450; depth 49.84 2021-10-11T01:24:13Z- handleDvl() - RDI_Pathfinder msg: 1633915450.11 epoch sec; seqNo:373 2021-10-11T01:24:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.51 , 35.41 , 32.65 , 31.12 2021-10-11T01:24:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.02 2021-10-11T01:24:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915450.12 epoch sec; seqNo:1450; 4061755.42 north; 594360.29 east 2021-10-11T01:24:13Z- AHRS_M2 msg: 1633915450.47 epoch sec; seqNo:1413 2021-10-11T01:24:13Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:13Z- handleDepth()-Depth_Keller msg: 1633915450474 epoch sec; seqNo:1451; depth 49.84 2021-10-11T01:24:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915450.49 epoch sec; seqNo:1451; 4061755.80 north; 594360.28 east 2021-10-11T01:24:13Z- LcmTrn::handleMessages() - handling 44 messages took 0.95 ms and 125 calls... 2021-10-11T01:24:13Z- waiting for 1633915448.24, time is 1633915450.49 2021-10-11T01:24:13Z- LcmTrn::updateTrn() >>>> pose time 1633915450.49, meas time 1633915450.11 <<<< 2021-10-11T01:24:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915450.11 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:13Z- TerrainNav::motionUpdate() - currEstimate = (4061756, 594360.28, 49.84) 2021-10-11T01:24:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:13Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:13Z- TNavBF::Projecting Measurements 2021-10-11T01:24:13Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:24:13Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:24:13Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:24:13Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:24:13Z- TNavFilter::4 good beams. 2021-10-11T01:24:13Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:24:13Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:24:13Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:24:13Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:24:13Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:24:13Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:24:13Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:24:13Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:13Z- TerrainMapOctree: (vehN, vehE ) = (4061755.49, 594360.28). 2021-10-11T01:24:13Z- TerrainMapOctree: Min Distance = 110.42. 2021-10-11T01:24:13Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:24:14Z- Forcing Subcloud Comparison 2021-10-11T01:24:14Z- Filter 0 deapthBias would have been set to Nan. indexP: 2633 indexM: 2 2021-10-11T01:24:14Z- Old Depth Bias: -28.01 DepthBiasCov: 0.42 K: 0.110 ExpectedMeasDiff: nan currMeas.covariance: 1.71 2021-10-11T01:24:14Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:24:14Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:14Z- Filter 0 partialDeltaRmsComputation: 0.199068 terrainVariance: 0.123427 1-SumSquareWeights: 0.955260 2021-10-11T01:24:14Z- Filter 0 meanExpectedMeasDiff: -0.275028 delta_rms_squared: 0.113875 alpha: 0.850607 2021-10-11T01:24:14Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:14Z- Filter 0 partialDeltaRmsComputation: 18.947326 terrainVariance: 0.313577 1-SumSquareWeights: 0.955260 2021-10-11T01:24:14Z- Filter 0 meanExpectedMeasDiff: 4.316683 delta_rms_squared: 0.304025 alpha: 0.938276 2021-10-11T01:24:14Z- Filter 0 beam number: 2 num in subcloud: 9997 num not in subcloud: 3 2021-10-11T01:24:14Z- Filter 0 partialDeltaRmsComputation: 2.853379 terrainVariance: 0.290282 1-SumSquareWeights: 0.955260 2021-10-11T01:24:14Z- Filter 0 meanExpectedMeasDiff: -1.600968 delta_rms_squared: 0.280729 alpha: 0.933495 2021-10-11T01:24:14Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:14Z- Filter 0 partialDeltaRmsComputation: 8.831170 terrainVariance: 0.117823 1-SumSquareWeights: 0.955260 2021-10-11T01:24:14Z- Filter 0 meanExpectedMeasDiff: 2.951838 delta_rms_squared: 0.108271 alpha: 0.844080 2021-10-11T01:24:14Z- Filter 0 SubcloudNIS: 0.749438 2021-10-11T01:24:14Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:24:14Z- TNavBF:: Filter 0 sumWeights = 0.030941 2021-10-11T01:24:14Z- Filter 0 NorthBias: 2.2 EastBias: -86.9 DepthBias: -44.3 NorthVariance: 12.5 EastVariance: 4.2 DepthVariance: 0.5 this->DepthBiasCov: 0.3 2021-10-11T01:24:14Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915450.11 sec. 2021-10-11T01:24:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:14Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:14Z- variances([0], [2], and psi_berg) = 12.530301 4.238335 0.000000 2021-10-11T01:24:14Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:14Z- LcmTrn::publishEstimates() - MLE : 4061758.28 594274.38 37.83 2021-10-11T01:24:14Z- LcmTrn::publishEstimates() - MMSE : 4061757.96 594273.39 5.59 2021-10-11T01:24:14Z- LcmTrn::publishEstimates() - COVAR: 12.53 4.24 0.50 0.00 2021-10-11T01:24:14Z- AHRS_M2 msg: 1633915450.87 epoch sec; seqNo:1414 2021-10-11T01:24:14Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:14Z- handleDepth()-Depth_Keller msg: 1633915450876 epoch sec; seqNo:1452; depth 49.84 2021-10-11T01:24:14Z- handleDvl() - RDI_Pathfinder msg: 1633915450.90 epoch sec; seqNo:374 2021-10-11T01:24:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.51 , 35.72 , 32.65 , 31.42 2021-10-11T01:24:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , 0.02 2021-10-11T01:24:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915450.92 epoch sec; seqNo:1452; 4061756.18 north; 594360.28 east 2021-10-11T01:24:14Z- AHRS_M2 msg: 1633915451.27 epoch sec; seqNo:1415 2021-10-11T01:24:14Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:14Z- handleDepth()-Depth_Keller msg: 1633915451278 epoch sec; seqNo:1453; depth 49.86 2021-10-11T01:24:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915451.30 epoch sec; seqNo:1453; 4061756.56 north; 594360.27 east 2021-10-11T01:24:15Z- AHRS_M2 msg: 1633915451.68 epoch sec; seqNo:1416 2021-10-11T01:24:15Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.18 psi 2021-10-11T01:24:15Z- handleDepth()-Depth_Keller msg: 1633915451693 epoch sec; seqNo:1454; depth 49.87 2021-10-11T01:24:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915451.74 epoch sec; seqNo:1454; 4061756.94 north; 594360.27 east 2021-10-11T01:24:15Z- AHRS_M2 msg: 1633915452.09 epoch sec; seqNo:1417 2021-10-11T01:24:15Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.19 psi 2021-10-11T01:24:15Z- handleDepth()-Depth_Keller msg: 1633915452091 epoch sec; seqNo:1455; depth 49.88 2021-10-11T01:24:15Z- handleDvl() - RDI_Pathfinder msg: 1633915452.13 epoch sec; seqNo:375 2021-10-11T01:24:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.51 , 35.87 , 32.65 , 31.73 2021-10-11T01:24:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , 0.00 2021-10-11T01:24:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915452.16 epoch sec; seqNo:1455; 4061757.33 north; 594361.48 east 2021-10-11T01:24:15Z- AHRS_M2 msg: 1633915452.48 epoch sec; seqNo:1418 2021-10-11T01:24:15Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.19 psi 2021-10-11T01:24:15Z- handleDepth()-Depth_Keller msg: 1633915452490 epoch sec; seqNo:1456; depth 49.90 2021-10-11T01:24:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915452.51 epoch sec; seqNo:1456; 4061757.33 north; 594361.48 east 2021-10-11T01:24:16Z- AHRS_M2 msg: 1633915452.90 epoch sec; seqNo:1419 2021-10-11T01:24:16Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.19 psi 2021-10-11T01:24:16Z- handleDepth()-Depth_Keller msg: 1633915452903 epoch sec; seqNo:1457; depth 49.90 2021-10-11T01:24:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915452.95 epoch sec; seqNo:1457; 4061757.71 north; 594361.48 east 2021-10-11T01:24:16Z- AHRS_M2 msg: 1633915453.30 epoch sec; seqNo:1420 2021-10-11T01:24:16Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.19 psi 2021-10-11T01:24:16Z- handleDepth()-Depth_Keller msg: 1633915453310 epoch sec; seqNo:1458; depth 49.90 2021-10-11T01:24:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915453.33 epoch sec; seqNo:1458; 4061758.09 north; 594361.48 east 2021-10-11T01:24:17Z- AHRS_M2 msg: 1633915453.70 epoch sec; seqNo:1421 2021-10-11T01:24:17Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.19 psi 2021-10-11T01:24:17Z- handleDepth()-Depth_Keller msg: 1633915453702 epoch sec; seqNo:1459; depth 49.89 2021-10-11T01:24:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915453.74 epoch sec; seqNo:1459; 4061758.46 north; 594361.47 east 2021-10-11T01:24:17Z- AHRS_M2 msg: 1633915454.11 epoch sec; seqNo:1422 2021-10-11T01:24:17Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.20 psi 2021-10-11T01:24:17Z- handleDepth()-Depth_Keller msg: 1633915454115 epoch sec; seqNo:1460; depth 49.89 2021-10-11T01:24:17Z- handleDvl() - RDI_Pathfinder msg: 1633915454.14 epoch sec; seqNo:376 2021-10-11T01:24:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.56 , 32.81 , 32.04 2021-10-11T01:24:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.05 , -0.01 2021-10-11T01:24:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915454.17 epoch sec; seqNo:1460; 4061758.84 north; 594361.47 east 2021-10-11T01:24:17Z- AHRS_M2 msg: 1633915454.51 epoch sec; seqNo:1423 2021-10-11T01:24:17Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.20 psi 2021-10-11T01:24:17Z- handleDepth()-Depth_Keller msg: 1633915454516 epoch sec; seqNo:1461; depth 49.89 2021-10-11T01:24:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915454.54 epoch sec; seqNo:1461; 4061759.22 north; 594361.46 east 2021-10-11T01:24:18Z- AHRS_M2 msg: 1633915454.91 epoch sec; seqNo:1424 2021-10-11T01:24:18Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.20 psi 2021-10-11T01:24:18Z- handleDepth()-Depth_Keller msg: 1633915454917 epoch sec; seqNo:1462; depth 49.90 2021-10-11T01:24:18Z- handleDvl() - RDI_Pathfinder msg: 1633915454.95 epoch sec; seqNo:377 2021-10-11T01:24:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.56 , 32.81 , 31.89 2021-10-11T01:24:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.06 , -0.02 2021-10-11T01:24:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915454.96 epoch sec; seqNo:1462; 4061759.60 north; 594361.46 east 2021-10-11T01:24:18Z- AHRS_M2 msg: 1633915455.32 epoch sec; seqNo:1425 2021-10-11T01:24:18Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.20 psi 2021-10-11T01:24:18Z- handleDepth()-Depth_Keller msg: 1633915455322 epoch sec; seqNo:1463; depth 49.89 2021-10-11T01:24:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915455.34 epoch sec; seqNo:1463; 4061759.60 north; 594361.46 east 2021-10-11T01:24:19Z- AHRS_M2 msg: 1633915455.72 epoch sec; seqNo:1426 2021-10-11T01:24:19Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.20 psi 2021-10-11T01:24:19Z- handleDepth()-Depth_Keller msg: 1633915455722 epoch sec; seqNo:1464; depth 49.90 2021-10-11T01:24:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915455.74 epoch sec; seqNo:1464; 4061759.98 north; 594361.46 east 2021-10-11T01:24:19Z- LcmTrn::handleMessages() - handling 43 messages took 0.85 ms and 126 calls... 2021-10-11T01:24:19Z- waiting for 1633915453.49, time is 1633915455.74 2021-10-11T01:24:19Z- LcmTrn::updateTrn() >>>> pose time 1633915455.74, meas time 1633915454.95 <<<< 2021-10-11T01:24:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915454.95 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:19Z- TerrainNav::motionUpdate() - currEstimate = (4061760, 594361.46, 49.90) 2021-10-11T01:24:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:19Z- TerrainNav:: SubcloudNIS is 0.75, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:19Z- TNavBF::Projecting Measurements 2021-10-11T01:24:19Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:24:19Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:24:19Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:24:19Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:24:19Z- TNavFilter::4 good beams. 2021-10-11T01:24:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:24:19Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:24:19Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:24:19Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:24:19Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:24:19Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:24:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:24:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:19Z- TerrainMapOctree: (vehN, vehE ) = (4061759.35, 594361.28). 2021-10-11T01:24:19Z- TerrainMapOctree: Min Distance = 111.67. 2021-10-11T01:24:19Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:24:19Z- There is no specific good beam that all particles have in common. 2021-10-11T01:24:19Z- Filter 0 deapthBias would have been set to Nan. indexP: 5963 indexM: 0 2021-10-11T01:24:19Z- Old Depth Bias: -21.74 DepthBiasCov: 0.54 K: 0.152 ExpectedMeasDiff: nan currMeas.covariance: 1.29 2021-10-11T01:24:19Z- Filter 0 deapthBias would have been set to Nan. indexP: 5941 indexM: 1 2021-10-11T01:24:19Z- Old Depth Bias: -26.54 DepthBiasCov: 0.46 K: 0.109 ExpectedMeasDiff: nan currMeas.covariance: 2.02 2021-10-11T01:24:19Z- Filter 0 deapthBias would have been set to Nan. indexP: 2133 indexM: 2 2021-10-11T01:24:19Z- Old Depth Bias: -27.16 DepthBiasCov: 0.41 K: 0.106 ExpectedMeasDiff: nan currMeas.covariance: 1.72 2021-10-11T01:24:19Z- Filter 0 deapthBias would have been set to Nan. indexP: 9570 indexM: 3 2021-10-11T01:24:19Z- Old Depth Bias: -20.54 DepthBiasCov: 0.37 K: 0.098 ExpectedMeasDiff: nan currMeas.covariance: 1.63 2021-10-11T01:24:19Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:24:19Z- Filter 0 beam number: 0 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:19Z- Filter 0 partialDeltaRmsComputation: 0.942049 terrainVariance: 0.153342 1-SumSquareWeights: 0.972817 2021-10-11T01:24:19Z- Filter 0 meanExpectedMeasDiff: -0.888092 delta_rms_squared: 0.143614 alpha: 0.877761 2021-10-11T01:24:19Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:19Z- Filter 0 partialDeltaRmsComputation: 12.168708 terrainVariance: 0.346718 1-SumSquareWeights: 0.972817 2021-10-11T01:24:19Z- Filter 0 meanExpectedMeasDiff: 3.438312 delta_rms_squared: 0.336990 alpha: 0.943976 2021-10-11T01:24:19Z- Filter 0 beam number: 2 num in subcloud: 9997 num not in subcloud: 3 2021-10-11T01:24:19Z- Filter 0 partialDeltaRmsComputation: 2.802731 terrainVariance: 0.653018 1-SumSquareWeights: 0.972817 2021-10-11T01:24:19Z- Filter 0 meanExpectedMeasDiff: -1.466190 delta_rms_squared: 0.643290 alpha: 0.969847 2021-10-11T01:24:19Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:19Z- Filter 0 partialDeltaRmsComputation: 10.340077 terrainVariance: 0.152063 1-SumSquareWeights: 0.972817 2021-10-11T01:24:19Z- Filter 0 meanExpectedMeasDiff: 3.191867 delta_rms_squared: 0.142335 alpha: 0.876798 2021-10-11T01:24:19Z- Filter 0 SubcloudNIS: 0.857891 2021-10-11T01:24:19Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:24:19Z- TNavBF:: Filter 0 sumWeights = 0.048471 2021-10-11T01:24:19Z- Filter 0 NorthBias: 2.7 EastBias: -86.8 DepthBias: -43.6 NorthVariance: 15.3 EastVariance: 4.3 DepthVariance: 0.5 this->DepthBiasCov: 0.3 2021-10-11T01:24:19Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915454.95 sec. 2021-10-11T01:24:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:19Z- variances([0], [2], and psi_berg) = 15.268735 4.402152 0.000000 2021-10-11T01:24:19Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:19Z- LcmTrn::publishEstimates() - MLE : 4061763.46 594275.56 37.89 2021-10-11T01:24:19Z- LcmTrn::publishEstimates() - MMSE : 4061762.68 594274.70 6.27 2021-10-11T01:24:19Z- LcmTrn::publishEstimates() - COVAR: 15.27 4.40 0.51 0.00 2021-10-11T01:24:19Z- AHRS_M2 msg: 1633915456.12 epoch sec; seqNo:1427 2021-10-11T01:24:19Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.20 psi 2021-10-11T01:24:19Z- handleDepth()-Depth_Keller msg: 1633915456128 epoch sec; seqNo:1465; depth 49.88 2021-10-11T01:24:19Z- handleDvl() - RDI_Pathfinder msg: 1633915456.15 epoch sec; seqNo:378 2021-10-11T01:24:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.05 , 35.87 , 32.81 , 31.73 2021-10-11T01:24:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.06 , -0.02 2021-10-11T01:24:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915456.19 epoch sec; seqNo:1465; 4061760.36 north; 594361.45 east 2021-10-11T01:24:19Z- AHRS_M2 msg: 1633915456.53 epoch sec; seqNo:1428 2021-10-11T01:24:19Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:19Z- handleDepth()-Depth_Keller msg: 1633915456533 epoch sec; seqNo:1466; depth 49.89 2021-10-11T01:24:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915456.55 epoch sec; seqNo:1466; 4061760.74 north; 594361.45 east 2021-10-11T01:24:20Z- AHRS_M2 msg: 1633915456.93 epoch sec; seqNo:1429 2021-10-11T01:24:20Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:20Z- handleDepth()-Depth_Keller msg: 1633915456936 epoch sec; seqNo:1467; depth 49.89 2021-10-11T01:24:20Z- handleDvl() - RDI_Pathfinder msg: 1633915456.97 epoch sec; seqNo:379 2021-10-11T01:24:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.87 , 32.81 , 31.12 2021-10-11T01:24:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , -0.02 2021-10-11T01:24:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915456.99 epoch sec; seqNo:1467; 4061761.12 north; 594361.44 east 2021-10-11T01:24:20Z- AHRS_M2 msg: 1633915457.33 epoch sec; seqNo:1430 2021-10-11T01:24:20Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:20Z- handleDepth()-Depth_Keller msg: 1633915457338 epoch sec; seqNo:1468; depth 49.87 2021-10-11T01:24:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915457.36 epoch sec; seqNo:1468; 4061761.50 north; 594361.44 east 2021-10-11T01:24:21Z- AHRS_M2 msg: 1633915457.74 epoch sec; seqNo:1431 2021-10-11T01:24:21Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:21Z- handleDepth()-Depth_Keller msg: 1633915457743 epoch sec; seqNo:1469; depth 49.88 2021-10-11T01:24:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915457.80 epoch sec; seqNo:1469; 4061761.87 north; 594361.43 east 2021-10-11T01:24:21Z- AHRS_M2 msg: 1633915458.14 epoch sec; seqNo:1432 2021-10-11T01:24:21Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:21Z- handleDepth()-Depth_Keller msg: 1633915458145 epoch sec; seqNo:1470; depth 49.87 2021-10-11T01:24:21Z- handleDvl() - RDI_Pathfinder msg: 1633915458.17 epoch sec; seqNo:380 2021-10-11T01:24:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.41 , 32.50 , 30.35 2021-10-11T01:24:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , -0.02 2021-10-11T01:24:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915458.19 epoch sec; seqNo:1470; 4061762.25 north; 594361.43 east 2021-10-11T01:24:21Z- AHRS_M2 msg: 1633915458.55 epoch sec; seqNo:1433 2021-10-11T01:24:21Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:21Z- handleDepth()-Depth_Keller msg: 1633915458549 epoch sec; seqNo:1471; depth 49.87 2021-10-11T01:24:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915458.57 epoch sec; seqNo:1471; 4061762.25 north; 594361.43 east 2021-10-11T01:24:22Z- AHRS_M2 msg: 1633915458.96 epoch sec; seqNo:1434 2021-10-11T01:24:22Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:22Z- handleDepth()-Depth_Keller msg: 1633915458961 epoch sec; seqNo:1472; depth 49.86 2021-10-11T01:24:22Z- handleDvl() - RDI_Pathfinder msg: 1633915459.00 epoch sec; seqNo:381 2021-10-11T01:24:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.56 , 32.81 , 30.50 2021-10-11T01:24:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , -0.02 2021-10-11T01:24:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915459.01 epoch sec; seqNo:1472; 4061762.63 north; 594361.43 east 2021-10-11T01:24:22Z- AHRS_M2 msg: 1633915459.36 epoch sec; seqNo:1435 2021-10-11T01:24:22Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.21 psi 2021-10-11T01:24:22Z- handleDepth()-Depth_Keller msg: 1633915459363 epoch sec; seqNo:1473; depth 49.85 2021-10-11T01:24:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915459.38 epoch sec; seqNo:1473; 4061763.01 north; 594361.42 east 2021-10-11T01:24:23Z- AHRS_M2 msg: 1633915459.76 epoch sec; seqNo:1436 2021-10-11T01:24:23Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:23Z- handleDepth()-Depth_Keller msg: 1633915459774 epoch sec; seqNo:1474; depth 49.85 2021-10-11T01:24:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915459.79 epoch sec; seqNo:1474; 4061763.39 north; 594361.42 east 2021-10-11T01:24:23Z- AHRS_M2 msg: 1633915460.16 epoch sec; seqNo:1437 2021-10-11T01:24:23Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:23Z- handleDepth()-Depth_Keller msg: 1633915460170 epoch sec; seqNo:1475; depth 49.84 2021-10-11T01:24:23Z- handleDvl() - RDI_Pathfinder msg: 1633915460.19 epoch sec; seqNo:382 2021-10-11T01:24:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.56 , 32.96 , 30.20 2021-10-11T01:24:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.12 , -0.01 2021-10-11T01:24:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915460.20 epoch sec; seqNo:1475; 4061763.77 north; 594361.41 east 2021-10-11T01:24:23Z- AHRS_M2 msg: 1633915460.57 epoch sec; seqNo:1438 2021-10-11T01:24:23Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:23Z- handleDepth()-Depth_Keller msg: 1633915460571 epoch sec; seqNo:1476; depth 49.84 2021-10-11T01:24:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915460.59 epoch sec; seqNo:1476; 4061764.15 north; 594361.41 east 2021-10-11T01:24:24Z- AHRS_M2 msg: 1633915460.97 epoch sec; seqNo:1439 2021-10-11T01:24:24Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:24Z- handleDepth()-Depth_Keller msg: 1633915460976 epoch sec; seqNo:1477; depth 49.85 2021-10-11T01:24:24Z- handleDvl() - RDI_Pathfinder msg: 1633915461.01 epoch sec; seqNo:383 2021-10-11T01:24:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 35.41 , 32.65 , 30.35 2021-10-11T01:24:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , -0.01 2021-10-11T01:24:24Z- LcmTrn::handleMessages() - handling 44 messages took 0.87 ms and 126 calls... 2021-10-11T01:24:24Z- waiting for 1633915458.74, time is 1633915461.01 2021-10-11T01:24:24Z- LcmTrn::updateTrn() equating pose 1633915461.01 and meas times 1633915461.01 2021-10-11T01:24:24Z- LcmTrn::updateTrn() >>>> pose time 1633915461.01, meas time 1633915461.01 <<<< 2021-10-11T01:24:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915461.01 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:24Z- TerrainNav::motionUpdate() - currEstimate = (4061764, 594361.41, 49.85) 2021-10-11T01:24:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:24Z- TerrainNav:: SubcloudNIS is 0.86, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:24Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915461.01 sec.; No relevant navigation data available 2021-10-11T01:24:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:24Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:24Z- variances([0], [2], and psi_berg) = 15.305430 4.672714 0.000000 2021-10-11T01:24:24Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:24Z- LcmTrn::publishEstimates() - MLE : 4061767.63 594275.51 37.84 2021-10-11T01:24:24Z- LcmTrn::publishEstimates() - MMSE : 4061766.85 594274.66 6.21 2021-10-11T01:24:24Z- LcmTrn::publishEstimates() - COVAR: 15.31 4.67 0.73 0.00 2021-10-11T01:24:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915461.03 epoch sec; seqNo:1477; 4061764.53 north; 594361.41 east 2021-10-11T01:24:24Z- AHRS_M2 msg: 1633915461.37 epoch sec; seqNo:1440 2021-10-11T01:24:24Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:24Z- handleDepth()-Depth_Keller msg: 1633915461378 epoch sec; seqNo:1478; depth 49.84 2021-10-11T01:24:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915461.40 epoch sec; seqNo:1478; 4061764.53 north; 594361.41 east 2021-10-11T01:24:25Z- AHRS_M2 msg: 1633915461.78 epoch sec; seqNo:1441 2021-10-11T01:24:25Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:25Z- handleDepth()-Depth_Keller msg: 1633915461792 epoch sec; seqNo:1479; depth 49.83 2021-10-11T01:24:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915461.80 epoch sec; seqNo:1479; 4061764.90 north; 594361.40 east 2021-10-11T01:24:25Z- AHRS_M2 msg: 1633915462.18 epoch sec; seqNo:1442 2021-10-11T01:24:25Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:25Z- handleDepth()-Depth_Keller msg: 1633915462186 epoch sec; seqNo:1480; depth 49.85 2021-10-11T01:24:25Z- handleDvl() - RDI_Pathfinder msg: 1633915462.21 epoch sec; seqNo:384 2021-10-11T01:24:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 35.56 , 32.50 , 30.81 2021-10-11T01:24:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , -0.00 2021-10-11T01:24:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915462.24 epoch sec; seqNo:1480; 4061765.28 north; 594361.40 east 2021-10-11T01:24:25Z- AHRS_M2 msg: 1633915462.59 epoch sec; seqNo:1443 2021-10-11T01:24:25Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:25Z- handleDepth()-Depth_Keller msg: 1633915462593 epoch sec; seqNo:1481; depth 49.82 2021-10-11T01:24:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915462.61 epoch sec; seqNo:1481; 4061765.66 north; 594361.39 east 2021-10-11T01:24:26Z- AHRS_M2 msg: 1633915462.99 epoch sec; seqNo:1444 2021-10-11T01:24:26Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.22 psi 2021-10-11T01:24:26Z- handleDepth()-Depth_Keller msg: 1633915463000 epoch sec; seqNo:1482; depth 49.84 2021-10-11T01:24:26Z- handleDvl() - RDI_Pathfinder msg: 1633915463.03 epoch sec; seqNo:385 2021-10-11T01:24:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.41 , 32.35 , 30.81 2021-10-11T01:24:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.13 , 0.01 2021-10-11T01:24:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915463.06 epoch sec; seqNo:1482; 4061766.04 north; 594361.39 east 2021-10-11T01:24:26Z- AHRS_M2 msg: 1633915463.39 epoch sec; seqNo:1445 2021-10-11T01:24:26Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.23 psi 2021-10-11T01:24:26Z- handleDepth()-Depth_Keller msg: 1633915463397 epoch sec; seqNo:1483; depth 49.85 2021-10-11T01:24:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915463.42 epoch sec; seqNo:1483; 4061766.04 north; 594361.39 east 2021-10-11T01:24:27Z- AHRS_M2 msg: 1633915463.80 epoch sec; seqNo:1446 2021-10-11T01:24:27Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.23 psi 2021-10-11T01:24:27Z- handleDepth()-Depth_Keller msg: 1633915463805 epoch sec; seqNo:1484; depth 49.83 2021-10-11T01:24:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915463.82 epoch sec; seqNo:1484; 4061766.42 north; 594361.38 east 2021-10-11T01:24:27Z- AHRS_M2 msg: 1633915464.20 epoch sec; seqNo:1447 2021-10-11T01:24:27Z- AHRS_M2 msg: -0.23 phi; 0.01 theta; 0.23 psi 2021-10-11T01:24:27Z- handleDepth()-Depth_Keller msg: 1633915464218 epoch sec; seqNo:1485; depth 49.85 2021-10-11T01:24:27Z- handleDvl() - RDI_Pathfinder msg: 1633915464.24 epoch sec; seqNo:386 2021-10-11T01:24:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.56 , 32.50 , 30.81 2021-10-11T01:24:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.13 , 0.02 2021-10-11T01:24:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915464.25 epoch sec; seqNo:1485; 4061766.80 north; 594361.38 east 2021-10-11T01:24:27Z- AHRS_M2 msg: 1633915464.61 epoch sec; seqNo:1448 2021-10-11T01:24:27Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.23 psi 2021-10-11T01:24:27Z- handleDepth()-Depth_Keller msg: 1633915464612 epoch sec; seqNo:1486; depth 49.84 2021-10-11T01:24:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915464.63 epoch sec; seqNo:1486; 4061767.18 north; 594361.38 east 2021-10-11T01:24:28Z- AHRS_M2 msg: 1633915465.01 epoch sec; seqNo:1449 2021-10-11T01:24:28Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.23 psi 2021-10-11T01:24:28Z- handleDepth()-Depth_Keller msg: 1633915465016 epoch sec; seqNo:1487; depth 49.84 2021-10-11T01:24:28Z- handleDvl() - RDI_Pathfinder msg: 1633915465.04 epoch sec; seqNo:387 2021-10-11T01:24:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 35.56 , 32.50 , 30.20 2021-10-11T01:24:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.12 , 0.03 2021-10-11T01:24:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915465.06 epoch sec; seqNo:1487; 4061767.56 north; 594361.37 east 2021-10-11T01:24:28Z- handleDepth()-Depth_Keller msg: 1633915465435 epoch sec; seqNo:1488; depth 49.86 2021-10-11T01:24:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915465.45 epoch sec; seqNo:1488; 4061767.94 north; 594361.37 east 2021-10-11T01:24:29Z- AHRS_M2 msg: 1633915465.82 epoch sec; seqNo:1450 2021-10-11T01:24:29Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.23 psi 2021-10-11T01:24:29Z- handleDepth()-Depth_Keller msg: 1633915465824 epoch sec; seqNo:1489; depth 49.86 2021-10-11T01:24:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915465.84 epoch sec; seqNo:1489; 4061767.94 north; 594361.37 east 2021-10-11T01:24:29Z- LcmTrn::handleMessages() - handling 40 messages took 0.82 ms and 123 calls... 2021-10-11T01:24:29Z- waiting for 1633915464.01, time is 1633915465.84 2021-10-11T01:24:29Z- LcmTrn::updateTrn() >>>> pose time 1633915465.84, meas time 1633915465.04 <<<< 2021-10-11T01:24:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915465.04 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:29Z- TerrainNav::motionUpdate() - currEstimate = (4061768, 594361.37, 49.86) 2021-10-11T01:24:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:29Z- TerrainNav:: SubcloudNIS is 0.86, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:29Z- TNavBF::Projecting Measurements 2021-10-11T01:24:29Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:24:29Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:24:29Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:24:29Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:24:29Z- TNavFilter::4 good beams. 2021-10-11T01:24:29Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:24:29Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:24:29Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:24:29Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:24:29Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:24:29Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:24:29Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:24:29Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:29Z- TerrainMapOctree: (vehN, vehE ) = (4061767.31, 594361.37). 2021-10-11T01:24:29Z- TerrainMapOctree: Min Distance = 112.71. 2021-10-11T01:24:29Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:24:29Z- Forcing Subcloud Comparison 2021-10-11T01:24:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 5242 indexM: 1 2021-10-11T01:24:29Z- Old Depth Bias: -25.79 DepthBiasCov: 0.59 K: 0.136 ExpectedMeasDiff: nan currMeas.covariance: 2.02 2021-10-11T01:24:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 1433 indexM: 2 2021-10-11T01:24:29Z- Old Depth Bias: -26.98 DepthBiasCov: 0.51 K: 0.130 ExpectedMeasDiff: nan currMeas.covariance: 1.69 2021-10-11T01:24:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 8971 indexM: 3 2021-10-11T01:24:29Z- Old Depth Bias: -19.89 DepthBiasCov: 0.44 K: 0.122 ExpectedMeasDiff: nan currMeas.covariance: 1.46 2021-10-11T01:24:29Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:24:29Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:29Z- Filter 0 partialDeltaRmsComputation: 1.455609 terrainVariance: 0.110791 1-SumSquareWeights: 0.977143 2021-10-11T01:24:29Z- Filter 0 meanExpectedMeasDiff: -1.159663 delta_rms_squared: 0.101020 alpha: 0.834738 2021-10-11T01:24:29Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:29Z- Filter 0 partialDeltaRmsComputation: 4.693425 terrainVariance: 0.224503 1-SumSquareWeights: 0.977143 2021-10-11T01:24:29Z- Filter 0 meanExpectedMeasDiff: 2.113983 delta_rms_squared: 0.214731 alpha: 0.914796 2021-10-11T01:24:29Z- Filter 0 beam number: 2 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:24:29Z- Filter 0 partialDeltaRmsComputation: 3.639552 terrainVariance: 0.265653 1-SumSquareWeights: 0.977143 2021-10-11T01:24:29Z- Filter 0 meanExpectedMeasDiff: -1.836818 delta_rms_squared: 0.255882 alpha: 0.927505 2021-10-11T01:24:29Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:29Z- Filter 0 partialDeltaRmsComputation: 2.016552 terrainVariance: 0.110661 1-SumSquareWeights: 0.977143 2021-10-11T01:24:29Z- Filter 0 meanExpectedMeasDiff: 1.380540 delta_rms_squared: 0.100890 alpha: 0.834560 2021-10-11T01:24:29Z- Filter 0 SubcloudNIS: 0.846398 2021-10-11T01:24:29Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:24:29Z- TNavBF:: Filter 0 sumWeights = 0.264936 2021-10-11T01:24:29Z- Filter 0 NorthBias: 3.5 EastBias: -86.7 DepthBias: -43.6 NorthVariance: 12.6 EastVariance: 3.8 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:24:29Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915465.04 sec. 2021-10-11T01:24:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:29Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:29Z- variances([0], [2], and psi_berg) = 12.570965 3.875302 0.000000 2021-10-11T01:24:29Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:29Z- LcmTrn::publishEstimates() - MLE : 4061771.42 594275.47 37.86 2021-10-11T01:24:29Z- LcmTrn::publishEstimates() - MMSE : 4061771.45 594274.65 6.25 2021-10-11T01:24:29Z- LcmTrn::publishEstimates() - COVAR: 12.57 3.88 0.53 0.00 2021-10-11T01:24:29Z- AHRS_M2 msg: 1633915466.22 epoch sec; seqNo:1451 2021-10-11T01:24:29Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:29Z- handleDepth()-Depth_Keller msg: 1633915466231 epoch sec; seqNo:1490; depth 49.87 2021-10-11T01:24:29Z- handleDvl() - RDI_Pathfinder msg: 1633915466.25 epoch sec; seqNo:388 2021-10-11T01:24:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.56 , 32.35 , 29.59 2021-10-11T01:24:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.03 2021-10-11T01:24:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915466.29 epoch sec; seqNo:1490; 4061768.31 north; 594361.36 east 2021-10-11T01:24:29Z- AHRS_M2 msg: 1633915466.62 epoch sec; seqNo:1452 2021-10-11T01:24:29Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:30Z- handleDepth()-Depth_Keller msg: 1633915466635 epoch sec; seqNo:1491; depth 49.87 2021-10-11T01:24:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:24:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:24:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:24:30Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:24:30Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:24:30Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:24:30Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:24:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:24:30Z- handleDvl() - RDI_Pathfinder msg: 1633915466.64 epoch sec; seqNo:389 2021-10-11T01:24:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:24:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , 0.03 2021-10-11T01:24:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915466.65 epoch sec; seqNo:1491; 4061768.69 north; 594361.36 east 2021-10-11T01:24:30Z- handleDepth()-Depth_Keller msg: 1633915467048 epoch sec; seqNo:1492; depth 49.88 2021-10-11T01:24:30Z- handleDvl() - RDI_Pathfinder msg: 1633915467.08 epoch sec; seqNo:390 2021-10-11T01:24:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.72 , 32.50 , 29.28 2021-10-11T01:24:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.11 , 0.03 2021-10-11T01:24:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915467.10 epoch sec; seqNo:1492; 4061769.07 north; 594361.36 east 2021-10-11T01:24:30Z- AHRS_M2 msg: 1633915467.43 epoch sec; seqNo:1453 2021-10-11T01:24:30Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:30Z- handleDepth()-Depth_Keller msg: 1633915467443 epoch sec; seqNo:1493; depth 49.89 2021-10-11T01:24:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915467.46 epoch sec; seqNo:1493; 4061769.46 north; 594362.57 east 2021-10-11T01:24:31Z- AHRS_M2 msg: 1633915467.84 epoch sec; seqNo:1454 2021-10-11T01:24:31Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:31Z- handleDepth()-Depth_Keller msg: 1633915467848 epoch sec; seqNo:1494; depth 49.88 2021-10-11T01:24:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915467.87 epoch sec; seqNo:1494; 4061769.46 north; 594362.57 east 2021-10-11T01:24:31Z- AHRS_M2 msg: 1633915468.24 epoch sec; seqNo:1455 2021-10-11T01:24:31Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:31Z- handleDepth()-Depth_Keller msg: 1633915468246 epoch sec; seqNo:1495; depth 49.90 2021-10-11T01:24:31Z- handleDvl() - RDI_Pathfinder msg: 1633915468.27 epoch sec; seqNo:391 2021-10-11T01:24:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.41 , 32.65 , 29.28 2021-10-11T01:24:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.08 , 0.03 2021-10-11T01:24:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915468.29 epoch sec; seqNo:1495; 4061769.84 north; 594362.57 east 2021-10-11T01:24:32Z- AHRS_M2 msg: 1633915468.65 epoch sec; seqNo:1456 2021-10-11T01:24:32Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:32Z- handleDepth()-Depth_Keller msg: 1633915468656 epoch sec; seqNo:1496; depth 49.90 2021-10-11T01:24:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915468.68 epoch sec; seqNo:1496; 4061770.22 north; 594362.56 east 2021-10-11T01:24:32Z- AHRS_M2 msg: 1633915469.05 epoch sec; seqNo:1457 2021-10-11T01:24:32Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:32Z- handleDepth()-Depth_Keller msg: 1633915469061 epoch sec; seqNo:1497; depth 49.91 2021-10-11T01:24:32Z- handleDvl() - RDI_Pathfinder msg: 1633915469.11 epoch sec; seqNo:392 2021-10-11T01:24:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.87 , 32.50 , 29.43 2021-10-11T01:24:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.03 2021-10-11T01:24:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915469.12 epoch sec; seqNo:1497; 4061770.60 north; 594362.56 east 2021-10-11T01:24:32Z- AHRS_M2 msg: 1633915469.45 epoch sec; seqNo:1458 2021-10-11T01:24:32Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:32Z- handleDepth()-Depth_Keller msg: 1633915469459 epoch sec; seqNo:1498; depth 49.91 2021-10-11T01:24:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915469.48 epoch sec; seqNo:1498; 4061770.98 north; 594362.55 east 2021-10-11T01:24:33Z- AHRS_M2 msg: 1633915469.86 epoch sec; seqNo:1459 2021-10-11T01:24:33Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:33Z- handleDepth()-Depth_Keller msg: 1633915469874 epoch sec; seqNo:1499; depth 49.91 2021-10-11T01:24:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915469.89 epoch sec; seqNo:1499; 4061771.36 north; 594362.55 east 2021-10-11T01:24:33Z- AHRS_M2 msg: 1633915470.26 epoch sec; seqNo:1460 2021-10-11T01:24:33Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:33Z- handleDepth()-Depth_Keller msg: 1633915470266 epoch sec; seqNo:1500; depth 49.92 2021-10-11T01:24:33Z- handleDvl() - RDI_Pathfinder msg: 1633915470.30 epoch sec; seqNo:393 2021-10-11T01:24:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.72 , 32.50 , 29.74 2021-10-11T01:24:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , 0.02 2021-10-11T01:24:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915470.31 epoch sec; seqNo:1500; 4061771.74 north; 594362.55 east 2021-10-11T01:24:34Z- AHRS_M2 msg: 1633915470.66 epoch sec; seqNo:1461 2021-10-11T01:24:34Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:34Z- handleDepth()-Depth_Keller msg: 1633915470670 epoch sec; seqNo:1501; depth 49.93 2021-10-11T01:24:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915470.69 epoch sec; seqNo:1501; 4061771.74 north; 594362.55 east 2021-10-11T01:24:34Z- AHRS_M2 msg: 1633915471.09 epoch sec; seqNo:1462 2021-10-11T01:24:34Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:34Z- handleDepth()-Depth_Keller msg: 1633915471093 epoch sec; seqNo:1502; depth 49.94 2021-10-11T01:24:34Z- handleDvl() - RDI_Pathfinder msg: 1633915471.11 epoch sec; seqNo:394 2021-10-11T01:24:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.36 , 35.87 , 32.50 , 29.74 2021-10-11T01:24:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.02 2021-10-11T01:24:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915471.15 epoch sec; seqNo:1502; 4061772.12 north; 594362.54 east 2021-10-11T01:24:34Z- LcmTrn::handleMessages() - handling 45 messages took 0.87 ms and 127 calls... 2021-10-11T01:24:34Z- waiting for 1633915468.84, time is 1633915471.15 2021-10-11T01:24:34Z- LcmTrn::updateTrn() equating pose 1633915471.15 and meas times 1633915471.15 2021-10-11T01:24:34Z- LcmTrn::updateTrn() >>>> pose time 1633915471.15, meas time 1633915471.15 <<<< 2021-10-11T01:24:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915471.15 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:34Z- TerrainNav::motionUpdate() - currEstimate = (4061772, 594362.54, 49.94) 2021-10-11T01:24:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:34Z- TerrainNav:: SubcloudNIS is 0.85, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:34Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915471.15 sec.; No relevant navigation data available 2021-10-11T01:24:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:34Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:34Z- variances([0], [2], and psi_berg) = 12.608144 3.989137 0.000000 2021-10-11T01:24:34Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:34Z- LcmTrn::publishEstimates() - MLE : 4061775.60 594276.64 37.94 2021-10-11T01:24:34Z- LcmTrn::publishEstimates() - MMSE : 4061775.63 594275.83 6.33 2021-10-11T01:24:34Z- LcmTrn::publishEstimates() - COVAR: 12.61 3.99 0.75 0.00 2021-10-11T01:24:34Z- AHRS_M2 msg: 1633915471.48 epoch sec; seqNo:1463 2021-10-11T01:24:34Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:34Z- handleDepth()-Depth_Keller msg: 1633915471482 epoch sec; seqNo:1503; depth 49.95 2021-10-11T01:24:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915471.51 epoch sec; seqNo:1503; 4061772.50 north; 594362.54 east 2021-10-11T01:24:35Z- AHRS_M2 msg: 1633915471.88 epoch sec; seqNo:1464 2021-10-11T01:24:35Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:35Z- handleDepth()-Depth_Keller msg: 1633915471885 epoch sec; seqNo:1504; depth 49.94 2021-10-11T01:24:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915471.90 epoch sec; seqNo:1504; 4061772.87 north; 594362.53 east 2021-10-11T01:24:35Z- AHRS_M2 msg: 1633915472.28 epoch sec; seqNo:1465 2021-10-11T01:24:35Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:35Z- handleDepth()-Depth_Keller msg: 1633915472289 epoch sec; seqNo:1505; depth 49.95 2021-10-11T01:24:35Z- handleDvl() - RDI_Pathfinder msg: 1633915472.31 epoch sec; seqNo:395 2021-10-11T01:24:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 35.87 , 32.49 , 30.20 2021-10-11T01:24:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , 0.02 2021-10-11T01:24:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915472.32 epoch sec; seqNo:1505; 4061773.25 north; 594362.53 east 2021-10-11T01:24:36Z- AHRS_M2 msg: 1633915472.68 epoch sec; seqNo:1466 2021-10-11T01:24:36Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:36Z- handleDepth()-Depth_Keller msg: 1633915472690 epoch sec; seqNo:1506; depth 49.94 2021-10-11T01:24:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915472.71 epoch sec; seqNo:1506; 4061773.63 north; 594362.53 east 2021-10-11T01:24:36Z- AHRS_M2 msg: 1633915473.10 epoch sec; seqNo:1467 2021-10-11T01:24:36Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:36Z- handleDepth()-Depth_Keller msg: 1633915473105 epoch sec; seqNo:1507; depth 49.94 2021-10-11T01:24:36Z- handleDvl() - RDI_Pathfinder msg: 1633915473.14 epoch sec; seqNo:396 2021-10-11T01:24:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 35.41 , 32.49 , 30.20 2021-10-11T01:24:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , 0.02 2021-10-11T01:24:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915473.16 epoch sec; seqNo:1507; 4061774.01 north; 594362.52 east 2021-10-11T01:24:36Z- AHRS_M2 msg: 1633915473.50 epoch sec; seqNo:1468 2021-10-11T01:24:36Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:36Z- handleDepth()-Depth_Keller msg: 1633915473502 epoch sec; seqNo:1508; depth 49.94 2021-10-11T01:24:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915473.52 epoch sec; seqNo:1508; 4061774.01 north; 594362.52 east 2021-10-11T01:24:37Z- AHRS_M2 msg: 1633915473.90 epoch sec; seqNo:1469 2021-10-11T01:24:37Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:37Z- handleDepth()-Depth_Keller msg: 1633915473908 epoch sec; seqNo:1509; depth 49.95 2021-10-11T01:24:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915473.94 epoch sec; seqNo:1509; 4061774.39 north; 594362.52 east 2021-10-11T01:24:37Z- AHRS_M2 msg: 1633915474.30 epoch sec; seqNo:1470 2021-10-11T01:24:37Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:37Z- handleDepth()-Depth_Keller msg: 1633915474308 epoch sec; seqNo:1510; depth 49.94 2021-10-11T01:24:37Z- handleDvl() - RDI_Pathfinder msg: 1633915474.33 epoch sec; seqNo:397 2021-10-11T01:24:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 34.79 , 32.49 , 30.35 2021-10-11T01:24:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , 0.02 2021-10-11T01:24:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915474.36 epoch sec; seqNo:1510; 4061774.77 north; 594362.51 east 2021-10-11T01:24:38Z- AHRS_M2 msg: 1633915474.71 epoch sec; seqNo:1471 2021-10-11T01:24:38Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:38Z- handleDepth()-Depth_Keller msg: 1633915474713 epoch sec; seqNo:1511; depth 49.93 2021-10-11T01:24:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915474.74 epoch sec; seqNo:1511; 4061775.15 north; 594362.51 east 2021-10-11T01:24:38Z- AHRS_M2 msg: 1633915475.13 epoch sec; seqNo:1472 2021-10-11T01:24:38Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.25 psi 2021-10-11T01:24:38Z- handleDepth()-Depth_Keller msg: 1633915475131 epoch sec; seqNo:1512; depth 49.93 2021-10-11T01:24:38Z- handleDvl() - RDI_Pathfinder msg: 1633915475.16 epoch sec; seqNo:398 2021-10-11T01:24:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 35.10 , 32.49 , 30.50 2021-10-11T01:24:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , 0.02 2021-10-11T01:24:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915475.19 epoch sec; seqNo:1512; 4061775.53 north; 594362.50 east 2021-10-11T01:24:38Z- AHRS_M2 msg: 1633915475.51 epoch sec; seqNo:1473 2021-10-11T01:24:38Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.24 psi 2021-10-11T01:24:38Z- handleDepth()-Depth_Keller msg: 1633915475518 epoch sec; seqNo:1513; depth 49.93 2021-10-11T01:24:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915475.55 epoch sec; seqNo:1513; 4061775.90 north; 594362.50 east 2021-10-11T01:24:39Z- AHRS_M2 msg: 1633915475.92 epoch sec; seqNo:1474 2021-10-11T01:24:39Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.25 psi 2021-10-11T01:24:39Z- handleDepth()-Depth_Keller msg: 1633915475922 epoch sec; seqNo:1514; depth 49.93 2021-10-11T01:24:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915475.94 epoch sec; seqNo:1514; 4061775.90 north; 594362.50 east 2021-10-11T01:24:39Z- LcmTrn::handleMessages() - handling 40 messages took 0.68 ms and 126 calls... 2021-10-11T01:24:39Z- waiting for 1633915474.15, time is 1633915475.94 2021-10-11T01:24:39Z- LcmTrn::updateTrn() >>>> pose time 1633915475.94, meas time 1633915475.16 <<<< 2021-10-11T01:24:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915475.16 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:39Z- TerrainNav::motionUpdate() - currEstimate = (4061776, 594362.50, 49.93) 2021-10-11T01:24:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:39Z- TerrainNav:: SubcloudNIS is 0.85, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:39Z- TNavBF::Projecting Measurements 2021-10-11T01:24:39Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:24:39Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:24:39Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:24:39Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:24:39Z- TNavFilter::4 good beams. 2021-10-11T01:24:39Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:24:39Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:24:39Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:24:39Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:24:39Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:24:39Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:24:39Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:24:39Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:39Z- TerrainMapOctree: (vehN, vehE ) = (4061775.29, 594362.51). 2021-10-11T01:24:39Z- TerrainMapOctree: Min Distance = 115.31. 2021-10-11T01:24:39Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:24:39Z- Forcing Subcloud Comparison 2021-10-11T01:24:39Z- Filter 0 deapthBias would have been set to Nan. indexP: 4361 indexM: 0 2021-10-11T01:24:39Z- Old Depth Bias: -20.23 DepthBiasCov: 0.81 K: 0.211 ExpectedMeasDiff: nan currMeas.covariance: 1.27 2021-10-11T01:24:39Z- Filter 0 deapthBias would have been set to Nan. indexP: 732 indexM: 2 2021-10-11T01:24:39Z- Old Depth Bias: -26.85 DepthBiasCov: 0.54 K: 0.137 ExpectedMeasDiff: nan currMeas.covariance: 1.69 2021-10-11T01:24:39Z- Filter 0 deapthBias would have been set to Nan. indexP: 8170 indexM: 3 2021-10-11T01:24:39Z- Old Depth Bias: -19.75 DepthBiasCov: 0.47 K: 0.127 ExpectedMeasDiff: nan currMeas.covariance: 1.49 2021-10-11T01:24:39Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:24:39Z- Filter 0 beam number: 0 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:39Z- Filter 0 partialDeltaRmsComputation: 1.442764 terrainVariance: 0.087225 1-SumSquareWeights: 0.976360 2021-10-11T01:24:39Z- Filter 0 meanExpectedMeasDiff: -1.164276 delta_rms_squared: 0.077462 alpha: 0.794792 2021-10-11T01:24:39Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:39Z- Filter 0 partialDeltaRmsComputation: 3.275036 terrainVariance: 0.993408 1-SumSquareWeights: 0.976360 2021-10-11T01:24:39Z- Filter 0 meanExpectedMeasDiff: 1.510506 delta_rms_squared: 0.983644 alpha: 0.980073 2021-10-11T01:24:39Z- Filter 0 beam number: 2 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:24:39Z- Filter 0 partialDeltaRmsComputation: 1.781318 terrainVariance: 0.584983 1-SumSquareWeights: 0.976360 2021-10-11T01:24:39Z- Filter 0 meanExpectedMeasDiff: -1.093771 delta_rms_squared: 0.575219 alpha: 0.966399 2021-10-11T01:24:39Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:39Z- Filter 0 partialDeltaRmsComputation: 2.498498 terrainVariance: 0.087541 1-SumSquareWeights: 0.976360 2021-10-11T01:24:39Z- Filter 0 meanExpectedMeasDiff: 1.552726 delta_rms_squared: 0.077777 alpha: 0.795453 2021-10-11T01:24:39Z- Filter 0 SubcloudNIS: 0.762817 2021-10-11T01:24:39Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:24:39Z- TNavBF:: Filter 0 sumWeights = 0.386082 2021-10-11T01:24:39Z- Filter 0 NorthBias: 3.8 EastBias: -87.1 DepthBias: -43.5 NorthVariance: 13.1 EastVariance: 3.7 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:24:39Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915475.16 sec. 2021-10-11T01:24:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:39Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:39Z- variances([0], [2], and psi_berg) = 13.065820 3.707587 0.000000 2021-10-11T01:24:39Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:39Z- LcmTrn::publishEstimates() - MLE : 4061779.39 594276.60 37.93 2021-10-11T01:24:39Z- LcmTrn::publishEstimates() - MMSE : 4061779.73 594275.42 6.41 2021-10-11T01:24:39Z- LcmTrn::publishEstimates() - COVAR: 13.07 3.71 0.51 0.00 2021-10-11T01:24:39Z- AHRS_M2 msg: 1633915476.32 epoch sec; seqNo:1475 2021-10-11T01:24:39Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.25 psi 2021-10-11T01:24:39Z- handleDepth()-Depth_Keller msg: 1633915476334 epoch sec; seqNo:1515; depth 49.93 2021-10-11T01:24:39Z- handleDvl() - RDI_Pathfinder msg: 1633915476.36 epoch sec; seqNo:399 2021-10-11T01:24:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.21 , 34.95 , 32.50 , 30.20 2021-10-11T01:24:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.05 , 0.01 2021-10-11T01:24:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915476.37 epoch sec; seqNo:1515; 4061776.28 north; 594362.50 east 2021-10-11T01:24:40Z- AHRS_M2 msg: 1633915476.72 epoch sec; seqNo:1476 2021-10-11T01:24:40Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.25 psi 2021-10-11T01:24:40Z- handleDepth()-Depth_Keller msg: 1633915476729 epoch sec; seqNo:1516; depth 49.93 2021-10-11T01:24:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915476.76 epoch sec; seqNo:1516; 4061776.66 north; 594362.49 east 2021-10-11T01:24:40Z- AHRS_M2 msg: 1633915477.15 epoch sec; seqNo:1477 2021-10-11T01:24:40Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.25 psi 2021-10-11T01:24:40Z- handleDepth()-Depth_Keller msg: 1633915477159 epoch sec; seqNo:1517; depth 49.92 2021-10-11T01:24:40Z- handleDvl() - RDI_Pathfinder msg: 1633915477.19 epoch sec; seqNo:400 2021-10-11T01:24:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.05 , 34.80 , 32.35 , 30.05 2021-10-11T01:24:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , -0.01 2021-10-11T01:24:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915477.21 epoch sec; seqNo:1517; 4061777.05 north; 594363.71 east 2021-10-11T01:24:40Z- AHRS_M2 msg: 1633915477.53 epoch sec; seqNo:1478 2021-10-11T01:24:40Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.25 psi 2021-10-11T01:24:40Z- handleDepth()-Depth_Keller msg: 1633915477546 epoch sec; seqNo:1518; depth 49.92 2021-10-11T01:24:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915477.56 epoch sec; seqNo:1518; 4061777.43 north; 594363.70 east 2021-10-11T01:24:41Z- AHRS_M2 msg: 1633915477.94 epoch sec; seqNo:1479 2021-10-11T01:24:41Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.26 psi 2021-10-11T01:24:41Z- handleDepth()-Depth_Keller msg: 1633915477949 epoch sec; seqNo:1519; depth 49.91 2021-10-11T01:24:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915477.97 epoch sec; seqNo:1519; 4061777.81 north; 594363.70 east 2021-10-11T01:24:41Z- AHRS_M2 msg: 1633915478.34 epoch sec; seqNo:1480 2021-10-11T01:24:41Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.26 psi 2021-10-11T01:24:41Z- handleDepth()-Depth_Keller msg: 1633915478348 epoch sec; seqNo:1520; depth 49.89 2021-10-11T01:24:41Z- handleDvl() - RDI_Pathfinder msg: 1633915478.37 epoch sec; seqNo:401 2021-10-11T01:24:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.05 , 35.41 , 32.50 , 30.20 2021-10-11T01:24:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.01 2021-10-11T01:24:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915478.40 epoch sec; seqNo:1520; 4061778.19 north; 594363.70 east 2021-10-11T01:24:42Z- AHRS_M2 msg: 1633915478.74 epoch sec; seqNo:1481 2021-10-11T01:24:42Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.26 psi 2021-10-11T01:24:42Z- handleDepth()-Depth_Keller msg: 1633915478760 epoch sec; seqNo:1521; depth 49.90 2021-10-11T01:24:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915478.78 epoch sec; seqNo:1521; 4061778.19 north; 594363.70 east 2021-10-11T01:24:42Z- AHRS_M2 msg: 1633915479.18 epoch sec; seqNo:1482 2021-10-11T01:24:42Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.26 psi 2021-10-11T01:24:42Z- handleDepth()-Depth_Keller msg: 1633915479187 epoch sec; seqNo:1522; depth 49.89 2021-10-11T01:24:42Z- handleDvl() - RDI_Pathfinder msg: 1633915479.21 epoch sec; seqNo:402 2021-10-11T01:24:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.05 , 35.41 , 32.50 , 30.50 2021-10-11T01:24:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , -0.01 2021-10-11T01:24:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915479.25 epoch sec; seqNo:1522; 4061778.57 north; 594363.69 east 2021-10-11T01:24:42Z- AHRS_M2 msg: 1633915479.56 epoch sec; seqNo:1483 2021-10-11T01:24:42Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.27 psi 2021-10-11T01:24:42Z- handleDepth()-Depth_Keller msg: 1633915479559 epoch sec; seqNo:1523; depth 49.88 2021-10-11T01:24:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915479.58 epoch sec; seqNo:1523; 4061778.95 north; 594363.69 east 2021-10-11T01:24:43Z- AHRS_M2 msg: 1633915479.96 epoch sec; seqNo:1484 2021-10-11T01:24:43Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.27 psi 2021-10-11T01:24:43Z- handleDepth()-Depth_Keller msg: 1633915479965 epoch sec; seqNo:1524; depth 49.88 2021-10-11T01:24:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915479.98 epoch sec; seqNo:1524; 4061779.33 north; 594363.68 east 2021-10-11T01:24:43Z- AHRS_M2 msg: 1633915480.37 epoch sec; seqNo:1485 2021-10-11T01:24:43Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.27 psi 2021-10-11T01:24:43Z- handleDepth()-Depth_Keller msg: 1633915480379 epoch sec; seqNo:1525; depth 49.86 2021-10-11T01:24:43Z- handleDvl() - RDI_Pathfinder msg: 1633915480.41 epoch sec; seqNo:403 2021-10-11T01:24:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.56 , 32.35 , 30.81 2021-10-11T01:24:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , 0.00 2021-10-11T01:24:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915480.43 epoch sec; seqNo:1525; 4061779.71 north; 594363.68 east 2021-10-11T01:24:44Z- AHRS_M2 msg: 1633915480.77 epoch sec; seqNo:1486 2021-10-11T01:24:44Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.27 psi 2021-10-11T01:24:44Z- handleDepth()-Depth_Keller msg: 1633915480774 epoch sec; seqNo:1526; depth 49.86 2021-10-11T01:24:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915480.80 epoch sec; seqNo:1526; 4061780.09 north; 594363.68 east 2021-10-11T01:24:44Z- AHRS_M2 msg: 1633915481.21 epoch sec; seqNo:1487 2021-10-11T01:24:44Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.27 psi 2021-10-11T01:24:44Z- handleDepth()-Depth_Keller msg: 1633915481214 epoch sec; seqNo:1527; depth 49.85 2021-10-11T01:24:44Z- handleDvl() - RDI_Pathfinder msg: 1633915481.24 epoch sec; seqNo:404 2021-10-11T01:24:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.56 , 32.19 , 31.12 2021-10-11T01:24:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , 0.00 2021-10-11T01:24:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915481.26 epoch sec; seqNo:1527; 4061780.46 north; 594363.67 east 2021-10-11T01:24:44Z- LcmTrn::handleMessages() - handling 45 messages took 0.87 ms and 127 calls... 2021-10-11T01:24:44Z- waiting for 1633915478.94, time is 1633915481.26 2021-10-11T01:24:44Z- LcmTrn::updateTrn() equating pose 1633915481.26 and meas times 1633915481.26 2021-10-11T01:24:44Z- LcmTrn::updateTrn() >>>> pose time 1633915481.26, meas time 1633915481.26 <<<< 2021-10-11T01:24:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915481.26 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:44Z- TerrainNav::motionUpdate() - currEstimate = (4061780, 594363.67, 49.85) 2021-10-11T01:24:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:44Z- TerrainNav:: SubcloudNIS is 0.76, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:44Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915481.26 sec.; No relevant navigation data available 2021-10-11T01:24:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:44Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:44Z- variances([0], [2], and psi_berg) = 13.104424 3.772547 0.000000 2021-10-11T01:24:44Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:44Z- LcmTrn::publishEstimates() - MLE : 4061783.95 594277.77 37.84 2021-10-11T01:24:44Z- LcmTrn::publishEstimates() - MMSE : 4061784.29 594276.59 6.33 2021-10-11T01:24:44Z- LcmTrn::publishEstimates() - COVAR: 13.10 3.77 0.75 0.00 2021-10-11T01:24:44Z- AHRS_M2 msg: 1633915481.57 epoch sec; seqNo:1488 2021-10-11T01:24:44Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.27 psi 2021-10-11T01:24:44Z- handleDepth()-Depth_Keller msg: 1633915481578 epoch sec; seqNo:1528; depth 49.85 2021-10-11T01:24:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915481.61 epoch sec; seqNo:1528; 4061780.46 north; 594363.67 east 2021-10-11T01:24:45Z- AHRS_M2 msg: 1633915481.98 epoch sec; seqNo:1489 2021-10-11T01:24:45Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.27 psi 2021-10-11T01:24:45Z- handleDepth()-Depth_Keller msg: 1633915481990 epoch sec; seqNo:1529; depth 49.83 2021-10-11T01:24:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915482.00 epoch sec; seqNo:1529; 4061780.84 north; 594363.67 east 2021-10-11T01:24:45Z- AHRS_M2 msg: 1633915482.39 epoch sec; seqNo:1490 2021-10-11T01:24:45Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.28 psi 2021-10-11T01:24:45Z- handleDepth()-Depth_Keller msg: 1633915482400 epoch sec; seqNo:1530; depth 49.83 2021-10-11T01:24:45Z- handleDvl() - RDI_Pathfinder msg: 1633915482.42 epoch sec; seqNo:405 2021-10-11T01:24:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.87 , 32.04 , 31.42 2021-10-11T01:24:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.10 , 0.00 2021-10-11T01:24:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915482.44 epoch sec; seqNo:1530; 4061781.22 north; 594363.66 east 2021-10-11T01:24:46Z- AHRS_M2 msg: 1633915482.83 epoch sec; seqNo:1491 2021-10-11T01:24:46Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.28 psi 2021-10-11T01:24:46Z- handleDepth()-Depth_Keller msg: 1633915482831 epoch sec; seqNo:1531; depth 49.82 2021-10-11T01:24:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915482.85 epoch sec; seqNo:1531; 4061781.60 north; 594363.66 east 2021-10-11T01:24:46Z- AHRS_M2 msg: 1633915483.24 epoch sec; seqNo:1492 2021-10-11T01:24:46Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.28 psi 2021-10-11T01:24:46Z- handleDepth()-Depth_Keller msg: 1633915483245 epoch sec; seqNo:1532; depth 49.81 2021-10-11T01:24:46Z- handleDvl() - RDI_Pathfinder msg: 1633915483.26 epoch sec; seqNo:406 2021-10-11T01:24:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 36.48 , 32.04 , 31.73 2021-10-11T01:24:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , -0.00 2021-10-11T01:24:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915483.29 epoch sec; seqNo:1532; 4061781.98 north; 594363.65 east 2021-10-11T01:24:46Z- AHRS_M2 msg: 1633915483.59 epoch sec; seqNo:1493 2021-10-11T01:24:46Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.28 psi 2021-10-11T01:24:46Z- handleDepth()-Depth_Keller msg: 1633915483609 epoch sec; seqNo:1533; depth 49.81 2021-10-11T01:24:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915483.63 epoch sec; seqNo:1533; 4061781.98 north; 594363.65 east 2021-10-11T01:24:47Z- AHRS_M2 msg: 1633915484.00 epoch sec; seqNo:1494 2021-10-11T01:24:47Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.28 psi 2021-10-11T01:24:47Z- handleDepth()-Depth_Keller msg: 1633915484005 epoch sec; seqNo:1534; depth 49.80 2021-10-11T01:24:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915484.02 epoch sec; seqNo:1534; 4061782.36 north; 594363.65 east 2021-10-11T01:24:47Z- AHRS_M2 msg: 1633915484.41 epoch sec; seqNo:1495 2021-10-11T01:24:47Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.28 psi 2021-10-11T01:24:47Z- handleDepth()-Depth_Keller msg: 1633915484414 epoch sec; seqNo:1535; depth 49.80 2021-10-11T01:24:47Z- handleDvl() - RDI_Pathfinder msg: 1633915484.44 epoch sec; seqNo:407 2021-10-11T01:24:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.56 , 31.89 , 31.73 2021-10-11T01:24:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.12 , -0.01 2021-10-11T01:24:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915484.46 epoch sec; seqNo:1535; 4061782.74 north; 594363.65 east 2021-10-11T01:24:48Z- AHRS_M2 msg: 1633915484.82 epoch sec; seqNo:1496 2021-10-11T01:24:48Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.28 psi 2021-10-11T01:24:48Z- handleDepth()-Depth_Keller msg: 1633915484827 epoch sec; seqNo:1536; depth 49.80 2021-10-11T01:24:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915484.85 epoch sec; seqNo:1536; 4061783.12 north; 594363.64 east 2021-10-11T01:24:48Z- AHRS_M2 msg: 1633915485.25 epoch sec; seqNo:1497 2021-10-11T01:24:48Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:48Z- handleDepth()-Depth_Keller msg: 1633915485265 epoch sec; seqNo:1537; depth 49.78 2021-10-11T01:24:48Z- handleDvl() - RDI_Pathfinder msg: 1633915485.30 epoch sec; seqNo:408 2021-10-11T01:24:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 35.87 , 31.73 , 32.04 2021-10-11T01:24:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.14 , -0.00 2021-10-11T01:24:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915485.32 epoch sec; seqNo:1537; 4061783.50 north; 594363.64 east 2021-10-11T01:24:48Z- AHRS_M2 msg: 1633915485.61 epoch sec; seqNo:1498 2021-10-11T01:24:48Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:48Z- handleDepth()-Depth_Keller msg: 1633915485619 epoch sec; seqNo:1538; depth 49.79 2021-10-11T01:24:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915485.63 epoch sec; seqNo:1538; 4061783.50 north; 594363.64 east 2021-10-11T01:24:49Z- AHRS_M2 msg: 1633915486.03 epoch sec; seqNo:1499 2021-10-11T01:24:49Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:49Z- handleDepth()-Depth_Keller msg: 1633915486032 epoch sec; seqNo:1539; depth 49.79 2021-10-11T01:24:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915486.05 epoch sec; seqNo:1539; 4061783.87 north; 594363.63 east 2021-10-11T01:24:49Z- AHRS_M2 msg: 1633915486.42 epoch sec; seqNo:1500 2021-10-11T01:24:49Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:49Z- handleDepth()-Depth_Keller msg: 1633915486443 epoch sec; seqNo:1540; depth 49.81 2021-10-11T01:24:49Z- handleDvl() - RDI_Pathfinder msg: 1633915486.46 epoch sec; seqNo:409 2021-10-11T01:24:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 35.41 , 31.73 , 32.19 2021-10-11T01:24:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.15 , 0.01 2021-10-11T01:24:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915486.50 epoch sec; seqNo:1540; 4061784.25 north; 594363.63 east 2021-10-11T01:24:49Z- LcmTrn::handleMessages() - handling 44 messages took 0.83 ms and 127 calls... 2021-10-11T01:24:49Z- waiting for 1633915484.26, time is 1633915486.50 2021-10-11T01:24:49Z- LcmTrn::updateTrn() equating pose 1633915486.50 and meas times 1633915486.50 2021-10-11T01:24:49Z- LcmTrn::updateTrn() >>>> pose time 1633915486.50, meas time 1633915486.50 <<<< 2021-10-11T01:24:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915486.50 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:49Z- TerrainNav::motionUpdate() - currEstimate = (4061784, 594363.63, 49.81) 2021-10-11T01:24:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:49Z- TerrainNav:: SubcloudNIS is 0.76, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:49Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915486.50 sec.; No relevant navigation data available 2021-10-11T01:24:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:49Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:49Z- variances([0], [2], and psi_berg) = 13.139055 3.830198 0.000000 2021-10-11T01:24:49Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:49Z- LcmTrn::publishEstimates() - MLE : 4061787.74 594277.73 37.81 2021-10-11T01:24:49Z- LcmTrn::publishEstimates() - MMSE : 4061788.08 594276.55 6.29 2021-10-11T01:24:49Z- LcmTrn::publishEstimates() - COVAR: 13.14 3.83 0.95 0.00 2021-10-11T01:24:50Z- AHRS_M2 msg: 1633915486.83 epoch sec; seqNo:1501 2021-10-11T01:24:50Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:50Z- handleDepth()-Depth_Keller msg: 1633915486831 epoch sec; seqNo:1541; depth 49.79 2021-10-11T01:24:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915486.87 epoch sec; seqNo:1541; 4061784.63 north; 594363.62 east 2021-10-11T01:24:50Z- AHRS_M2 msg: 1633915487.24 epoch sec; seqNo:1502 2021-10-11T01:24:50Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:50Z- handleDepth()-Depth_Keller msg: 1633915487289 epoch sec; seqNo:1542; depth 49.80 2021-10-11T01:24:50Z- handleDvl() - RDI_Pathfinder msg: 1633915487.32 epoch sec; seqNo:410 2021-10-11T01:24:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 36.02 , 31.73 , 31.89 2021-10-11T01:24:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.15 , 0.05 2021-10-11T01:24:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915487.33 epoch sec; seqNo:1542; 4061785.01 north; 594363.62 east 2021-10-11T01:24:51Z- AHRS_M2 msg: 1633915487.63 epoch sec; seqNo:1503 2021-10-11T01:24:51Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:51Z- handleDepth()-Depth_Keller msg: 1633915487644 epoch sec; seqNo:1543; depth 49.81 2021-10-11T01:24:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915487.66 epoch sec; seqNo:1543; 4061785.39 north; 594363.62 east 2021-10-11T01:24:51Z- AHRS_M2 msg: 1633915488.04 epoch sec; seqNo:1504 2021-10-11T01:24:51Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:51Z- handleDepth()-Depth_Keller msg: 1633915488042 epoch sec; seqNo:1544; depth 49.81 2021-10-11T01:24:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915488.07 epoch sec; seqNo:1544; 4061785.40 north; 594364.84 east 2021-10-11T01:24:51Z- AHRS_M2 msg: 1633915488.45 epoch sec; seqNo:1505 2021-10-11T01:24:51Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:51Z- handleDepth()-Depth_Keller msg: 1633915488455 epoch sec; seqNo:1545; depth 49.82 2021-10-11T01:24:51Z- handleDvl() - RDI_Pathfinder msg: 1633915488.49 epoch sec; seqNo:411 2021-10-11T01:24:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.75 , 36.02 , 31.58 , 32.04 2021-10-11T01:24:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , 0.07 2021-10-11T01:24:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915488.51 epoch sec; seqNo:1545; 4061785.78 north; 594364.83 east 2021-10-11T01:24:52Z- AHRS_M2 msg: 1633915488.86 epoch sec; seqNo:1506 2021-10-11T01:24:52Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:52Z- handleDepth()-Depth_Keller msg: 1633915488861 epoch sec; seqNo:1546; depth 49.83 2021-10-11T01:24:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915488.88 epoch sec; seqNo:1546; 4061786.16 north; 594364.83 east 2021-10-11T01:24:52Z- AHRS_M2 msg: 1633915489.26 epoch sec; seqNo:1507 2021-10-11T01:24:52Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:52Z- handleDepth()-Depth_Keller msg: 1633915489289 epoch sec; seqNo:1547; depth 49.83 2021-10-11T01:24:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915489.34 epoch sec; seqNo:1547; 4061786.54 north; 594364.82 east 2021-10-11T01:24:53Z- AHRS_M2 msg: 1633915489.65 epoch sec; seqNo:1508 2021-10-11T01:24:53Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.29 psi 2021-10-11T01:24:53Z- handleDepth()-Depth_Keller msg: 1633915489657 epoch sec; seqNo:1548; depth 49.84 2021-10-11T01:24:53Z- handleDvl() - RDI_Pathfinder msg: 1633915489.68 epoch sec; seqNo:412 2021-10-11T01:24:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.72 , 31.73 , 31.89 2021-10-11T01:24:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , 0.08 2021-10-11T01:24:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915489.70 epoch sec; seqNo:1548; 4061786.92 north; 594364.82 east 2021-10-11T01:24:53Z- AHRS_M2 msg: 1633915490.06 epoch sec; seqNo:1509 2021-10-11T01:24:53Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.30 psi 2021-10-11T01:24:53Z- handleDepth()-Depth_Keller msg: 1633915490069 epoch sec; seqNo:1549; depth 49.86 2021-10-11T01:24:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915490.09 epoch sec; seqNo:1549; 4061787.30 north; 594364.82 east 2021-10-11T01:24:53Z- AHRS_M2 msg: 1633915490.46 epoch sec; seqNo:1510 2021-10-11T01:24:53Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.30 psi 2021-10-11T01:24:53Z- handleDepth()-Depth_Keller msg: 1633915490475 epoch sec; seqNo:1550; depth 49.86 2021-10-11T01:24:53Z- handleDvl() - RDI_Pathfinder msg: 1633915490.50 epoch sec; seqNo:413 2021-10-11T01:24:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.87 , 31.73 , 32.04 2021-10-11T01:24:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.04 , 0.07 2021-10-11T01:24:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915490.54 epoch sec; seqNo:1550; 4061787.30 north; 594364.82 east 2021-10-11T01:24:54Z- AHRS_M2 msg: 1633915490.87 epoch sec; seqNo:1511 2021-10-11T01:24:54Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.30 psi 2021-10-11T01:24:54Z- handleDepth()-Depth_Keller msg: 1633915490871 epoch sec; seqNo:1551; depth 49.87 2021-10-11T01:24:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915490.90 epoch sec; seqNo:1551; 4061787.68 north; 594364.81 east 2021-10-11T01:24:54Z- AHRS_M2 msg: 1633915491.27 epoch sec; seqNo:1512 2021-10-11T01:24:54Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.31 psi 2021-10-11T01:24:54Z- handleDepth()-Depth_Keller msg: 1633915491277 epoch sec; seqNo:1552; depth 49.87 2021-10-11T01:24:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915491.32 epoch sec; seqNo:1552; 4061788.05 north; 594364.81 east 2021-10-11T01:24:54Z- LcmTrn::handleMessages() - handling 40 messages took 0.79 ms and 124 calls... 2021-10-11T01:24:54Z- waiting for 1633915489.50, time is 1633915491.32 2021-10-11T01:24:54Z- LcmTrn::updateTrn() >>>> pose time 1633915491.32, meas time 1633915490.50 <<<< 2021-10-11T01:24:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915490.50 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:24:54Z- TerrainNav::motionUpdate() - currEstimate = (4061788, 594364.81, 49.87) 2021-10-11T01:24:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:24:54Z- TerrainNav:: SubcloudNIS is 0.76, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:24:54Z- TNavBF::Projecting Measurements 2021-10-11T01:24:54Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:24:54Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:24:54Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:24:54Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:24:54Z- TNavFilter::4 good beams. 2021-10-11T01:24:54Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:24:54Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:24:54Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:24:54Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:24:54Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:24:54Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:24:54Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:24:54Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:54Z- TerrainMapOctree: (vehN, vehE ) = (4061787.40, 594364.61). 2021-10-11T01:24:54Z- TerrainMapOctree: Min Distance = 120.56. 2021-10-11T01:24:54Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:24:55Z- Forcing Subcloud Comparison 2021-10-11T01:24:55Z- Filter 0 deapthBias would have been set to Nan. indexP: 161 indexM: 0 2021-10-11T01:24:55Z- Old Depth Bias: -22.14 DepthBiasCov: 1.04 K: 0.259 ExpectedMeasDiff: nan currMeas.covariance: 1.25 2021-10-11T01:24:55Z- Filter 0 deapthBias would have been set to Nan. indexP: 321 indexM: 2 2021-10-11T01:24:55Z- Old Depth Bias: -28.82 DepthBiasCov: 0.64 K: 0.161 ExpectedMeasDiff: nan currMeas.covariance: 1.61 2021-10-11T01:24:55Z- Filter 0 deapthBias would have been set to Nan. indexP: 6869 indexM: 3 2021-10-11T01:24:55Z- Old Depth Bias: -19.49 DepthBiasCov: 0.54 K: 0.137 ExpectedMeasDiff: nan currMeas.covariance: 1.64 2021-10-11T01:24:55Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:24:55Z- Filter 0 beam number: 0 num in subcloud: 9996 num not in subcloud: 4 2021-10-11T01:24:55Z- Filter 0 partialDeltaRmsComputation: 3.898995 terrainVariance: 0.085737 1-SumSquareWeights: 0.979027 2021-10-11T01:24:55Z- Filter 0 meanExpectedMeasDiff: -1.952757 delta_rms_squared: 0.075946 alpha: 0.791550 2021-10-11T01:24:55Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:24:55Z- Filter 0 partialDeltaRmsComputation: 6.501869 terrainVariance: 0.716507 1-SumSquareWeights: 0.979027 2021-10-11T01:24:55Z- Filter 0 meanExpectedMeasDiff: 2.405278 delta_rms_squared: 0.706717 alpha: 0.972479 2021-10-11T01:24:55Z- Filter 0 beam number: 2 num in subcloud: 9997 num not in subcloud: 3 2021-10-11T01:24:55Z- Filter 0 partialDeltaRmsComputation: 1.895041 terrainVariance: 0.521459 1-SumSquareWeights: 0.979027 2021-10-11T01:24:55Z- Filter 0 meanExpectedMeasDiff: -1.171999 delta_rms_squared: 0.511669 alpha: 0.962383 2021-10-11T01:24:55Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:24:55Z- Filter 0 partialDeltaRmsComputation: 6.798549 terrainVariance: 0.085380 1-SumSquareWeights: 0.979027 2021-10-11T01:24:55Z- Filter 0 meanExpectedMeasDiff: 2.590978 delta_rms_squared: 0.075589 alpha: 0.790772 2021-10-11T01:24:55Z- Filter 0 SubcloudNIS: 0.733486 2021-10-11T01:24:55Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:24:55Z- TNavBF:: Filter 0 sumWeights = 0.135492 2021-10-11T01:24:55Z- Filter 0 NorthBias: 2.8 EastBias: -87.1 DepthBias: -43.1 NorthVariance: 12.6 EastVariance: 3.9 DepthVariance: 0.5 this->DepthBiasCov: 0.5 2021-10-11T01:24:55Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915490.50 sec. 2021-10-11T01:24:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:24:55Z- TNavBF::mmse selected from filter -1 2021-10-11T01:24:55Z- variances([0], [2], and psi_berg) = 12.650633 3.958981 0.000000 2021-10-11T01:24:55Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:24:55Z- LcmTrn::publishEstimates() - MLE : 4061791.54 594278.91 37.87 2021-10-11T01:24:55Z- LcmTrn::publishEstimates() - MMSE : 4061790.84 594277.75 6.75 2021-10-11T01:24:55Z- LcmTrn::publishEstimates() - COVAR: 12.65 3.96 0.58 0.00 2021-10-11T01:24:55Z- AHRS_M2 msg: 1633915491.68 epoch sec; seqNo:1513 2021-10-11T01:24:55Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.31 psi 2021-10-11T01:24:55Z- handleDepth()-Depth_Keller msg: 1633915491681 epoch sec; seqNo:1553; depth 49.88 2021-10-11T01:24:55Z- handleDvl() - RDI_Pathfinder msg: 1633915491.70 epoch sec; seqNo:414 2021-10-11T01:24:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 36.02 , 31.42 , 32.04 2021-10-11T01:24:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.02 , 0.04 2021-10-11T01:24:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915491.72 epoch sec; seqNo:1553; 4061788.43 north; 594364.80 east 2021-10-11T01:24:55Z- AHRS_M2 msg: 1633915492.09 epoch sec; seqNo:1514 2021-10-11T01:24:55Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.32 psi 2021-10-11T01:24:55Z- handleDepth()-Depth_Keller msg: 1633915492098 epoch sec; seqNo:1554; depth 49.88 2021-10-11T01:24:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915492.12 epoch sec; seqNo:1554; 4061788.81 north; 594364.80 east 2021-10-11T01:24:55Z- AHRS_M2 msg: 1633915492.48 epoch sec; seqNo:1515 2021-10-11T01:24:55Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.32 psi 2021-10-11T01:24:55Z- handleDepth()-Depth_Keller msg: 1633915492488 epoch sec; seqNo:1555; depth 49.89 2021-10-11T01:24:55Z- handleDvl() - RDI_Pathfinder msg: 1633915492.52 epoch sec; seqNo:415 2021-10-11T01:24:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.87 , 31.58 , 32.19 2021-10-11T01:24:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.02 , -0.00 2021-10-11T01:24:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915492.54 epoch sec; seqNo:1555; 4061788.81 north; 594364.80 east 2021-10-11T01:24:56Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:24:56Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:24:56Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:24:56Z- AHRS_M2 msg: 1633915492.88 epoch sec; seqNo:1516 2021-10-11T01:24:56Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.32 psi 2021-10-11T01:24:56Z- handleDepth()-Depth_Keller msg: 1633915492912 epoch sec; seqNo:1556; depth 49.89 2021-10-11T01:24:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915492.93 epoch sec; seqNo:1556; 4061789.19 north; 594364.80 east 2021-10-11T01:24:56Z- AHRS_M2 msg: 1633915493.29 epoch sec; seqNo:1517 2021-10-11T01:24:56Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:56Z- handleDepth()-Depth_Keller msg: 1633915493311 epoch sec; seqNo:1557; depth 49.89 2021-10-11T01:24:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915493.36 epoch sec; seqNo:1557; 4061789.57 north; 594364.79 east 2021-10-11T01:24:57Z- AHRS_M2 msg: 1633915493.69 epoch sec; seqNo:1518 2021-10-11T01:24:57Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:57Z- handleDepth()-Depth_Keller msg: 1633915493697 epoch sec; seqNo:1558; depth 49.88 2021-10-11T01:24:57Z- handleDvl() - RDI_Pathfinder msg: 1633915493.73 epoch sec; seqNo:416 2021-10-11T01:24:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 36.02 , 31.58 , 32.04 2021-10-11T01:24:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.04 , -0.02 2021-10-11T01:24:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915493.74 epoch sec; seqNo:1558; 4061789.95 north; 594364.79 east 2021-10-11T01:24:57Z- AHRS_M2 msg: 1633915494.10 epoch sec; seqNo:1519 2021-10-11T01:24:57Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:57Z- handleDepth()-Depth_Keller msg: 1633915494107 epoch sec; seqNo:1559; depth 49.88 2021-10-11T01:24:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915494.14 epoch sec; seqNo:1559; 4061790.33 north; 594364.78 east 2021-10-11T01:24:57Z- AHRS_M2 msg: 1633915494.50 epoch sec; seqNo:1520 2021-10-11T01:24:57Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:57Z- handleDepth()-Depth_Keller msg: 1633915494509 epoch sec; seqNo:1560; depth 49.87 2021-10-11T01:24:57Z- handleDvl() - RDI_Pathfinder msg: 1633915494.53 epoch sec; seqNo:417 2021-10-11T01:24:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.90 , 35.87 , 31.58 , 32.19 2021-10-11T01:24:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.01 2021-10-11T01:24:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915494.56 epoch sec; seqNo:1560; 4061790.72 north; 594366.00 east 2021-10-11T01:24:58Z- AHRS_M2 msg: 1633915494.91 epoch sec; seqNo:1521 2021-10-11T01:24:58Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:58Z- handleDepth()-Depth_Keller msg: 1633915494916 epoch sec; seqNo:1561; depth 49.86 2021-10-11T01:24:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915494.93 epoch sec; seqNo:1561; 4061790.72 north; 594366.00 east 2021-10-11T01:24:58Z- AHRS_M2 msg: 1633915495.31 epoch sec; seqNo:1522 2021-10-11T01:24:58Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:58Z- handleDepth()-Depth_Keller msg: 1633915495329 epoch sec; seqNo:1562; depth 49.87 2021-10-11T01:24:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915495.34 epoch sec; seqNo:1562; 4061791.10 north; 594365.99 east 2021-10-11T01:24:59Z- AHRS_M2 msg: 1633915495.71 epoch sec; seqNo:1523 2021-10-11T01:24:59Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:59Z- handleDepth()-Depth_Keller msg: 1633915495719 epoch sec; seqNo:1563; depth 49.85 2021-10-11T01:24:59Z- handleDvl() - RDI_Pathfinder msg: 1633915495.75 epoch sec; seqNo:418 2021-10-11T01:24:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.74 , 35.56 , 31.42 , 32.03 2021-10-11T01:24:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , 0.00 2021-10-11T01:24:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915495.76 epoch sec; seqNo:1563; 4061791.48 north; 594365.99 east 2021-10-11T01:24:59Z- AHRS_M2 msg: 1633915496.12 epoch sec; seqNo:1524 2021-10-11T01:24:59Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.33 psi 2021-10-11T01:24:59Z- handleDepth()-Depth_Keller msg: 1633915496128 epoch sec; seqNo:1564; depth 49.85 2021-10-11T01:24:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915496.15 epoch sec; seqNo:1564; 4061791.86 north; 594365.99 east 2021-10-11T01:24:59Z- AHRS_M2 msg: 1633915496.52 epoch sec; seqNo:1525 2021-10-11T01:24:59Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.34 psi 2021-10-11T01:24:59Z- handleDepth()-Depth_Keller msg: 1633915496532 epoch sec; seqNo:1565; depth 49.85 2021-10-11T01:24:59Z- handleDvl() - RDI_Pathfinder msg: 1633915496.55 epoch sec; seqNo:419 2021-10-11T01:24:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.74 , 35.87 , 31.42 , 32.19 2021-10-11T01:24:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.09 , 0.03 2021-10-11T01:24:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915496.59 epoch sec; seqNo:1565; 4061792.24 north; 594365.98 east 2021-10-11T01:25:00Z- LcmTrn::handleMessages() - handling 45 messages took 0.84 ms and 128 calls... 2021-10-11T01:25:00Z- waiting for 1633915494.32, time is 1633915496.59 2021-10-11T01:25:00Z- LcmTrn::updateTrn() equating pose 1633915496.59 and meas times 1633915496.59 2021-10-11T01:25:00Z- LcmTrn::updateTrn() >>>> pose time 1633915496.59, meas time 1633915496.59 <<<< 2021-10-11T01:25:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915496.59 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:00Z- TerrainNav::motionUpdate() - currEstimate = (4061792, 594365.98, 49.85) 2021-10-11T01:25:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:00Z- TerrainNav:: SubcloudNIS is 0.73, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:00Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915496.59 sec.; No relevant navigation data available 2021-10-11T01:25:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:00Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:00Z- variances([0], [2], and psi_berg) = 12.687686 4.012464 0.000000 2021-10-11T01:25:00Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:00Z- LcmTrn::publishEstimates() - MLE : 4061795.72 594280.08 37.85 2021-10-11T01:25:00Z- LcmTrn::publishEstimates() - MMSE : 4061795.02 594278.93 6.73 2021-10-11T01:25:00Z- LcmTrn::publishEstimates() - COVAR: 12.69 4.01 0.81 0.00 2021-10-11T01:25:00Z- AHRS_M2 msg: 1633915496.92 epoch sec; seqNo:1526 2021-10-11T01:25:00Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:00Z- handleDepth()-Depth_Keller msg: 1633915496941 epoch sec; seqNo:1566; depth 49.83 2021-10-11T01:25:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915496.96 epoch sec; seqNo:1566; 4061792.61 north; 594365.98 east 2021-10-11T01:25:00Z- AHRS_M2 msg: 1633915497.33 epoch sec; seqNo:1527 2021-10-11T01:25:00Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:00Z- handleDepth()-Depth_Keller msg: 1633915497335 epoch sec; seqNo:1567; depth 49.83 2021-10-11T01:25:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915497.35 epoch sec; seqNo:1567; 4061792.61 north; 594365.98 east 2021-10-11T01:25:01Z- AHRS_M2 msg: 1633915497.73 epoch sec; seqNo:1528 2021-10-11T01:25:01Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:01Z- handleDepth()-Depth_Keller msg: 1633915497743 epoch sec; seqNo:1568; depth 49.83 2021-10-11T01:25:01Z- handleDvl() - RDI_Pathfinder msg: 1633915497.76 epoch sec; seqNo:420 2021-10-11T01:25:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.74 , 36.17 , 31.27 , 32.19 2021-10-11T01:25:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.03 2021-10-11T01:25:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915497.82 epoch sec; seqNo:1568; 4061792.99 north; 594365.97 east 2021-10-11T01:25:01Z- AHRS_M2 msg: 1633915498.14 epoch sec; seqNo:1529 2021-10-11T01:25:01Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:01Z- handleDepth()-Depth_Keller msg: 1633915498142 epoch sec; seqNo:1569; depth 49.82 2021-10-11T01:25:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915498.17 epoch sec; seqNo:1569; 4061793.37 north; 594365.97 east 2021-10-11T01:25:01Z- AHRS_M2 msg: 1633915498.54 epoch sec; seqNo:1530 2021-10-11T01:25:01Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:01Z- handleDepth()-Depth_Keller msg: 1633915498552 epoch sec; seqNo:1570; depth 49.81 2021-10-11T01:25:01Z- handleDvl() - RDI_Pathfinder msg: 1633915498.58 epoch sec; seqNo:421 2021-10-11T01:25:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.74 , 36.48 , 31.12 , 32.19 2021-10-11T01:25:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.03 2021-10-11T01:25:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915498.60 epoch sec; seqNo:1570; 4061793.75 north; 594365.97 east 2021-10-11T01:25:02Z- AHRS_M2 msg: 1633915498.95 epoch sec; seqNo:1531 2021-10-11T01:25:02Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:02Z- handleDepth()-Depth_Keller msg: 1633915498952 epoch sec; seqNo:1571; depth 49.79 2021-10-11T01:25:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915498.97 epoch sec; seqNo:1571; 4061794.13 north; 594365.96 east 2021-10-11T01:25:02Z- AHRS_M2 msg: 1633915499.35 epoch sec; seqNo:1532 2021-10-11T01:25:02Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:02Z- handleDepth()-Depth_Keller msg: 1633915499360 epoch sec; seqNo:1572; depth 49.78 2021-10-11T01:25:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915499.37 epoch sec; seqNo:1572; 4061794.51 north; 594365.96 east 2021-10-11T01:25:03Z- AHRS_M2 msg: 1633915499.75 epoch sec; seqNo:1533 2021-10-11T01:25:03Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.34 psi 2021-10-11T01:25:03Z- handleDepth()-Depth_Keller msg: 1633915499757 epoch sec; seqNo:1573; depth 49.78 2021-10-11T01:25:03Z- handleDvl() - RDI_Pathfinder msg: 1633915499.78 epoch sec; seqNo:422 2021-10-11T01:25:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.59 , 36.63 , 31.12 , 32.19 2021-10-11T01:25:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.01 2021-10-11T01:25:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915499.81 epoch sec; seqNo:1573; 4061794.89 north; 594365.95 east 2021-10-11T01:25:03Z- AHRS_M2 msg: 1633915500.16 epoch sec; seqNo:1534 2021-10-11T01:25:03Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.35 psi 2021-10-11T01:25:03Z- handleDepth()-Depth_Keller msg: 1633915500164 epoch sec; seqNo:1574; depth 49.78 2021-10-11T01:25:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915500.18 epoch sec; seqNo:1574; 4061794.89 north; 594365.95 east 2021-10-11T01:25:03Z- AHRS_M2 msg: 1633915500.57 epoch sec; seqNo:1535 2021-10-11T01:25:03Z- AHRS_M2 msg: -0.22 phi; 0.01 theta; 0.35 psi 2021-10-11T01:25:03Z- handleDepth()-Depth_Keller msg: 1633915500577 epoch sec; seqNo:1575; depth 49.76 2021-10-11T01:25:03Z- handleDvl() - RDI_Pathfinder msg: 1633915500.60 epoch sec; seqNo:423 2021-10-11T01:25:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.59 , 36.64 , 30.81 , 32.35 2021-10-11T01:25:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , -0.01 2021-10-11T01:25:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915500.62 epoch sec; seqNo:1575; 4061795.28 north; 594367.17 east 2021-10-11T01:25:04Z- AHRS_M2 msg: 1633915500.96 epoch sec; seqNo:1536 2021-10-11T01:25:04Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.35 psi 2021-10-11T01:25:04Z- handleDepth()-Depth_Keller msg: 1633915500970 epoch sec; seqNo:1576; depth 49.78 2021-10-11T01:25:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915501.00 epoch sec; seqNo:1576; 4061795.66 north; 594367.16 east 2021-10-11T01:25:04Z- AHRS_M2 msg: 1633915501.37 epoch sec; seqNo:1537 2021-10-11T01:25:04Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.35 psi 2021-10-11T01:25:04Z- handleDepth()-Depth_Keller msg: 1633915501374 epoch sec; seqNo:1577; depth 49.74 2021-10-11T01:25:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915501.38 epoch sec; seqNo:1577; 4061796.04 north; 594367.16 east 2021-10-11T01:25:05Z- handleDepth()-Depth_Keller msg: 1633915501796 epoch sec; seqNo:1578; depth 49.73 2021-10-11T01:25:05Z- handleDvl() - RDI_Pathfinder msg: 1633915501.83 epoch sec; seqNo:424 2021-10-11T01:25:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.79 , 30.66 , 32.50 2021-10-11T01:25:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.03 2021-10-11T01:25:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915501.85 epoch sec; seqNo:1578; 4061796.42 north; 594367.16 east 2021-10-11T01:25:05Z- LcmTrn::handleMessages() - handling 43 messages took 0.84 ms and 126 calls... 2021-10-11T01:25:05Z- waiting for 1633915499.59, time is 1633915501.85 2021-10-11T01:25:05Z- LcmTrn::updateTrn() equating pose 1633915501.85 and meas times 1633915501.85 2021-10-11T01:25:05Z- LcmTrn::updateTrn() >>>> pose time 1633915501.85, meas time 1633915501.85 <<<< 2021-10-11T01:25:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915501.85 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:05Z- TerrainNav::motionUpdate() - currEstimate = (4061796, 594367.16, 49.73) 2021-10-11T01:25:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:05Z- TerrainNav:: SubcloudNIS is 0.73, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:05Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915501.85 sec.; No relevant navigation data available 2021-10-11T01:25:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:05Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:05Z- variances([0], [2], and psi_berg) = 12.724740 4.065860 0.000000 2021-10-11T01:25:05Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:05Z- LcmTrn::publishEstimates() - MLE : 4061799.90 594281.26 37.73 2021-10-11T01:25:05Z- LcmTrn::publishEstimates() - MMSE : 4061799.20 594280.10 6.62 2021-10-11T01:25:05Z- LcmTrn::publishEstimates() - COVAR: 12.72 4.07 1.03 0.00 2021-10-11T01:25:05Z- AHRS_M2 msg: 1633915502.18 epoch sec; seqNo:1538 2021-10-11T01:25:05Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.35 psi 2021-10-11T01:25:05Z- handleDepth()-Depth_Keller msg: 1633915502185 epoch sec; seqNo:1579; depth 49.72 2021-10-11T01:25:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915502.22 epoch sec; seqNo:1579; 4061796.42 north; 594367.16 east 2021-10-11T01:25:05Z- AHRS_M2 msg: 1633915502.58 epoch sec; seqNo:1539 2021-10-11T01:25:05Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.35 psi 2021-10-11T01:25:05Z- handleDepth()-Depth_Keller msg: 1633915502589 epoch sec; seqNo:1580; depth 49.72 2021-10-11T01:25:05Z- handleDvl() - RDI_Pathfinder msg: 1633915502.62 epoch sec; seqNo:425 2021-10-11T01:25:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 37.09 , 30.20 , 32.49 2021-10-11T01:25:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.11 , -0.02 2021-10-11T01:25:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915502.64 epoch sec; seqNo:1580; 4061796.80 north; 594367.15 east 2021-10-11T01:25:06Z- AHRS_M2 msg: 1633915502.99 epoch sec; seqNo:1540 2021-10-11T01:25:06Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.35 psi 2021-10-11T01:25:06Z- handleDepth()-Depth_Keller msg: 1633915502992 epoch sec; seqNo:1581; depth 49.73 2021-10-11T01:25:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915503.01 epoch sec; seqNo:1581; 4061797.17 north; 594367.15 east 2021-10-11T01:25:06Z- AHRS_M2 msg: 1633915503.39 epoch sec; seqNo:1541 2021-10-11T01:25:06Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.35 psi 2021-10-11T01:25:06Z- handleDepth()-Depth_Keller msg: 1633915503404 epoch sec; seqNo:1582; depth 49.72 2021-10-11T01:25:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915503.41 epoch sec; seqNo:1582; 4061797.55 north; 594367.14 east 2021-10-11T01:25:07Z- AHRS_M2 msg: 1633915503.79 epoch sec; seqNo:1542 2021-10-11T01:25:07Z- AHRS_M2 msg: -0.22 phi; 0.00 theta; 0.36 psi 2021-10-11T01:25:07Z- handleDepth()-Depth_Keller msg: 1633915503799 epoch sec; seqNo:1583; depth 49.72 2021-10-11T01:25:07Z- handleDvl() - RDI_Pathfinder msg: 1633915503.83 epoch sec; seqNo:426 2021-10-11T01:25:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.28 , 36.63 , 30.20 , 32.34 2021-10-11T01:25:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.12 , -0.01 2021-10-11T01:25:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915503.85 epoch sec; seqNo:1583; 4061797.93 north; 594367.14 east 2021-10-11T01:25:07Z- AHRS_M2 msg: 1633915504.20 epoch sec; seqNo:1543 2021-10-11T01:25:07Z- AHRS_M2 msg: -0.22 phi; -0.00 theta; 0.36 psi 2021-10-11T01:25:07Z- handleDepth()-Depth_Keller msg: 1633915504205 epoch sec; seqNo:1584; depth 49.72 2021-10-11T01:25:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915504.22 epoch sec; seqNo:1584; 4061797.93 north; 594367.14 east 2021-10-11T01:25:07Z- AHRS_M2 msg: 1633915504.61 epoch sec; seqNo:1544 2021-10-11T01:25:07Z- AHRS_M2 msg: -0.22 phi; -0.00 theta; 0.35 psi 2021-10-11T01:25:07Z- handleDepth()-Depth_Keller msg: 1633915504612 epoch sec; seqNo:1585; depth 49.72 2021-10-11T01:25:08Z- handleDvl() - RDI_Pathfinder msg: 1633915504.64 epoch sec; seqNo:427 2021-10-11T01:25:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.28 , 36.63 , 30.04 , 32.34 2021-10-11T01:25:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.13 , 0.01 2021-10-11T01:25:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915504.67 epoch sec; seqNo:1585; 4061798.31 north; 594367.14 east 2021-10-11T01:25:08Z- AHRS_M2 msg: 1633915505.01 epoch sec; seqNo:1545 2021-10-11T01:25:08Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 0.36 psi 2021-10-11T01:25:08Z- handleDepth()-Depth_Keller msg: 1633915505016 epoch sec; seqNo:1586; depth 49.72 2021-10-11T01:25:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915505.05 epoch sec; seqNo:1586; 4061798.69 north; 594367.13 east 2021-10-11T01:25:08Z- AHRS_M2 msg: 1633915505.41 epoch sec; seqNo:1546 2021-10-11T01:25:08Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 0.35 psi 2021-10-11T01:25:08Z- handleDepth()-Depth_Keller msg: 1633915505417 epoch sec; seqNo:1587; depth 49.72 2021-10-11T01:25:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915505.43 epoch sec; seqNo:1587; 4061799.07 north; 594367.13 east 2021-10-11T01:25:09Z- AHRS_M2 msg: 1633915505.82 epoch sec; seqNo:1547 2021-10-11T01:25:09Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 0.35 psi 2021-10-11T01:25:09Z- handleDepth()-Depth_Keller msg: 1633915505825 epoch sec; seqNo:1588; depth 49.74 2021-10-11T01:25:09Z- handleDvl() - RDI_Pathfinder msg: 1633915505.85 epoch sec; seqNo:428 2021-10-11T01:25:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.28 , 36.63 , 29.58 , 32.49 2021-10-11T01:25:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.14 , 0.03 2021-10-11T01:25:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915505.87 epoch sec; seqNo:1588; 4061799.07 north; 594367.13 east 2021-10-11T01:25:09Z- AHRS_M2 msg: 1633915506.22 epoch sec; seqNo:1548 2021-10-11T01:25:09Z- AHRS_M2 msg: -0.21 phi; -0.00 theta; 0.35 psi 2021-10-11T01:25:09Z- handleDepth()-Depth_Keller msg: 1633915506227 epoch sec; seqNo:1589; depth 49.74 2021-10-11T01:25:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915506.26 epoch sec; seqNo:1589; 4061799.45 north; 594367.12 east 2021-10-11T01:25:09Z- AHRS_M2 msg: 1633915506.62 epoch sec; seqNo:1549 2021-10-11T01:25:09Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:09Z- handleDepth()-Depth_Keller msg: 1633915506628 epoch sec; seqNo:1590; depth 49.73 2021-10-11T01:25:10Z- handleDvl() - RDI_Pathfinder msg: 1633915506.65 epoch sec; seqNo:429 2021-10-11T01:25:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.44 , 36.02 , 29.28 , 32.50 2021-10-11T01:25:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.12 , 0.04 2021-10-11T01:25:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915506.68 epoch sec; seqNo:1590; 4061799.83 north; 594367.12 east 2021-10-11T01:25:10Z- LcmTrn::handleMessages() - handling 41 messages took 0.78 ms and 125 calls... 2021-10-11T01:25:10Z- waiting for 1633915504.85, time is 1633915506.68 2021-10-11T01:25:10Z- LcmTrn::updateTrn() equating pose 1633915506.68 and meas times 1633915506.68 2021-10-11T01:25:10Z- LcmTrn::updateTrn() >>>> pose time 1633915506.68, meas time 1633915506.68 <<<< 2021-10-11T01:25:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915506.68 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:10Z- TerrainNav::motionUpdate() - currEstimate = (4061800, 594367.12, 49.73) 2021-10-11T01:25:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:10Z- TerrainNav:: SubcloudNIS is 0.73, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:10Z- TNavBF::Projecting Measurements 2021-10-11T01:25:10Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:25:10Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:25:10Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:25:10Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:25:10Z- TNavFilter::4 good beams. 2021-10-11T01:25:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:25:10Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:25:10Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:25:10Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:25:10Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:25:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:25:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:25:10Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:10Z- TerrainMapOctree: (vehN, vehE ) = (4061799.83, 594367.12). 2021-10-11T01:25:10Z- TerrainMapOctree: Min Distance = 127.28. 2021-10-11T01:25:10Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:25:10Z- Forcing Subcloud Comparison 2021-10-11T01:25:10Z- Filter 0 deapthBias would have been set to Nan. indexP: 709 indexM: 2 2021-10-11T01:25:10Z- Old Depth Bias: -30.06 DepthBiasCov: 0.67 K: 0.177 ExpectedMeasDiff: nan currMeas.covariance: 1.37 2021-10-11T01:25:10Z- Filter 0 deapthBias would have been set to Nan. indexP: 4966 indexM: 3 2021-10-11T01:25:10Z- Old Depth Bias: -20.22 DepthBiasCov: 0.55 K: 0.138 ExpectedMeasDiff: nan currMeas.covariance: 1.69 2021-10-11T01:25:10Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:25:10Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:10Z- Filter 0 partialDeltaRmsComputation: 3.862716 terrainVariance: 0.183741 1-SumSquareWeights: 0.984132 2021-10-11T01:25:10Z- Filter 0 meanExpectedMeasDiff: -1.918065 delta_rms_squared: 0.173900 alpha: 0.896854 2021-10-11T01:25:10Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:10Z- Filter 0 partialDeltaRmsComputation: 2.603233 terrainVariance: 1.097541 1-SumSquareWeights: 0.984132 2021-10-11T01:25:10Z- Filter 0 meanExpectedMeasDiff: 1.227067 delta_rms_squared: 1.087699 alpha: 0.981945 2021-10-11T01:25:10Z- Filter 0 beam number: 2 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:25:10Z- Filter 0 partialDeltaRmsComputation: 5.761037 terrainVariance: 0.774749 1-SumSquareWeights: 0.984132 2021-10-11T01:25:10Z- Filter 0 meanExpectedMeasDiff: -2.233000 delta_rms_squared: 0.764908 alpha: 0.974519 2021-10-11T01:25:10Z- Filter 0 beam number: 3 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:25:10Z- Filter 0 partialDeltaRmsComputation: 8.609095 terrainVariance: 0.183300 1-SumSquareWeights: 0.984132 2021-10-11T01:25:10Z- Filter 0 meanExpectedMeasDiff: 2.902722 delta_rms_squared: 0.173459 alpha: 0.896619 2021-10-11T01:25:10Z- Filter 0 SubcloudNIS: 0.785015 2021-10-11T01:25:10Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:25:10Z- TNavBF:: Filter 0 sumWeights = 0.087290 2021-10-11T01:25:10Z- Filter 0 NorthBias: 2.9 EastBias: -86.2 DepthBias: -43.2 NorthVariance: 9.7 EastVariance: 3.6 DepthVariance: 0.6 this->DepthBiasCov: 0.5 2021-10-11T01:25:10Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915506.68 sec. 2021-10-11T01:25:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:10Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:10Z- variances([0], [2], and psi_berg) = 9.676226 3.571440 0.000000 2021-10-11T01:25:10Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:10Z- LcmTrn::publishEstimates() - MLE : 4061803.31 594281.22 37.73 2021-10-11T01:25:10Z- LcmTrn::publishEstimates() - MMSE : 4061802.76 594280.91 6.52 2021-10-11T01:25:10Z- LcmTrn::publishEstimates() - COVAR: 9.68 3.57 0.63 0.00 2021-10-11T01:25:10Z- AHRS_M2 msg: 1633915507.03 epoch sec; seqNo:1550 2021-10-11T01:25:10Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:10Z- handleDepth()-Depth_Keller msg: 1633915507035 epoch sec; seqNo:1591; depth 49.76 2021-10-11T01:25:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915507.05 epoch sec; seqNo:1591; 4061800.20 north; 594367.11 east 2021-10-11T01:25:10Z- AHRS_M2 msg: 1633915507.43 epoch sec; seqNo:1551 2021-10-11T01:25:10Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:10Z- handleDepth()-Depth_Keller msg: 1633915507443 epoch sec; seqNo:1592; depth 49.77 2021-10-11T01:25:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915507.46 epoch sec; seqNo:1592; 4061800.58 north; 594367.11 east 2021-10-11T01:25:11Z- AHRS_M2 msg: 1633915507.84 epoch sec; seqNo:1552 2021-10-11T01:25:11Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:11Z- handleDepth()-Depth_Keller msg: 1633915507846 epoch sec; seqNo:1593; depth 49.77 2021-10-11T01:25:11Z- handleDvl() - RDI_Pathfinder msg: 1633915507.87 epoch sec; seqNo:430 2021-10-11T01:25:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.29 , 35.87 , 29.13 , 32.35 2021-10-11T01:25:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.11 , 0.05 2021-10-11T01:25:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915507.88 epoch sec; seqNo:1593; 4061800.60 north; 594368.33 east 2021-10-11T01:25:11Z- AHRS_M2 msg: 1633915508.24 epoch sec; seqNo:1553 2021-10-11T01:25:11Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:11Z- handleDepth()-Depth_Keller msg: 1633915508242 epoch sec; seqNo:1594; depth 49.79 2021-10-11T01:25:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915508.27 epoch sec; seqNo:1594; 4061800.98 north; 594368.33 east 2021-10-11T01:25:12Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:25:12Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:25:12Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:25:12Z- AHRS_M2 msg: 1633915508.63 epoch sec; seqNo:1554 2021-10-11T01:25:12Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:12Z- handleDepth()-Depth_Keller msg: 1633915508664 epoch sec; seqNo:1595; depth 49.79 2021-10-11T01:25:12Z- handleDvl() - RDI_Pathfinder msg: 1633915508.70 epoch sec; seqNo:431 2021-10-11T01:25:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.29 , 35.87 , 28.97 , 32.50 2021-10-11T01:25:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.04 2021-10-11T01:25:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915508.71 epoch sec; seqNo:1595; 4061801.35 north; 594368.32 east 2021-10-11T01:25:12Z- AHRS_M2 msg: 1633915509.05 epoch sec; seqNo:1555 2021-10-11T01:25:12Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:12Z- handleDepth()-Depth_Keller msg: 1633915509064 epoch sec; seqNo:1596; depth 49.82 2021-10-11T01:25:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915509.10 epoch sec; seqNo:1596; 4061801.73 north; 594368.32 east 2021-10-11T01:25:12Z- AHRS_M2 msg: 1633915509.45 epoch sec; seqNo:1556 2021-10-11T01:25:12Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:12Z- handleDepth()-Depth_Keller msg: 1633915509455 epoch sec; seqNo:1597; depth 49.81 2021-10-11T01:25:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915509.47 epoch sec; seqNo:1597; 4061802.11 north; 594368.31 east 2021-10-11T01:25:13Z- AHRS_M2 msg: 1633915509.85 epoch sec; seqNo:1557 2021-10-11T01:25:13Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:13Z- handleDepth()-Depth_Keller msg: 1633915509864 epoch sec; seqNo:1598; depth 49.83 2021-10-11T01:25:13Z- handleDvl() - RDI_Pathfinder msg: 1633915509.88 epoch sec; seqNo:432 2021-10-11T01:25:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.29 , 35.41 , 28.82 , 32.65 2021-10-11T01:25:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , 0.03 2021-10-11T01:25:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915509.91 epoch sec; seqNo:1598; 4061802.11 north; 594368.31 east 2021-10-11T01:25:13Z- AHRS_M2 msg: 1633915510.26 epoch sec; seqNo:1558 2021-10-11T01:25:13Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:13Z- handleDepth()-Depth_Keller msg: 1633915510271 epoch sec; seqNo:1599; depth 49.85 2021-10-11T01:25:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915510.29 epoch sec; seqNo:1599; 4061802.49 north; 594368.31 east 2021-10-11T01:25:14Z- AHRS_M2 msg: 1633915510.67 epoch sec; seqNo:1559 2021-10-11T01:25:14Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:14Z- handleDepth()-Depth_Keller msg: 1633915510677 epoch sec; seqNo:1600; depth 49.86 2021-10-11T01:25:14Z- handleDvl() - RDI_Pathfinder msg: 1633915510.70 epoch sec; seqNo:433 2021-10-11T01:25:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.29 , 35.41 , 28.67 , 32.65 2021-10-11T01:25:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.02 2021-10-11T01:25:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915510.71 epoch sec; seqNo:1600; 4061802.87 north; 594368.31 east 2021-10-11T01:25:14Z- AHRS_M2 msg: 1633915511.07 epoch sec; seqNo:1560 2021-10-11T01:25:14Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:14Z- handleDepth()-Depth_Keller msg: 1633915511079 epoch sec; seqNo:1601; depth 49.87 2021-10-11T01:25:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915511.11 epoch sec; seqNo:1601; 4061803.25 north; 594368.30 east 2021-10-11T01:25:14Z- AHRS_M2 msg: 1633915511.47 epoch sec; seqNo:1561 2021-10-11T01:25:14Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:14Z- handleDepth()-Depth_Keller msg: 1633915511476 epoch sec; seqNo:1602; depth 49.88 2021-10-11T01:25:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915511.49 epoch sec; seqNo:1602; 4061803.63 north; 594368.30 east 2021-10-11T01:25:15Z- AHRS_M2 msg: 1633915511.88 epoch sec; seqNo:1562 2021-10-11T01:25:15Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:15Z- handleDepth()-Depth_Keller msg: 1633915511881 epoch sec; seqNo:1603; depth 49.88 2021-10-11T01:25:15Z- handleDvl() - RDI_Pathfinder msg: 1633915511.90 epoch sec; seqNo:434 2021-10-11T01:25:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.13 , 35.41 , 28.67 , 32.81 2021-10-11T01:25:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.00 2021-10-11T01:25:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915511.92 epoch sec; seqNo:1603; 4061803.63 north; 594368.30 east 2021-10-11T01:25:15Z- LcmTrn::handleMessages() - handling 44 messages took 0.85 ms and 127 calls... 2021-10-11T01:25:15Z- waiting for 1633915509.68, time is 1633915511.92 2021-10-11T01:25:15Z- LcmTrn::updateTrn() equating pose 1633915511.92 and meas times 1633915511.92 2021-10-11T01:25:15Z- LcmTrn::updateTrn() >>>> pose time 1633915511.92, meas time 1633915511.92 <<<< 2021-10-11T01:25:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915511.92 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:15Z- TerrainNav::motionUpdate() - currEstimate = (4061804, 594368.30, 49.88) 2021-10-11T01:25:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:15Z- TerrainNav:: SubcloudNIS is 0.79, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:15Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915511.92 sec.; No relevant navigation data available 2021-10-11T01:25:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:15Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:15Z- variances([0], [2], and psi_berg) = 9.711680 3.608553 0.000000 2021-10-11T01:25:15Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:15Z- LcmTrn::publishEstimates() - MLE : 4061807.11 594282.40 37.88 2021-10-11T01:25:15Z- LcmTrn::publishEstimates() - MMSE : 4061806.56 594282.08 6.67 2021-10-11T01:25:15Z- LcmTrn::publishEstimates() - COVAR: 9.71 3.61 0.84 0.00 2021-10-11T01:25:15Z- AHRS_M2 msg: 1633915512.28 epoch sec; seqNo:1563 2021-10-11T01:25:15Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:15Z- handleDepth()-Depth_Keller msg: 1633915512285 epoch sec; seqNo:1604; depth 49.89 2021-10-11T01:25:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915512.31 epoch sec; seqNo:1604; 4061804.01 north; 594368.29 east 2021-10-11T01:25:16Z- AHRS_M2 msg: 1633915512.69 epoch sec; seqNo:1564 2021-10-11T01:25:16Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:16Z- handleDepth()-Depth_Keller msg: 1633915512700 epoch sec; seqNo:1605; depth 49.89 2021-10-11T01:25:16Z- handleDvl() - RDI_Pathfinder msg: 1633915512.73 epoch sec; seqNo:435 2021-10-11T01:25:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.13 , 35.10 , 28.67 , 32.65 2021-10-11T01:25:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , -0.00 2021-10-11T01:25:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915512.74 epoch sec; seqNo:1605; 4061804.39 north; 594368.29 east 2021-10-11T01:25:16Z- AHRS_M2 msg: 1633915513.10 epoch sec; seqNo:1565 2021-10-11T01:25:16Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:16Z- handleDepth()-Depth_Keller msg: 1633915513101 epoch sec; seqNo:1606; depth 49.91 2021-10-11T01:25:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915513.12 epoch sec; seqNo:1606; 4061804.76 north; 594368.28 east 2021-10-11T01:25:16Z- AHRS_M2 msg: 1633915513.49 epoch sec; seqNo:1566 2021-10-11T01:25:16Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:16Z- handleDepth()-Depth_Keller msg: 1633915513498 epoch sec; seqNo:1607; depth 49.92 2021-10-11T01:25:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915513.51 epoch sec; seqNo:1607; 4061805.14 north; 594368.28 east 2021-10-11T01:25:17Z- AHRS_M2 msg: 1633915513.90 epoch sec; seqNo:1567 2021-10-11T01:25:17Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:17Z- handleDepth()-Depth_Keller msg: 1633915513910 epoch sec; seqNo:1608; depth 49.93 2021-10-11T01:25:17Z- handleDvl() - RDI_Pathfinder msg: 1633915513.94 epoch sec; seqNo:436 2021-10-11T01:25:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.13 , 35.26 , 28.67 , 32.65 2021-10-11T01:25:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.09 , 0.00 2021-10-11T01:25:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915513.95 epoch sec; seqNo:1608; 4061805.54 north; 594369.50 east 2021-10-11T01:25:17Z- AHRS_M2 msg: 1633915514.30 epoch sec; seqNo:1568 2021-10-11T01:25:17Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:17Z- handleDepth()-Depth_Keller msg: 1633915514308 epoch sec; seqNo:1609; depth 49.93 2021-10-11T01:25:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915514.32 epoch sec; seqNo:1609; 4061805.54 north; 594369.50 east 2021-10-11T01:25:18Z- AHRS_M2 msg: 1633915514.72 epoch sec; seqNo:1569 2021-10-11T01:25:18Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:18Z- handleDepth()-Depth_Keller msg: 1633915514727 epoch sec; seqNo:1610; depth 49.93 2021-10-11T01:25:18Z- handleDvl() - RDI_Pathfinder msg: 1633915514.76 epoch sec; seqNo:437 2021-10-11T01:25:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.98 , 34.95 , 28.36 , 32.50 2021-10-11T01:25:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , 0.02 2021-10-11T01:25:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915514.77 epoch sec; seqNo:1610; 4061805.91 north; 594369.49 east 2021-10-11T01:25:18Z- AHRS_M2 msg: 1633915515.10 epoch sec; seqNo:1570 2021-10-11T01:25:18Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:18Z- handleDepth()-Depth_Keller msg: 1633915515118 epoch sec; seqNo:1611; depth 49.94 2021-10-11T01:25:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915515.14 epoch sec; seqNo:1611; 4061806.29 north; 594369.49 east 2021-10-11T01:25:18Z- AHRS_M2 msg: 1633915515.51 epoch sec; seqNo:1571 2021-10-11T01:25:18Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:18Z- handleDepth()-Depth_Keller msg: 1633915515513 epoch sec; seqNo:1612; depth 49.95 2021-10-11T01:25:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915515.53 epoch sec; seqNo:1612; 4061806.67 north; 594369.48 east 2021-10-11T01:25:19Z- AHRS_M2 msg: 1633915515.92 epoch sec; seqNo:1572 2021-10-11T01:25:19Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:19Z- handleDepth()-Depth_Keller msg: 1633915515930 epoch sec; seqNo:1613; depth 49.95 2021-10-11T01:25:19Z- handleDvl() - RDI_Pathfinder msg: 1633915515.97 epoch sec; seqNo:438 2021-10-11T01:25:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 34.06 , 28.48 , 32.70 2021-10-11T01:25:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.07 , 0.03 2021-10-11T01:25:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915515.98 epoch sec; seqNo:1613; 4061807.05 north; 594369.48 east 2021-10-11T01:25:19Z- AHRS_M2 msg: 1633915516.32 epoch sec; seqNo:1573 2021-10-11T01:25:19Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:19Z- handleDepth()-Depth_Keller msg: 1633915516325 epoch sec; seqNo:1614; depth 49.98 2021-10-11T01:25:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915516.34 epoch sec; seqNo:1614; 4061807.43 north; 594369.48 east 2021-10-11T01:25:20Z- AHRS_M2 msg: 1633915516.75 epoch sec; seqNo:1574 2021-10-11T01:25:20Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:20Z- handleDepth()-Depth_Keller msg: 1633915516752 epoch sec; seqNo:1615; depth 49.97 2021-10-11T01:25:20Z- handleDvl() - RDI_Pathfinder msg: 1633915516.77 epoch sec; seqNo:439 2021-10-11T01:25:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.98 , 33.93 , 28.61 , 32.56 2021-10-11T01:25:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.05 , 0.03 2021-10-11T01:25:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915516.81 epoch sec; seqNo:1615; 4061807.43 north; 594369.48 east 2021-10-11T01:25:20Z- AHRS_M2 msg: 1633915517.12 epoch sec; seqNo:1575 2021-10-11T01:25:20Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:20Z- handleDepth()-Depth_Keller msg: 1633915517130 epoch sec; seqNo:1616; depth 49.97 2021-10-11T01:25:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915517.15 epoch sec; seqNo:1616; 4061807.81 north; 594369.47 east 2021-10-11T01:25:20Z- LcmTrn::handleMessages() - handling 44 messages took 0.90 ms and 126 calls... 2021-10-11T01:25:20Z- waiting for 1633915514.92, time is 1633915517.15 2021-10-11T01:25:20Z- LcmTrn::updateTrn() >>>> pose time 1633915517.15, meas time 1633915516.77 <<<< 2021-10-11T01:25:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915516.77 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:20Z- TerrainNav::motionUpdate() - currEstimate = (4061808, 594369.47, 49.97) 2021-10-11T01:25:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:20Z- TerrainNav:: SubcloudNIS is 0.79, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:20Z- TNavBF::Projecting Measurements 2021-10-11T01:25:20Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:25:20Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:25:20Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:25:20Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:25:20Z- TNavFilter::4 good beams. 2021-10-11T01:25:20Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:25:20Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:25:20Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:25:20Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:25:20Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:25:20Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:25:20Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:25:20Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:20Z- TerrainMapOctree: (vehN, vehE ) = (4061807.51, 594369.39). 2021-10-11T01:25:20Z- TerrainMapOctree: Min Distance = 132.52. 2021-10-11T01:25:20Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:25:20Z- Forcing Subcloud Comparison 2021-10-11T01:25:20Z- Filter 0 deapthBias would have been set to Nan. indexP: 6 indexM: 2 2021-10-11T01:25:20Z- Old Depth Bias: -30.75 DepthBiasCov: 0.57 K: 0.157 ExpectedMeasDiff: nan currMeas.covariance: 1.31 2021-10-11T01:25:20Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:25:20Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:20Z- Filter 0 partialDeltaRmsComputation: 2.117599 terrainVariance: 0.138675 1-SumSquareWeights: 0.978737 2021-10-11T01:25:20Z- Filter 0 meanExpectedMeasDiff: -1.406742 delta_rms_squared: 0.128888 alpha: 0.865671 2021-10-11T01:25:20Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:20Z- Filter 0 partialDeltaRmsComputation: 3.956030 terrainVariance: 0.199649 1-SumSquareWeights: 0.978737 2021-10-11T01:25:20Z- Filter 0 meanExpectedMeasDiff: -1.938138 delta_rms_squared: 0.189862 alpha: 0.904699 2021-10-11T01:25:20Z- Filter 0 beam number: 2 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:25:20Z- Filter 0 partialDeltaRmsComputation: 5.636090 terrainVariance: 0.410300 1-SumSquareWeights: 0.978737 2021-10-11T01:25:20Z- Filter 0 meanExpectedMeasDiff: -2.285999 delta_rms_squared: 0.400512 alpha: 0.952439 2021-10-11T01:25:20Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:20Z- Filter 0 partialDeltaRmsComputation: 13.725091 terrainVariance: 0.139774 1-SumSquareWeights: 0.978737 2021-10-11T01:25:20Z- Filter 0 meanExpectedMeasDiff: 3.685827 delta_rms_squared: 0.129987 alpha: 0.866655 2021-10-11T01:25:20Z- Filter 0 SubcloudNIS: 0.736193 2021-10-11T01:25:20Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:25:20Z- TNavBF:: Filter 0 sumWeights = 0.056200 2021-10-11T01:25:20Z- Filter 0 NorthBias: 2.0 EastBias: -85.5 DepthBias: -43.6 NorthVariance: 10.4 EastVariance: 3.0 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:25:20Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915516.77 sec. 2021-10-11T01:25:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:20Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:20Z- variances([0], [2], and psi_berg) = 10.400542 2.977124 0.000000 2021-10-11T01:25:20Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:20Z- LcmTrn::publishEstimates() - MLE : 4061811.29 594283.57 37.96 2021-10-11T01:25:20Z- LcmTrn::publishEstimates() - MMSE : 4061809.82 594283.94 6.32 2021-10-11T01:25:20Z- LcmTrn::publishEstimates() - COVAR: 10.40 2.98 0.56 0.00 2021-10-11T01:25:20Z- AHRS_M2 msg: 1633915517.53 epoch sec; seqNo:1576 2021-10-11T01:25:20Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:20Z- handleDepth()-Depth_Keller msg: 1633915517540 epoch sec; seqNo:1617; depth 49.98 2021-10-11T01:25:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915517.55 epoch sec; seqNo:1617; 4061808.19 north; 594369.47 east 2021-10-11T01:25:21Z- AHRS_M2 msg: 1633915517.94 epoch sec; seqNo:1577 2021-10-11T01:25:21Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:21Z- handleDepth()-Depth_Keller msg: 1633915517944 epoch sec; seqNo:1618; depth 49.97 2021-10-11T01:25:21Z- handleDvl() - RDI_Pathfinder msg: 1633915517.99 epoch sec; seqNo:440 2021-10-11T01:25:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.98 , 34.06 , 28.48 , 32.43 2021-10-11T01:25:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.03 , 0.01 2021-10-11T01:25:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915518.01 epoch sec; seqNo:1618; 4061808.57 north; 594369.46 east 2021-10-11T01:25:21Z- AHRS_M2 msg: 1633915518.34 epoch sec; seqNo:1578 2021-10-11T01:25:21Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:21Z- handleDepth()-Depth_Keller msg: 1633915518344 epoch sec; seqNo:1619; depth 49.97 2021-10-11T01:25:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915518.36 epoch sec; seqNo:1619; 4061808.95 north; 594369.46 east 2021-10-11T01:25:22Z- AHRS_M2 msg: 1633915518.77 epoch sec; seqNo:1579 2021-10-11T01:25:22Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:22Z- handleDepth()-Depth_Keller msg: 1633915518779 epoch sec; seqNo:1620; depth 49.99 2021-10-11T01:25:22Z- handleDvl() - RDI_Pathfinder msg: 1633915518.81 epoch sec; seqNo:441 2021-10-11T01:25:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 33.79 , 28.34 , 32.43 2021-10-11T01:25:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.02 , -0.01 2021-10-11T01:25:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915518.82 epoch sec; seqNo:1620; 4061808.95 north; 594369.46 east 2021-10-11T01:25:22Z- AHRS_M2 msg: 1633915519.14 epoch sec; seqNo:1580 2021-10-11T01:25:22Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.37 psi 2021-10-11T01:25:22Z- handleDepth()-Depth_Keller msg: 1633915519149 epoch sec; seqNo:1621; depth 49.99 2021-10-11T01:25:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915519.18 epoch sec; seqNo:1621; 4061809.34 north; 594370.68 east 2021-10-11T01:25:22Z- AHRS_M2 msg: 1633915519.55 epoch sec; seqNo:1581 2021-10-11T01:25:22Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.37 psi 2021-10-11T01:25:22Z- handleDepth()-Depth_Keller msg: 1633915519554 epoch sec; seqNo:1622; depth 49.98 2021-10-11T01:25:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915519.57 epoch sec; seqNo:1622; 4061809.72 north; 594370.67 east 2021-10-11T01:25:23Z- AHRS_M2 msg: 1633915519.96 epoch sec; seqNo:1582 2021-10-11T01:25:23Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.37 psi 2021-10-11T01:25:23Z- handleDepth()-Depth_Keller msg: 1633915519976 epoch sec; seqNo:1623; depth 50.00 2021-10-11T01:25:23Z- handleDvl() - RDI_Pathfinder msg: 1633915520.01 epoch sec; seqNo:442 2021-10-11T01:25:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.71 , 33.66 , 28.21 , 32.57 2021-10-11T01:25:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.03 , -0.03 2021-10-11T01:25:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915520.04 epoch sec; seqNo:1623; 4061810.10 north; 594370.67 east 2021-10-11T01:25:23Z- AHRS_M2 msg: 1633915520.37 epoch sec; seqNo:1583 2021-10-11T01:25:23Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.37 psi 2021-10-11T01:25:23Z- handleDepth()-Depth_Keller msg: 1633915520372 epoch sec; seqNo:1624; depth 50.00 2021-10-11T01:25:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915520.39 epoch sec; seqNo:1624; 4061810.47 north; 594370.66 east 2021-10-11T01:25:24Z- AHRS_M2 msg: 1633915520.81 epoch sec; seqNo:1584 2021-10-11T01:25:24Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.38 psi 2021-10-11T01:25:24Z- handleDepth()-Depth_Keller msg: 1633915520815 epoch sec; seqNo:1625; depth 50.00 2021-10-11T01:25:24Z- handleDvl() - RDI_Pathfinder msg: 1633915520.85 epoch sec; seqNo:443 2021-10-11T01:25:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.57 , 34.33 , 27.93 , 32.56 2021-10-11T01:25:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.05 2021-10-11T01:25:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915520.86 epoch sec; seqNo:1625; 4061810.47 north; 594370.66 east 2021-10-11T01:25:24Z- AHRS_M2 msg: 1633915521.17 epoch sec; seqNo:1585 2021-10-11T01:25:24Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.38 psi 2021-10-11T01:25:24Z- handleDepth()-Depth_Keller msg: 1633915521177 epoch sec; seqNo:1626; depth 49.99 2021-10-11T01:25:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915521.21 epoch sec; seqNo:1626; 4061810.85 north; 594370.66 east 2021-10-11T01:25:24Z- AHRS_M2 msg: 1633915521.58 epoch sec; seqNo:1586 2021-10-11T01:25:24Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.37 psi 2021-10-11T01:25:24Z- handleDepth()-Depth_Keller msg: 1633915521582 epoch sec; seqNo:1627; depth 49.99 2021-10-11T01:25:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915521.59 epoch sec; seqNo:1627; 4061811.23 north; 594370.65 east 2021-10-11T01:25:25Z- AHRS_M2 msg: 1633915521.99 epoch sec; seqNo:1587 2021-10-11T01:25:25Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.37 psi 2021-10-11T01:25:25Z- handleDepth()-Depth_Keller msg: 1633915522000 epoch sec; seqNo:1628; depth 50.00 2021-10-11T01:25:25Z- handleDvl() - RDI_Pathfinder msg: 1633915522.03 epoch sec; seqNo:444 2021-10-11T01:25:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.57 , 34.61 , 27.93 , 32.56 2021-10-11T01:25:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.10 , -0.04 2021-10-11T01:25:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915522.05 epoch sec; seqNo:1628; 4061811.61 north; 594370.65 east 2021-10-11T01:25:25Z- AHRS_M2 msg: 1633915522.38 epoch sec; seqNo:1588 2021-10-11T01:25:25Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.37 psi 2021-10-11T01:25:25Z- handleDepth()-Depth_Keller msg: 1633915522408 epoch sec; seqNo:1629; depth 49.99 2021-10-11T01:25:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915522.42 epoch sec; seqNo:1629; 4061811.99 north; 594370.65 east 2021-10-11T01:25:25Z- LcmTrn::handleMessages() - handling 44 messages took 0.84 ms and 127 calls... 2021-10-11T01:25:25Z- waiting for 1633915520.15, time is 1633915522.42 2021-10-11T01:25:25Z- LcmTrn::updateTrn() >>>> pose time 1633915522.42, meas time 1633915522.03 <<<< 2021-10-11T01:25:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915522.03 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:25Z- TerrainNav::motionUpdate() - currEstimate = (4061812, 594370.65, 49.99) 2021-10-11T01:25:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:25Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:25Z- TNavBF::Projecting Measurements 2021-10-11T01:25:25Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:25:25Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:25:25Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:25:25Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:25:25Z- TNavFilter::4 good beams. 2021-10-11T01:25:25Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:25:25Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:25:25Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:25:25Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:25:25Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:25:25Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:25:25Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:25:25Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:25Z- TerrainMapOctree: (vehN, vehE ) = (4061811.68, 594370.56). 2021-10-11T01:25:25Z- TerrainMapOctree: Min Distance = 135.42. 2021-10-11T01:25:25Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:25:25Z- Forcing Subcloud Comparison 2021-10-11T01:25:25Z- Filter 0 deapthBias would have been set to Nan. indexP: 4464 indexM: 3 2021-10-11T01:25:25Z- Old Depth Bias: -20.98 DepthBiasCov: 0.40 K: 0.104 ExpectedMeasDiff: nan currMeas.covariance: 1.70 2021-10-11T01:25:25Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:25:26Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:26Z- Filter 0 partialDeltaRmsComputation: 2.893036 terrainVariance: 0.095563 1-SumSquareWeights: 0.978601 2021-10-11T01:25:26Z- Filter 0 meanExpectedMeasDiff: -1.672565 delta_rms_squared: 0.085777 alpha: 0.810923 2021-10-11T01:25:26Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:26Z- Filter 0 partialDeltaRmsComputation: 0.923214 terrainVariance: 0.135649 1-SumSquareWeights: 0.978601 2021-10-11T01:25:26Z- Filter 0 meanExpectedMeasDiff: -0.887449 delta_rms_squared: 0.125863 alpha: 0.862885 2021-10-11T01:25:26Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:26Z- Filter 0 partialDeltaRmsComputation: 4.752441 terrainVariance: 0.307537 1-SumSquareWeights: 0.978601 2021-10-11T01:25:26Z- Filter 0 meanExpectedMeasDiff: -2.108294 delta_rms_squared: 0.297751 alpha: 0.937058 2021-10-11T01:25:26Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:25:26Z- Filter 0 partialDeltaRmsComputation: 14.148051 terrainVariance: 0.115220 1-SumSquareWeights: 0.978601 2021-10-11T01:25:26Z- Filter 0 meanExpectedMeasDiff: 3.746042 delta_rms_squared: 0.105434 alpha: 0.840553 2021-10-11T01:25:26Z- Filter 0 SubcloudNIS: 0.793177 2021-10-11T01:25:26Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:25:26Z- TNavBF:: Filter 0 sumWeights = 0.075770 2021-10-11T01:25:26Z- Filter 0 NorthBias: 1.7 EastBias: -84.9 DepthBias: -43.8 NorthVariance: 10.3 EastVariance: 2.5 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:25:26Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915522.03 sec. 2021-10-11T01:25:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:26Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:26Z- variances([0], [2], and psi_berg) = 10.349306 2.532237 0.000000 2021-10-11T01:25:26Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:26Z- LcmTrn::publishEstimates() - MLE : 4061815.47 594284.75 37.99 2021-10-11T01:25:26Z- LcmTrn::publishEstimates() - MMSE : 4061813.71 594285.78 6.21 2021-10-11T01:25:26Z- LcmTrn::publishEstimates() - COVAR: 10.35 2.53 0.49 0.00 2021-10-11T01:25:26Z- AHRS_M2 msg: 1633915522.86 epoch sec; seqNo:1589 2021-10-11T01:25:26Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:26Z- handleDepth()-Depth_Keller msg: 1633915522877 epoch sec; seqNo:1630; depth 50.00 2021-10-11T01:25:26Z- handleDvl() - RDI_Pathfinder msg: 1633915522.90 epoch sec; seqNo:445 2021-10-11T01:25:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 33.93 , 27.80 , 32.43 2021-10-11T01:25:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.13 , -0.03 2021-10-11T01:25:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915522.91 epoch sec; seqNo:1630; 4061812.37 north; 594370.64 east 2021-10-11T01:25:26Z- AHRS_M2 msg: 1633915523.20 epoch sec; seqNo:1590 2021-10-11T01:25:26Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:26Z- handleDepth()-Depth_Keller msg: 1633915523201 epoch sec; seqNo:1631; depth 50.00 2021-10-11T01:25:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915523.22 epoch sec; seqNo:1631; 4061812.37 north; 594370.64 east 2021-10-11T01:25:26Z- AHRS_M2 msg: 1633915523.60 epoch sec; seqNo:1591 2021-10-11T01:25:26Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:26Z- handleDepth()-Depth_Keller msg: 1633915523604 epoch sec; seqNo:1632; depth 50.02 2021-10-11T01:25:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915523.61 epoch sec; seqNo:1632; 4061812.75 north; 594370.64 east 2021-10-11T01:25:27Z- AHRS_M2 msg: 1633915524.00 epoch sec; seqNo:1592 2021-10-11T01:25:27Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:27Z- handleDepth()-Depth_Keller msg: 1633915524012 epoch sec; seqNo:1633; depth 50.02 2021-10-11T01:25:27Z- handleDvl() - RDI_Pathfinder msg: 1633915524.05 epoch sec; seqNo:446 2021-10-11T01:25:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 33.93 , 27.66 , 32.43 2021-10-11T01:25:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.14 , 0.00 2021-10-11T01:25:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915524.07 epoch sec; seqNo:1633; 4061813.13 north; 594370.63 east 2021-10-11T01:25:27Z- AHRS_M2 msg: 1633915524.41 epoch sec; seqNo:1593 2021-10-11T01:25:27Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:27Z- handleDepth()-Depth_Keller msg: 1633915524414 epoch sec; seqNo:1634; depth 50.03 2021-10-11T01:25:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915524.43 epoch sec; seqNo:1634; 4061813.50 north; 594370.63 east 2021-10-11T01:25:28Z- AHRS_M2 msg: 1633915524.85 epoch sec; seqNo:1594 2021-10-11T01:25:28Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:28Z- handleDepth()-Depth_Keller msg: 1633915524868 epoch sec; seqNo:1635; depth 50.03 2021-10-11T01:25:28Z- handleDvl() - RDI_Pathfinder msg: 1633915524.89 epoch sec; seqNo:447 2021-10-11T01:25:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.16 , 33.93 , 27.66 , 32.43 2021-10-11T01:25:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.14 , 0.04 2021-10-11T01:25:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915524.91 epoch sec; seqNo:1635; 4061813.88 north; 594370.63 east 2021-10-11T01:25:28Z- AHRS_M2 msg: 1633915525.21 epoch sec; seqNo:1595 2021-10-11T01:25:28Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:28Z- handleDepth()-Depth_Keller msg: 1633915525217 epoch sec; seqNo:1636; depth 50.04 2021-10-11T01:25:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915525.24 epoch sec; seqNo:1636; 4061813.88 north; 594370.63 east 2021-10-11T01:25:28Z- AHRS_M2 msg: 1633915525.62 epoch sec; seqNo:1596 2021-10-11T01:25:28Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:28Z- handleDepth()-Depth_Keller msg: 1633915525622 epoch sec; seqNo:1637; depth 50.05 2021-10-11T01:25:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915525.63 epoch sec; seqNo:1637; 4061814.28 north; 594371.84 east 2021-10-11T01:25:29Z- AHRS_M2 msg: 1633915526.02 epoch sec; seqNo:1597 2021-10-11T01:25:29Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:29Z- handleDepth()-Depth_Keller msg: 1633915526029 epoch sec; seqNo:1638; depth 50.07 2021-10-11T01:25:29Z- handleDvl() - RDI_Pathfinder msg: 1633915526.06 epoch sec; seqNo:448 2021-10-11T01:25:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.16 , 33.79 , 27.66 , 32.43 2021-10-11T01:25:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.12 , 0.05 2021-10-11T01:25:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915526.09 epoch sec; seqNo:1638; 4061814.65 north; 594371.84 east 2021-10-11T01:25:29Z- AHRS_M2 msg: 1633915526.43 epoch sec; seqNo:1598 2021-10-11T01:25:29Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.34 psi 2021-10-11T01:25:29Z- handleDepth()-Depth_Keller msg: 1633915526431 epoch sec; seqNo:1639; depth 50.08 2021-10-11T01:25:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915526.45 epoch sec; seqNo:1639; 4061815.03 north; 594371.83 east 2021-10-11T01:25:30Z- AHRS_M2 msg: 1633915526.86 epoch sec; seqNo:1599 2021-10-11T01:25:30Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.34 psi 2021-10-11T01:25:30Z- handleDepth()-Depth_Keller msg: 1633915526878 epoch sec; seqNo:1640; depth 50.09 2021-10-11T01:25:30Z- handleDvl() - RDI_Pathfinder msg: 1633915526.93 epoch sec; seqNo:449 2021-10-11T01:25:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.16 , 32.97 , 27.52 , 32.29 2021-10-11T01:25:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , 0.05 2021-10-11T01:25:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915526.95 epoch sec; seqNo:1640; 4061815.41 north; 594371.83 east 2021-10-11T01:25:30Z- AHRS_M2 msg: 1633915527.23 epoch sec; seqNo:1600 2021-10-11T01:25:30Z- AHRS_M2 msg: -0.22 phi; -0.01 theta; 0.34 psi 2021-10-11T01:25:30Z- handleDepth()-Depth_Keller msg: 1633915527238 epoch sec; seqNo:1641; depth 50.12 2021-10-11T01:25:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915527.26 epoch sec; seqNo:1641; 4061815.41 north; 594371.83 east 2021-10-11T01:25:31Z- AHRS_M2 msg: 1633915527.64 epoch sec; seqNo:1601 2021-10-11T01:25:31Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:31Z- handleDepth()-Depth_Keller msg: 1633915527642 epoch sec; seqNo:1642; depth 50.11 2021-10-11T01:25:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915527.65 epoch sec; seqNo:1642; 4061815.79 north; 594371.82 east 2021-10-11T01:25:31Z- LcmTrn::handleMessages() - handling 44 messages took 0.83 ms and 127 calls... 2021-10-11T01:25:31Z- waiting for 1633915525.42, time is 1633915527.65 2021-10-11T01:25:31Z- LcmTrn::updateTrn() >>>> pose time 1633915527.65, meas time 1633915526.93 <<<< 2021-10-11T01:25:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915526.93 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:31Z- TerrainNav::motionUpdate() - currEstimate = (4061816, 594371.82, 50.11) 2021-10-11T01:25:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:31Z- TerrainNav:: SubcloudNIS is 0.79, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:31Z- TNavBF::Projecting Measurements 2021-10-11T01:25:31Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:25:31Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:25:31Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:25:31Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:25:31Z- TNavFilter::4 good beams. 2021-10-11T01:25:31Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:25:31Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:25:31Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:25:31Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:25:31Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:25:31Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:25:31Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:25:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:31Z- TerrainMapOctree: (vehN, vehE ) = (4061815.26, 594371.66). 2021-10-11T01:25:31Z- TerrainMapOctree: Min Distance = 138.06. 2021-10-11T01:25:31Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:25:31Z- Forcing Subcloud Comparison 2021-10-11T01:25:31Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:25:31Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:31Z- Filter 0 partialDeltaRmsComputation: 3.443898 terrainVariance: 0.089855 1-SumSquareWeights: 0.977167 2021-10-11T01:25:31Z- Filter 0 meanExpectedMeasDiff: -1.831405 delta_rms_squared: 0.080083 alpha: 0.800166 2021-10-11T01:25:31Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:31Z- Filter 0 partialDeltaRmsComputation: 2.538904 terrainVariance: 0.270258 1-SumSquareWeights: 0.977167 2021-10-11T01:25:31Z- Filter 0 meanExpectedMeasDiff: -1.506202 delta_rms_squared: 0.260487 alpha: 0.928695 2021-10-11T01:25:31Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:31Z- Filter 0 partialDeltaRmsComputation: 3.227660 terrainVariance: 0.372235 1-SumSquareWeights: 0.977167 2021-10-11T01:25:31Z- Filter 0 meanExpectedMeasDiff: -1.689800 delta_rms_squared: 0.362463 alpha: 0.947707 2021-10-11T01:25:31Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:31Z- Filter 0 partialDeltaRmsComputation: 14.509700 terrainVariance: 0.110166 1-SumSquareWeights: 0.977167 2021-10-11T01:25:31Z- Filter 0 meanExpectedMeasDiff: 3.794672 delta_rms_squared: 0.100394 alpha: 0.833879 2021-10-11T01:25:31Z- Filter 0 SubcloudNIS: 0.791716 2021-10-11T01:25:31Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:25:31Z- TNavBF:: Filter 0 sumWeights = 0.067105 2021-10-11T01:25:31Z- Filter 0 NorthBias: 2.2 EastBias: -84.2 DepthBias: -43.9 NorthVariance: 8.5 EastVariance: 2.2 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:25:31Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915526.93 sec. 2021-10-11T01:25:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:31Z- variances([0], [2], and psi_berg) = 8.472856 2.164652 0.000000 2021-10-11T01:25:31Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:31Z- LcmTrn::publishEstimates() - MLE : 4061818.28 594287.93 38.11 2021-10-11T01:25:31Z- LcmTrn::publishEstimates() - MMSE : 4061817.94 594287.67 6.17 2021-10-11T01:25:31Z- LcmTrn::publishEstimates() - COVAR: 8.47 2.16 0.46 0.00 2021-10-11T01:25:31Z- AHRS_M2 msg: 1633915528.04 epoch sec; seqNo:1602 2021-10-11T01:25:31Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:31Z- handleDepth()-Depth_Keller msg: 1633915528048 epoch sec; seqNo:1643; depth 50.13 2021-10-11T01:25:31Z- handleDvl() - RDI_Pathfinder msg: 1633915528.07 epoch sec; seqNo:450 2021-10-11T01:25:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 32.29 , 27.39 , 32.29 2021-10-11T01:25:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.04 2021-10-11T01:25:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915528.11 epoch sec; seqNo:1643; 4061816.17 north; 594371.82 east 2021-10-11T01:25:31Z- AHRS_M2 msg: 1633915528.45 epoch sec; seqNo:1603 2021-10-11T01:25:31Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:31Z- handleDepth()-Depth_Keller msg: 1633915528452 epoch sec; seqNo:1644; depth 50.14 2021-10-11T01:25:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915528.47 epoch sec; seqNo:1644; 4061816.17 north; 594371.82 east 2021-10-11T01:25:32Z- AHRS_M2 msg: 1633915528.85 epoch sec; seqNo:1604 2021-10-11T01:25:32Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:32Z- handleDepth()-Depth_Keller msg: 1633915528871 epoch sec; seqNo:1645; depth 50.17 2021-10-11T01:25:32Z- handleDvl() - RDI_Pathfinder msg: 1633915528.95 epoch sec; seqNo:451 2021-10-11T01:25:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.16 , 32.84 , 27.25 , 32.29 2021-10-11T01:25:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , 0.02 2021-10-11T01:25:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915528.96 epoch sec; seqNo:1645; 4061816.55 north; 594371.82 east 2021-10-11T01:25:32Z- AHRS_M2 msg: 1633915529.25 epoch sec; seqNo:1605 2021-10-11T01:25:32Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:32Z- handleDepth()-Depth_Keller msg: 1633915529268 epoch sec; seqNo:1646; depth 50.19 2021-10-11T01:25:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915529.29 epoch sec; seqNo:1646; 4061816.93 north; 594371.81 east 2021-10-11T01:25:33Z- AHRS_M2 msg: 1633915529.66 epoch sec; seqNo:1606 2021-10-11T01:25:33Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:33Z- handleDepth()-Depth_Keller msg: 1633915529662 epoch sec; seqNo:1647; depth 50.19 2021-10-11T01:25:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915529.68 epoch sec; seqNo:1647; 4061817.31 north; 594371.81 east 2021-10-11T01:25:33Z- AHRS_M2 msg: 1633915530.06 epoch sec; seqNo:1607 2021-10-11T01:25:33Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.35 psi 2021-10-11T01:25:33Z- handleDepth()-Depth_Keller msg: 1633915530076 epoch sec; seqNo:1648; depth 50.20 2021-10-11T01:25:33Z- handleDvl() - RDI_Pathfinder msg: 1633915530.13 epoch sec; seqNo:452 2021-10-11T01:25:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.16 , 31.07 , 27.25 , 32.16 2021-10-11T01:25:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.00 2021-10-11T01:25:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915530.17 epoch sec; seqNo:1648; 4061817.69 north; 594371.80 east 2021-10-11T01:25:33Z- AHRS_M2 msg: 1633915530.47 epoch sec; seqNo:1608 2021-10-11T01:25:33Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:33Z- handleDepth()-Depth_Keller msg: 1633915530483 epoch sec; seqNo:1649; depth 50.22 2021-10-11T01:25:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915530.50 epoch sec; seqNo:1649; 4061817.69 north; 594371.80 east 2021-10-11T01:25:34Z- AHRS_M2 msg: 1633915530.87 epoch sec; seqNo:1609 2021-10-11T01:25:34Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:34Z- handleDepth()-Depth_Keller msg: 1633915530886 epoch sec; seqNo:1650; depth 50.23 2021-10-11T01:25:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915530.94 epoch sec; seqNo:1650; 4061818.06 north; 594371.80 east 2021-10-11T01:25:34Z- AHRS_M2 msg: 1633915531.27 epoch sec; seqNo:1610 2021-10-11T01:25:34Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:34Z- handleDepth()-Depth_Keller msg: 1633915531284 epoch sec; seqNo:1651; depth 50.25 2021-10-11T01:25:34Z- handleDvl() - RDI_Pathfinder msg: 1633915531.31 epoch sec; seqNo:453 2021-10-11T01:25:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 31.20 , 27.11 , 32.29 2021-10-11T01:25:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , -0.01 2021-10-11T01:25:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915531.33 epoch sec; seqNo:1651; 4061818.44 north; 594371.80 east 2021-10-11T01:25:35Z- AHRS_M2 msg: 1633915531.68 epoch sec; seqNo:1611 2021-10-11T01:25:35Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:35Z- handleDepth()-Depth_Keller msg: 1633915531682 epoch sec; seqNo:1652; depth 50.25 2021-10-11T01:25:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915531.70 epoch sec; seqNo:1652; 4061818.82 north; 594371.79 east 2021-10-11T01:25:35Z- AHRS_M2 msg: 1633915532.09 epoch sec; seqNo:1612 2021-10-11T01:25:35Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:35Z- handleDepth()-Depth_Keller msg: 1633915532096 epoch sec; seqNo:1653; depth 50.26 2021-10-11T01:25:35Z- handleDvl() - RDI_Pathfinder msg: 1633915532.12 epoch sec; seqNo:454 2021-10-11T01:25:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 30.11 , 26.84 , 31.88 2021-10-11T01:25:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.10 , -0.01 2021-10-11T01:25:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915532.13 epoch sec; seqNo:1653; 4061819.20 north; 594371.79 east 2021-10-11T01:25:35Z- AHRS_M2 msg: 1633915532.48 epoch sec; seqNo:1613 2021-10-11T01:25:35Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:35Z- handleDepth()-Depth_Keller msg: 1633915532496 epoch sec; seqNo:1654; depth 50.28 2021-10-11T01:25:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915532.52 epoch sec; seqNo:1654; 4061819.59 north; 594373.00 east 2021-10-11T01:25:36Z- AHRS_M2 msg: 1633915532.89 epoch sec; seqNo:1614 2021-10-11T01:25:36Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:36Z- handleDepth()-Depth_Keller msg: 1633915532894 epoch sec; seqNo:1655; depth 50.29 2021-10-11T01:25:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915532.91 epoch sec; seqNo:1655; 4061819.59 north; 594373.00 east 2021-10-11T01:25:36Z- LcmTrn::handleMessages() - handling 44 messages took 0.91 ms and 125 calls... 2021-10-11T01:25:36Z- waiting for 1633915530.65, time is 1633915532.91 2021-10-11T01:25:36Z- LcmTrn::updateTrn() >>>> pose time 1633915532.91, meas time 1633915532.12 <<<< 2021-10-11T01:25:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915532.12 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:36Z- TerrainNav::motionUpdate() - currEstimate = (4061820, 594373.00, 50.29) 2021-10-11T01:25:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:36Z- TerrainNav:: SubcloudNIS is 0.79, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:36Z- TNavBF::Projecting Measurements 2021-10-11T01:25:36Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:25:36Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:25:36Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:25:36Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:25:36Z- TNavFilter::4 good beams. 2021-10-11T01:25:36Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:25:36Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:25:36Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:25:36Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:25:36Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:25:36Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:25:36Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:25:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:36Z- TerrainMapOctree: (vehN, vehE ) = (4061819.02, 594372.83). 2021-10-11T01:25:36Z- TerrainMapOctree: Min Distance = 140.89. 2021-10-11T01:25:36Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:25:36Z- Forcing Subcloud Comparison 2021-10-11T01:25:36Z- Filter 0 deapthBias would have been set to Nan. indexP: 48 indexM: 0 2021-10-11T01:25:36Z- Old Depth Bias: -21.98 DepthBiasCov: 0.52 K: 0.155 ExpectedMeasDiff: nan currMeas.covariance: 1.11 2021-10-11T01:25:36Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:25:36Z- Filter 0 beam number: 0 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:25:36Z- Filter 0 partialDeltaRmsComputation: 2.109131 terrainVariance: 0.092757 1-SumSquareWeights: 0.971132 2021-10-11T01:25:36Z- Filter 0 meanExpectedMeasDiff: -1.419991 delta_rms_squared: 0.083046 alpha: 0.805911 2021-10-11T01:25:36Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:36Z- Filter 0 partialDeltaRmsComputation: 9.691702 terrainVariance: 0.151224 1-SumSquareWeights: 0.971132 2021-10-11T01:25:36Z- Filter 0 meanExpectedMeasDiff: -3.088766 delta_rms_squared: 0.141512 alpha: 0.876171 2021-10-11T01:25:36Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:36Z- Filter 0 partialDeltaRmsComputation: 1.176291 terrainVariance: 0.544537 1-SumSquareWeights: 0.971132 2021-10-11T01:25:36Z- Filter 0 meanExpectedMeasDiff: -0.794830 delta_rms_squared: 0.534826 alpha: 0.963953 2021-10-11T01:25:36Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:36Z- Filter 0 partialDeltaRmsComputation: 13.476379 terrainVariance: 0.121328 1-SumSquareWeights: 0.971132 2021-10-11T01:25:36Z- Filter 0 meanExpectedMeasDiff: 3.654456 delta_rms_squared: 0.111616 alpha: 0.848043 2021-10-11T01:25:36Z- Filter 0 SubcloudNIS: 0.731041 2021-10-11T01:25:36Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:25:36Z- TNavBF:: Filter 0 sumWeights = 0.044771 2021-10-11T01:25:36Z- Filter 0 NorthBias: 2.4 EastBias: -83.7 DepthBias: -44.2 NorthVariance: 6.1 EastVariance: 1.8 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:25:36Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915532.12 sec. 2021-10-11T01:25:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:36Z- variances([0], [2], and psi_berg) = 6.135389 1.766789 0.000000 2021-10-11T01:25:36Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:36Z- LcmTrn::publishEstimates() - MLE : 4061822.08 594289.10 38.28 2021-10-11T01:25:36Z- LcmTrn::publishEstimates() - MMSE : 4061822.03 594289.31 6.11 2021-10-11T01:25:36Z- LcmTrn::publishEstimates() - COVAR: 6.14 1.77 0.46 0.00 2021-10-11T01:25:36Z- AHRS_M2 msg: 1633915533.29 epoch sec; seqNo:1615 2021-10-11T01:25:36Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:36Z- handleDepth()-Depth_Keller msg: 1633915533300 epoch sec; seqNo:1656; depth 50.31 2021-10-11T01:25:36Z- handleDvl() - RDI_Pathfinder msg: 1633915533.32 epoch sec; seqNo:455 2021-10-11T01:25:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.16 , 30.38 , 26.84 , 32.02 2021-10-11T01:25:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.11 , 0.00 2021-10-11T01:25:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915533.34 epoch sec; seqNo:1656; 4061819.97 north; 594373.00 east 2021-10-11T01:25:37Z- AHRS_M2 msg: 1633915533.70 epoch sec; seqNo:1616 2021-10-11T01:25:37Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:37Z- handleDepth()-Depth_Keller msg: 1633915533704 epoch sec; seqNo:1657; depth 50.31 2021-10-11T01:25:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915533.73 epoch sec; seqNo:1657; 4061820.35 north; 594373.00 east 2021-10-11T01:25:37Z- AHRS_M2 msg: 1633915534.10 epoch sec; seqNo:1617 2021-10-11T01:25:37Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:37Z- handleDepth()-Depth_Keller msg: 1633915534112 epoch sec; seqNo:1658; depth 50.32 2021-10-11T01:25:37Z- handleDvl() - RDI_Pathfinder msg: 1633915534.14 epoch sec; seqNo:456 2021-10-11T01:25:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 30.25 , 26.70 , 31.88 2021-10-11T01:25:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , 0.01 2021-10-11T01:25:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915534.16 epoch sec; seqNo:1658; 4061820.73 north; 594372.99 east 2021-10-11T01:25:37Z- AHRS_M2 msg: 1633915534.51 epoch sec; seqNo:1618 2021-10-11T01:25:37Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:37Z- handleDepth()-Depth_Keller msg: 1633915534519 epoch sec; seqNo:1659; depth 50.32 2021-10-11T01:25:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915534.54 epoch sec; seqNo:1659; 4061821.11 north; 594372.99 east 2021-10-11T01:25:38Z- AHRS_M2 msg: 1633915534.91 epoch sec; seqNo:1619 2021-10-11T01:25:38Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.36 psi 2021-10-11T01:25:38Z- handleDepth()-Depth_Keller msg: 1633915534915 epoch sec; seqNo:1660; depth 50.35 2021-10-11T01:25:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915534.93 epoch sec; seqNo:1660; 4061821.49 north; 594372.98 east 2021-10-11T01:25:38Z- AHRS_M2 msg: 1633915535.31 epoch sec; seqNo:1620 2021-10-11T01:25:38Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.36 psi 2021-10-11T01:25:38Z- handleDepth()-Depth_Keller msg: 1633915535318 epoch sec; seqNo:1661; depth 50.34 2021-10-11T01:25:38Z- handleDvl() - RDI_Pathfinder msg: 1633915535.35 epoch sec; seqNo:457 2021-10-11T01:25:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 29.98 , 26.57 , 31.75 2021-10-11T01:25:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.10 , 0.02 2021-10-11T01:25:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915535.36 epoch sec; seqNo:1661; 4061821.49 north; 594372.98 east 2021-10-11T01:25:39Z- AHRS_M2 msg: 1633915535.72 epoch sec; seqNo:1621 2021-10-11T01:25:39Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.36 psi 2021-10-11T01:25:39Z- handleDepth()-Depth_Keller msg: 1633915535722 epoch sec; seqNo:1662; depth 50.37 2021-10-11T01:25:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915535.74 epoch sec; seqNo:1662; 4061821.87 north; 594372.98 east 2021-10-11T01:25:39Z- AHRS_M2 msg: 1633915536.12 epoch sec; seqNo:1622 2021-10-11T01:25:39Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.37 psi 2021-10-11T01:25:39Z- handleDepth()-Depth_Keller msg: 1633915536140 epoch sec; seqNo:1663; depth 50.36 2021-10-11T01:25:39Z- handleDvl() - RDI_Pathfinder msg: 1633915536.17 epoch sec; seqNo:458 2021-10-11T01:25:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.62 , 30.66 , 26.30 , 31.34 2021-10-11T01:25:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.09 , 0.02 2021-10-11T01:25:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915536.19 epoch sec; seqNo:1663; 4061822.25 north; 594372.97 east 2021-10-11T01:25:39Z- AHRS_M2 msg: 1633915536.53 epoch sec; seqNo:1623 2021-10-11T01:25:39Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.37 psi 2021-10-11T01:25:39Z- handleDepth()-Depth_Keller msg: 1633915536536 epoch sec; seqNo:1664; depth 50.37 2021-10-11T01:25:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915536.56 epoch sec; seqNo:1664; 4061822.62 north; 594372.97 east 2021-10-11T01:25:40Z- AHRS_M2 msg: 1633915536.93 epoch sec; seqNo:1624 2021-10-11T01:25:40Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.37 psi 2021-10-11T01:25:40Z- handleDepth()-Depth_Keller msg: 1633915536937 epoch sec; seqNo:1665; depth 50.37 2021-10-11T01:25:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915536.95 epoch sec; seqNo:1665; 4061823.00 north; 594372.97 east 2021-10-11T01:25:40Z- AHRS_M2 msg: 1633915537.33 epoch sec; seqNo:1625 2021-10-11T01:25:40Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 0.37 psi 2021-10-11T01:25:40Z- handleDepth()-Depth_Keller msg: 1633915537338 epoch sec; seqNo:1666; depth 50.39 2021-10-11T01:25:40Z- handleDvl() - RDI_Pathfinder msg: 1633915537.37 epoch sec; seqNo:459 2021-10-11T01:25:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 29.57 , 26.57 , 31.07 2021-10-11T01:25:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.08 , 0.02 2021-10-11T01:25:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915537.38 epoch sec; seqNo:1666; 4061823.38 north; 594372.96 east 2021-10-11T01:25:41Z- AHRS_M2 msg: 1633915537.74 epoch sec; seqNo:1626 2021-10-11T01:25:41Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 0.37 psi 2021-10-11T01:25:41Z- handleDepth()-Depth_Keller msg: 1633915537742 epoch sec; seqNo:1667; depth 50.40 2021-10-11T01:25:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915537.77 epoch sec; seqNo:1667; 4061823.76 north; 594372.96 east 2021-10-11T01:25:41Z- LcmTrn::handleMessages() - handling 41 messages took 0.77 ms and 125 calls... 2021-10-11T01:25:41Z- waiting for 1633915535.91, time is 1633915537.77 2021-10-11T01:25:41Z- LcmTrn::updateTrn() >>>> pose time 1633915537.77, meas time 1633915537.37 <<<< 2021-10-11T01:25:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915537.37 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:41Z- TerrainNav::motionUpdate() - currEstimate = (4061824, 594372.96, 50.40) 2021-10-11T01:25:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:41Z- TerrainNav:: SubcloudNIS is 0.73, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:41Z- TNavBF::Projecting Measurements 2021-10-11T01:25:41Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:25:41Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:25:41Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:25:41Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:25:41Z- TNavFilter::4 good beams. 2021-10-11T01:25:41Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:25:41Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:25:41Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:25:41Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:25:41Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:25:41Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:25:41Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:25:41Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:41Z- TerrainMapOctree: (vehN, vehE ) = (4061823.41, 594372.96). 2021-10-11T01:25:41Z- TerrainMapOctree: Min Distance = 143.21. 2021-10-11T01:25:41Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:25:41Z- Forcing Subcloud Comparison 2021-10-11T01:25:41Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:25:41Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:41Z- Filter 0 partialDeltaRmsComputation: 3.859449 terrainVariance: 0.105642 1-SumSquareWeights: 0.963587 2021-10-11T01:25:41Z- Filter 0 meanExpectedMeasDiff: -1.937474 delta_rms_squared: 0.096006 alpha: 0.827595 2021-10-11T01:25:41Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:41Z- Filter 0 partialDeltaRmsComputation: 5.480860 terrainVariance: 0.650954 1-SumSquareWeights: 0.963587 2021-10-11T01:25:41Z- Filter 0 meanExpectedMeasDiff: -2.197705 delta_rms_squared: 0.641319 alpha: 0.969757 2021-10-11T01:25:41Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:41Z- Filter 0 partialDeltaRmsComputation: 1.931316 terrainVariance: 1.157922 1-SumSquareWeights: 0.963587 2021-10-11T01:25:41Z- Filter 0 meanExpectedMeasDiff: -0.879429 delta_rms_squared: 1.148286 alpha: 0.982881 2021-10-11T01:25:41Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:41Z- Filter 0 partialDeltaRmsComputation: 11.645720 terrainVariance: 0.122643 1-SumSquareWeights: 0.963587 2021-10-11T01:25:41Z- Filter 0 meanExpectedMeasDiff: 3.394566 delta_rms_squared: 0.113007 alpha: 0.849632 2021-10-11T01:25:41Z- Filter 0 SubcloudNIS: 0.720981 2021-10-11T01:25:41Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:25:41Z- TNavBF:: Filter 0 sumWeights = 0.054621 2021-10-11T01:25:41Z- Filter 0 NorthBias: 2.4 EastBias: -83.5 DepthBias: -44.5 NorthVariance: 5.8 EastVariance: 1.4 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:25:41Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915537.37 sec. 2021-10-11T01:25:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:41Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:41Z- variances([0], [2], and psi_berg) = 5.797216 1.384129 0.000000 2021-10-11T01:25:41Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:41Z- LcmTrn::publishEstimates() - MLE : 4061826.25 594290.06 38.39 2021-10-11T01:25:41Z- LcmTrn::publishEstimates() - MMSE : 4061826.16 594289.44 5.91 2021-10-11T01:25:41Z- LcmTrn::publishEstimates() - COVAR: 5.80 1.38 0.42 0.00 2021-10-11T01:25:41Z- AHRS_M2 msg: 1633915538.14 epoch sec; seqNo:1627 2021-10-11T01:25:41Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 0.37 psi 2021-10-11T01:25:41Z- handleDepth()-Depth_Keller msg: 1633915538151 epoch sec; seqNo:1668; depth 50.40 2021-10-11T01:25:41Z- handleDvl() - RDI_Pathfinder msg: 1633915538.19 epoch sec; seqNo:460 2021-10-11T01:25:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.61 , 28.75 , 26.57 , 31.07 2021-10-11T01:25:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , 0.01 2021-10-11T01:25:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915538.20 epoch sec; seqNo:1668; 4061823.77 north; 594374.18 east 2021-10-11T01:25:41Z- AHRS_M2 msg: 1633915538.55 epoch sec; seqNo:1628 2021-10-11T01:25:41Z- AHRS_M2 msg: -0.20 phi; 0.00 theta; 0.37 psi 2021-10-11T01:25:41Z- handleDepth()-Depth_Keller msg: 1633915538557 epoch sec; seqNo:1669; depth 50.39 2021-10-11T01:25:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915538.58 epoch sec; seqNo:1669; 4061824.15 north; 594374.17 east 2021-10-11T01:25:42Z- AHRS_M2 msg: 1633915538.95 epoch sec; seqNo:1629 2021-10-11T01:25:42Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 0.37 psi 2021-10-11T01:25:42Z- handleDepth()-Depth_Keller msg: 1633915538954 epoch sec; seqNo:1670; depth 50.40 2021-10-11T01:25:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915538.96 epoch sec; seqNo:1670; 4061824.53 north; 594374.17 east 2021-10-11T01:25:42Z- AHRS_M2 msg: 1633915539.35 epoch sec; seqNo:1630 2021-10-11T01:25:42Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.37 psi 2021-10-11T01:25:42Z- handleDepth()-Depth_Keller msg: 1633915539368 epoch sec; seqNo:1671; depth 50.40 2021-10-11T01:25:42Z- handleDvl() - RDI_Pathfinder msg: 1633915539.39 epoch sec; seqNo:461 2021-10-11T01:25:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.61 , 28.61 , 26.57 , 30.52 2021-10-11T01:25:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.06 , -0.01 2021-10-11T01:25:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915539.40 epoch sec; seqNo:1671; 4061824.91 north; 594374.17 east 2021-10-11T01:25:43Z- AHRS_M2 msg: 1633915539.76 epoch sec; seqNo:1631 2021-10-11T01:25:43Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.38 psi 2021-10-11T01:25:43Z- handleDepth()-Depth_Keller msg: 1633915539769 epoch sec; seqNo:1672; depth 50.40 2021-10-11T01:25:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915539.79 epoch sec; seqNo:1672; 4061825.29 north; 594374.16 east 2021-10-11T01:25:43Z- AHRS_M2 msg: 1633915540.17 epoch sec; seqNo:1632 2021-10-11T01:25:43Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.38 psi 2021-10-11T01:25:43Z- handleDepth()-Depth_Keller msg: 1633915540179 epoch sec; seqNo:1673; depth 50.39 2021-10-11T01:25:43Z- handleDvl() - RDI_Pathfinder msg: 1633915540.20 epoch sec; seqNo:462 2021-10-11T01:25:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.61 , 28.48 , 26.57 , 30.66 2021-10-11T01:25:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.01 2021-10-11T01:25:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915540.23 epoch sec; seqNo:1673; 4061825.67 north; 594374.16 east 2021-10-11T01:25:43Z- AHRS_M2 msg: 1633915540.57 epoch sec; seqNo:1633 2021-10-11T01:25:43Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.38 psi 2021-10-11T01:25:43Z- handleDepth()-Depth_Keller msg: 1633915540574 epoch sec; seqNo:1674; depth 50.38 2021-10-11T01:25:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915540.59 epoch sec; seqNo:1674; 4061825.67 north; 594374.16 east 2021-10-11T01:25:44Z- AHRS_M2 msg: 1633915540.97 epoch sec; seqNo:1634 2021-10-11T01:25:44Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.39 psi 2021-10-11T01:25:44Z- handleDepth()-Depth_Keller msg: 1633915540974 epoch sec; seqNo:1675; depth 50.38 2021-10-11T01:25:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915541.00 epoch sec; seqNo:1675; 4061826.05 north; 594374.15 east 2021-10-11T01:25:44Z- AHRS_M2 msg: 1633915541.38 epoch sec; seqNo:1635 2021-10-11T01:25:44Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.39 psi 2021-10-11T01:25:44Z- handleDepth()-Depth_Keller msg: 1633915541381 epoch sec; seqNo:1676; depth 50.38 2021-10-11T01:25:44Z- handleDvl() - RDI_Pathfinder msg: 1633915541.40 epoch sec; seqNo:463 2021-10-11T01:25:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 29.43 , 26.43 , 30.38 2021-10-11T01:25:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , -0.03 2021-10-11T01:25:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915541.42 epoch sec; seqNo:1676; 4061826.43 north; 594374.15 east 2021-10-11T01:25:45Z- AHRS_M2 msg: 1633915541.78 epoch sec; seqNo:1636 2021-10-11T01:25:45Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.39 psi 2021-10-11T01:25:45Z- handleDepth()-Depth_Keller msg: 1633915541782 epoch sec; seqNo:1677; depth 50.37 2021-10-11T01:25:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915541.81 epoch sec; seqNo:1677; 4061826.80 north; 594374.14 east 2021-10-11T01:25:45Z- AHRS_M2 msg: 1633915542.19 epoch sec; seqNo:1637 2021-10-11T01:25:45Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.39 psi 2021-10-11T01:25:45Z- handleDepth()-Depth_Keller msg: 1633915542195 epoch sec; seqNo:1678; depth 50.37 2021-10-11T01:25:45Z- handleDvl() - RDI_Pathfinder msg: 1633915542.21 epoch sec; seqNo:464 2021-10-11T01:25:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.11 , 16.62 , 26.43 , 30.11 2021-10-11T01:25:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , -0.03 2021-10-11T01:25:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915542.26 epoch sec; seqNo:1678; 4061827.18 north; 594374.14 east 2021-10-11T01:25:45Z- AHRS_M2 msg: 1633915542.59 epoch sec; seqNo:1638 2021-10-11T01:25:45Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.39 psi 2021-10-11T01:25:45Z- handleDepth()-Depth_Keller msg: 1633915542598 epoch sec; seqNo:1679; depth 50.36 2021-10-11T01:25:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915542.62 epoch sec; seqNo:1679; 4061827.18 north; 594374.14 east 2021-10-11T01:25:46Z- AHRS_M2 msg: 1633915542.99 epoch sec; seqNo:1639 2021-10-11T01:25:46Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.40 psi 2021-10-11T01:25:46Z- handleDepth()-Depth_Keller msg: 1633915542994 epoch sec; seqNo:1680; depth 50.37 2021-10-11T01:25:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915543.01 epoch sec; seqNo:1680; 4061827.56 north; 594374.14 east 2021-10-11T01:25:46Z- LcmTrn::handleMessages() - handling 44 messages took 0.69 ms and 130 calls... 2021-10-11T01:25:46Z- waiting for 1633915540.77, time is 1633915543.01 2021-10-11T01:25:46Z- LcmTrn::updateTrn() >>>> pose time 1633915543.01, meas time 1633915542.21 <<<< 2021-10-11T01:25:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915542.21 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:46Z- TerrainNav::motionUpdate() - currEstimate = (4061828, 594374.14, 50.37) 2021-10-11T01:25:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:46Z- TerrainNav:: SubcloudNIS is 0.72, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:46Z- TNavBF::Projecting Measurements 2021-10-11T01:25:46Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:25:46Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:25:46Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:25:46Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:25:46Z- TNavFilter::4 good beams. 2021-10-11T01:25:46Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:25:46Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:25:46Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:25:46Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:25:46Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:25:46Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:25:46Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:25:46Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:46Z- TerrainMapOctree: (vehN, vehE ) = (4061826.99, 594373.96). 2021-10-11T01:25:46Z- TerrainMapOctree: Min Distance = 145.92. 2021-10-11T01:25:46Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:25:46Z- Forcing Subcloud Comparison 2021-10-11T01:25:46Z- Filter 0 deapthBias would have been set to Nan. indexP: 2060 indexM: 3 2021-10-11T01:25:46Z- Old Depth Bias: -24.24 DepthBiasCov: 0.32 K: 0.091 ExpectedMeasDiff: nan currMeas.covariance: 1.45 2021-10-11T01:25:46Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:25:46Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:46Z- Filter 0 partialDeltaRmsComputation: 0.579915 terrainVariance: 0.111199 1-SumSquareWeights: 0.959252 2021-10-11T01:25:46Z- Filter 0 meanExpectedMeasDiff: 0.684629 delta_rms_squared: 0.101606 alpha: 0.835535 2021-10-11T01:25:46Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:46Z- Filter 0 partialDeltaRmsComputation: 129.007967 terrainVariance: 0.985949 1-SumSquareWeights: 0.959252 2021-10-11T01:25:46Z- Filter 0 meanExpectedMeasDiff: -11.314682 delta_rms_squared: 0.976356 alpha: 0.979927 2021-10-11T01:25:46Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:25:46Z- Filter 0 partialDeltaRmsComputation: 1.517951 terrainVariance: 1.062205 1-SumSquareWeights: 0.959252 2021-10-11T01:25:46Z- Filter 0 meanExpectedMeasDiff: 0.675090 delta_rms_squared: 1.052612 alpha: 0.981354 2021-10-11T01:25:46Z- Filter 0 beam number: 3 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:25:46Z- Filter 0 partialDeltaRmsComputation: 18.336350 terrainVariance: 0.114121 1-SumSquareWeights: 0.959252 2021-10-11T01:25:46Z- Filter 0 meanExpectedMeasDiff: 4.268750 delta_rms_squared: 0.104528 alpha: 0.839394 2021-10-11T01:25:46Z- Filter 0 SubcloudNIS: 0.782517 2021-10-11T01:25:46Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:25:46Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-11T01:25:46Z- Filter 0 NorthBias: 2.8 EastBias: -82.4 DepthBias: -45.8 NorthVariance: 0.4 EastVariance: 1.0 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:25:46Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915542.21 sec. 2021-10-11T01:25:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:46Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:46Z- variances([0], [2], and psi_berg) = 0.432338 1.041592 0.000000 2021-10-11T01:25:46Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:46Z- LcmTrn::publishEstimates() - MLE : 4061830.05 594292.24 38.36 2021-10-11T01:25:46Z- LcmTrn::publishEstimates() - MMSE : 4061830.36 594291.73 4.60 2021-10-11T01:25:46Z- LcmTrn::publishEstimates() - COVAR: 0.43 1.04 0.42 0.00 2021-10-11T01:25:46Z- AHRS_M2 msg: 1633915543.39 epoch sec; seqNo:1640 2021-10-11T01:25:46Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.40 psi 2021-10-11T01:25:46Z- handleDepth()-Depth_Keller msg: 1633915543400 epoch sec; seqNo:1681; depth 50.35 2021-10-11T01:25:46Z- handleDvl() - RDI_Pathfinder msg: 1633915543.42 epoch sec; seqNo:465 2021-10-11T01:25:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.23 , 31.35 , 26.23 , 29.92 2021-10-11T01:25:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , -0.03 2021-10-11T01:25:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915543.44 epoch sec; seqNo:1681; 4061827.95 north; 594375.35 east 2021-10-11T01:25:47Z- AHRS_M2 msg: 1633915543.80 epoch sec; seqNo:1641 2021-10-11T01:25:47Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.40 psi 2021-10-11T01:25:47Z- handleDepth()-Depth_Keller msg: 1633915543804 epoch sec; seqNo:1682; depth 50.35 2021-10-11T01:25:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915543.83 epoch sec; seqNo:1682; 4061828.33 north; 594375.35 east 2021-10-11T01:25:47Z- AHRS_M2 msg: 1633915544.20 epoch sec; seqNo:1642 2021-10-11T01:25:47Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.40 psi 2021-10-11T01:25:47Z- handleDepth()-Depth_Keller msg: 1633915544215 epoch sec; seqNo:1683; depth 50.34 2021-10-11T01:25:47Z- handleDvl() - RDI_Pathfinder msg: 1633915544.25 epoch sec; seqNo:466 2021-10-11T01:25:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.30 , 31.20 , 26.43 , 30.25 2021-10-11T01:25:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.11 , -0.02 2021-10-11T01:25:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915544.26 epoch sec; seqNo:1683; 4061828.71 north; 594375.34 east 2021-10-11T01:25:47Z- AHRS_M2 msg: 1633915544.61 epoch sec; seqNo:1643 2021-10-11T01:25:47Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.40 psi 2021-10-11T01:25:47Z- handleDepth()-Depth_Keller msg: 1633915544615 epoch sec; seqNo:1684; depth 50.34 2021-10-11T01:25:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915544.63 epoch sec; seqNo:1684; 4061829.09 north; 594375.34 east 2021-10-11T01:25:48Z- AHRS_M2 msg: 1633915545.01 epoch sec; seqNo:1644 2021-10-11T01:25:48Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.40 psi 2021-10-11T01:25:48Z- handleDepth()-Depth_Keller msg: 1633915545014 epoch sec; seqNo:1685; depth 50.34 2021-10-11T01:25:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915545.04 epoch sec; seqNo:1685; 4061829.09 north; 594375.34 east 2021-10-11T01:25:48Z- AHRS_M2 msg: 1633915545.42 epoch sec; seqNo:1645 2021-10-11T01:25:48Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.40 psi 2021-10-11T01:25:48Z- handleDepth()-Depth_Keller msg: 1633915545422 epoch sec; seqNo:1686; depth 50.33 2021-10-11T01:25:48Z- handleDvl() - RDI_Pathfinder msg: 1633915545.45 epoch sec; seqNo:467 2021-10-11T01:25:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.39 , 31.20 , 26.43 , 29.57 2021-10-11T01:25:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.14 , 0.00 2021-10-11T01:25:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915545.46 epoch sec; seqNo:1686; 4061829.47 north; 594375.34 east 2021-10-11T01:25:49Z- AHRS_M2 msg: 1633915545.82 epoch sec; seqNo:1646 2021-10-11T01:25:49Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.40 psi 2021-10-11T01:25:49Z- handleDepth()-Depth_Keller msg: 1633915545822 epoch sec; seqNo:1687; depth 50.33 2021-10-11T01:25:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915545.84 epoch sec; seqNo:1687; 4061829.85 north; 594375.33 east 2021-10-11T01:25:49Z- AHRS_M2 msg: 1633915546.22 epoch sec; seqNo:1647 2021-10-11T01:25:49Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.41 psi 2021-10-11T01:25:49Z- handleDepth()-Depth_Keller msg: 1633915546238 epoch sec; seqNo:1688; depth 50.35 2021-10-11T01:25:49Z- handleDvl() - RDI_Pathfinder msg: 1633915546.26 epoch sec; seqNo:468 2021-10-11T01:25:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.39 , 31.34 , 26.43 , 29.57 2021-10-11T01:25:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.14 , 0.02 2021-10-11T01:25:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915546.27 epoch sec; seqNo:1688; 4061830.23 north; 594375.33 east 2021-10-11T01:25:49Z- AHRS_M2 msg: 1633915546.62 epoch sec; seqNo:1648 2021-10-11T01:25:49Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.41 psi 2021-10-11T01:25:49Z- handleDepth()-Depth_Keller msg: 1633915546630 epoch sec; seqNo:1689; depth 50.35 2021-10-11T01:25:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915546.66 epoch sec; seqNo:1689; 4061830.61 north; 594375.32 east 2021-10-11T01:25:50Z- AHRS_M2 msg: 1633915547.03 epoch sec; seqNo:1649 2021-10-11T01:25:50Z- AHRS_M2 msg: -0.18 phi; 0.02 theta; 0.41 psi 2021-10-11T01:25:50Z- handleDepth()-Depth_Keller msg: 1633915547034 epoch sec; seqNo:1690; depth 50.34 2021-10-11T01:25:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915547.05 epoch sec; seqNo:1690; 4061830.61 north; 594375.32 east 2021-10-11T01:25:50Z- AHRS_M2 msg: 1633915547.44 epoch sec; seqNo:1650 2021-10-11T01:25:50Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.41 psi 2021-10-11T01:25:50Z- handleDepth()-Depth_Keller msg: 1633915547447 epoch sec; seqNo:1691; depth 50.34 2021-10-11T01:25:50Z- handleDvl() - RDI_Pathfinder msg: 1633915547.48 epoch sec; seqNo:469 2021-10-11T01:25:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.98 , 30.93 , 26.43 , 29.43 2021-10-11T01:25:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.12 , 0.03 2021-10-11T01:25:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915547.49 epoch sec; seqNo:1691; 4061830.99 north; 594375.32 east 2021-10-11T01:25:51Z- AHRS_M2 msg: 1633915547.84 epoch sec; seqNo:1651 2021-10-11T01:25:51Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.41 psi 2021-10-11T01:25:51Z- handleDepth()-Depth_Keller msg: 1633915547866 epoch sec; seqNo:1692; depth 50.34 2021-10-11T01:25:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915547.89 epoch sec; seqNo:1692; 4061831.36 north; 594375.31 east 2021-10-11T01:25:51Z- AHRS_M2 msg: 1633915548.24 epoch sec; seqNo:1652 2021-10-11T01:25:51Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.41 psi 2021-10-11T01:25:51Z- handleDepth()-Depth_Keller msg: 1633915548247 epoch sec; seqNo:1693; depth 50.35 2021-10-11T01:25:51Z- handleDvl() - RDI_Pathfinder msg: 1633915548.27 epoch sec; seqNo:470 2021-10-11T01:25:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.11 , 30.52 , 26.70 , 29.43 2021-10-11T01:25:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.10 , 0.03 2021-10-11T01:25:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915548.29 epoch sec; seqNo:1693; 4061831.74 north; 594375.31 east 2021-10-11T01:25:51Z- LcmTrn::handleMessages() - handling 45 messages took 0.84 ms and 128 calls... 2021-10-11T01:25:51Z- waiting for 1633915546.01, time is 1633915548.29 2021-10-11T01:25:51Z- LcmTrn::updateTrn() equating pose 1633915548.29 and meas times 1633915548.29 2021-10-11T01:25:51Z- LcmTrn::updateTrn() >>>> pose time 1633915548.29, meas time 1633915548.29 <<<< 2021-10-11T01:25:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915548.29 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:51Z- TerrainNav::motionUpdate() - currEstimate = (4061832, 594375.31, 50.35) 2021-10-11T01:25:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:51Z- TerrainNav:: SubcloudNIS is 0.78, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:51Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915548.29 sec.; No relevant navigation data available 2021-10-11T01:25:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:51Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:51Z- variances([0], [2], and psi_berg) = 0.469367 1.078620 0.000000 2021-10-11T01:25:51Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:51Z- LcmTrn::publishEstimates() - MLE : 4061834.23 594293.41 38.34 2021-10-11T01:25:51Z- LcmTrn::publishEstimates() - MMSE : 4061834.54 594292.91 4.57 2021-10-11T01:25:51Z- LcmTrn::publishEstimates() - COVAR: 0.47 1.08 0.65 0.00 2021-10-11T01:25:52Z- AHRS_M2 msg: 1633915548.64 epoch sec; seqNo:1653 2021-10-11T01:25:52Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.41 psi 2021-10-11T01:25:52Z- handleDepth()-Depth_Keller msg: 1633915548650 epoch sec; seqNo:1694; depth 50.36 2021-10-11T01:25:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915548.68 epoch sec; seqNo:1694; 4061832.12 north; 594375.31 east 2021-10-11T01:25:52Z- AHRS_M2 msg: 1633915549.05 epoch sec; seqNo:1654 2021-10-11T01:25:52Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.42 psi 2021-10-11T01:25:52Z- handleDepth()-Depth_Keller msg: 1633915549056 epoch sec; seqNo:1695; depth 50.35 2021-10-11T01:25:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915549.07 epoch sec; seqNo:1695; 4061832.12 north; 594375.31 east 2021-10-11T01:25:52Z- AHRS_M2 msg: 1633915549.45 epoch sec; seqNo:1655 2021-10-11T01:25:52Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.42 psi 2021-10-11T01:25:52Z- handleDepth()-Depth_Keller msg: 1633915549458 epoch sec; seqNo:1696; depth 50.35 2021-10-11T01:25:52Z- handleDvl() - RDI_Pathfinder msg: 1633915549.49 epoch sec; seqNo:471 2021-10-11T01:25:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.98 , 30.93 , 26.84 , 29.29 2021-10-11T01:25:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.10 , 0.03 2021-10-11T01:25:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915549.52 epoch sec; seqNo:1696; 4061832.51 north; 594376.52 east 2021-10-11T01:25:53Z- AHRS_M2 msg: 1633915549.86 epoch sec; seqNo:1656 2021-10-11T01:25:53Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.42 psi 2021-10-11T01:25:53Z- handleDepth()-Depth_Keller msg: 1633915549862 epoch sec; seqNo:1697; depth 50.36 2021-10-11T01:25:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915549.89 epoch sec; seqNo:1697; 4061832.89 north; 594376.52 east 2021-10-11T01:25:53Z- AHRS_M2 msg: 1633915550.26 epoch sec; seqNo:1657 2021-10-11T01:25:53Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.42 psi 2021-10-11T01:25:53Z- handleDepth()-Depth_Keller msg: 1633915550266 epoch sec; seqNo:1698; depth 50.35 2021-10-11T01:25:53Z- handleDvl() - RDI_Pathfinder msg: 1633915550.30 epoch sec; seqNo:472 2021-10-11T01:25:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.66 , 31.07 , 26.70 , 29.16 2021-10-11T01:25:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.02 2021-10-11T01:25:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915550.32 epoch sec; seqNo:1698; 4061833.27 north; 594376.51 east 2021-10-11T01:25:54Z- AHRS_M2 msg: 1633915550.66 epoch sec; seqNo:1658 2021-10-11T01:25:54Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.43 psi 2021-10-11T01:25:54Z- handleDepth()-Depth_Keller msg: 1633915550670 epoch sec; seqNo:1699; depth 50.36 2021-10-11T01:25:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915550.69 epoch sec; seqNo:1699; 4061833.65 north; 594376.51 east 2021-10-11T01:25:54Z- AHRS_M2 msg: 1633915551.08 epoch sec; seqNo:1659 2021-10-11T01:25:54Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.43 psi 2021-10-11T01:25:54Z- handleDepth()-Depth_Keller msg: 1633915551086 epoch sec; seqNo:1700; depth 50.36 2021-10-11T01:25:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915551.10 epoch sec; seqNo:1700; 4061833.65 north; 594376.51 east 2021-10-11T01:25:54Z- handleDepth()-Depth_Keller msg: 1633915551497 epoch sec; seqNo:1701; depth 50.36 2021-10-11T01:25:54Z- handleDvl() - RDI_Pathfinder msg: 1633915551.52 epoch sec; seqNo:473 2021-10-11T01:25:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.39 , 30.79 , 26.98 , 28.48 2021-10-11T01:25:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.01 2021-10-11T01:25:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915551.56 epoch sec; seqNo:1701; 4061834.03 north; 594376.51 east 2021-10-11T01:25:55Z- AHRS_M2 msg: 1633915551.88 epoch sec; seqNo:1660 2021-10-11T01:25:55Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.43 psi 2021-10-11T01:25:55Z- handleDepth()-Depth_Keller msg: 1633915551884 epoch sec; seqNo:1702; depth 50.34 2021-10-11T01:25:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915551.91 epoch sec; seqNo:1702; 4061834.41 north; 594376.50 east 2021-10-11T01:25:55Z- AHRS_M2 msg: 1633915552.28 epoch sec; seqNo:1661 2021-10-11T01:25:55Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.43 psi 2021-10-11T01:25:55Z- handleDepth()-Depth_Keller msg: 1633915552293 epoch sec; seqNo:1703; depth 50.36 2021-10-11T01:25:55Z- handleDvl() - RDI_Pathfinder msg: 1633915552.31 epoch sec; seqNo:474 2021-10-11T01:25:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 31.34 , 27.39 , 27.93 2021-10-11T01:25:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , 0.02 2021-10-11T01:25:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915552.33 epoch sec; seqNo:1703; 4061834.79 north; 594376.50 east 2021-10-11T01:25:56Z- AHRS_M2 msg: 1633915552.68 epoch sec; seqNo:1662 2021-10-11T01:25:56Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.43 psi 2021-10-11T01:25:56Z- handleDepth()-Depth_Keller msg: 1633915552689 epoch sec; seqNo:1704; depth 50.35 2021-10-11T01:25:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915552.72 epoch sec; seqNo:1704; 4061835.17 north; 594376.49 east 2021-10-11T01:25:56Z- AHRS_M2 msg: 1633915553.09 epoch sec; seqNo:1663 2021-10-11T01:25:56Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.44 psi 2021-10-11T01:25:56Z- handleDepth()-Depth_Keller msg: 1633915553103 epoch sec; seqNo:1705; depth 50.33 2021-10-11T01:25:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915553.11 epoch sec; seqNo:1705; 4061835.17 north; 594376.49 east 2021-10-11T01:25:56Z- AHRS_M2 msg: 1633915553.49 epoch sec; seqNo:1664 2021-10-11T01:25:56Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.44 psi 2021-10-11T01:25:56Z- handleDepth()-Depth_Keller msg: 1633915553508 epoch sec; seqNo:1706; depth 50.32 2021-10-11T01:25:56Z- handleDvl() - RDI_Pathfinder msg: 1633915553.53 epoch sec; seqNo:475 2021-10-11T01:25:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.70 , 31.47 , 27.39 , 27.25 2021-10-11T01:25:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , 0.03 2021-10-11T01:25:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915553.55 epoch sec; seqNo:1706; 4061835.55 north; 594376.49 east 2021-10-11T01:25:56Z- LcmTrn::handleMessages() - handling 43 messages took 0.87 ms and 125 calls... 2021-10-11T01:25:56Z- waiting for 1633915551.29, time is 1633915553.55 2021-10-11T01:25:56Z- LcmTrn::updateTrn() equating pose 1633915553.55 and meas times 1633915553.55 2021-10-11T01:25:56Z- LcmTrn::updateTrn() >>>> pose time 1633915553.55, meas time 1633915553.55 <<<< 2021-10-11T01:25:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915553.55 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:25:56Z- TerrainNav::motionUpdate() - currEstimate = (4061836, 594376.49, 50.32) 2021-10-11T01:25:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:25:56Z- TerrainNav:: SubcloudNIS is 0.78, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:25:56Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915553.55 sec.; No relevant navigation data available 2021-10-11T01:25:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:25:56Z- TNavBF::mmse selected from filter -1 2021-10-11T01:25:56Z- variances([0], [2], and psi_berg) = 0.504817 1.114071 0.000000 2021-10-11T01:25:56Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:25:56Z- LcmTrn::publishEstimates() - MLE : 4061838.03 594294.59 38.31 2021-10-11T01:25:56Z- LcmTrn::publishEstimates() - MMSE : 4061838.34 594294.09 4.54 2021-10-11T01:25:56Z- LcmTrn::publishEstimates() - COVAR: 0.50 1.11 0.85 0.00 2021-10-11T01:25:57Z- AHRS_M2 msg: 1633915553.90 epoch sec; seqNo:1665 2021-10-11T01:25:57Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.44 psi 2021-10-11T01:25:57Z- handleDepth()-Depth_Keller msg: 1633915553908 epoch sec; seqNo:1707; depth 50.31 2021-10-11T01:25:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915553.93 epoch sec; seqNo:1707; 4061835.92 north; 594376.48 east 2021-10-11T01:25:57Z- AHRS_M2 msg: 1633915554.30 epoch sec; seqNo:1666 2021-10-11T01:25:57Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.44 psi 2021-10-11T01:25:57Z- handleDepth()-Depth_Keller msg: 1633915554312 epoch sec; seqNo:1708; depth 50.32 2021-10-11T01:25:57Z- handleDvl() - RDI_Pathfinder msg: 1633915554.34 epoch sec; seqNo:476 2021-10-11T01:25:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.48 , 31.61 , 27.66 , 27.25 2021-10-11T01:25:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.03 2021-10-11T01:25:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915554.36 epoch sec; seqNo:1708; 4061836.32 north; 594377.70 east 2021-10-11T01:25:58Z- AHRS_M2 msg: 1633915554.71 epoch sec; seqNo:1667 2021-10-11T01:25:58Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.44 psi 2021-10-11T01:25:58Z- handleDepth()-Depth_Keller msg: 1633915554713 epoch sec; seqNo:1709; depth 50.31 2021-10-11T01:25:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915554.73 epoch sec; seqNo:1709; 4061836.70 north; 594377.70 east 2021-10-11T01:25:58Z- AHRS_M2 msg: 1633915555.11 epoch sec; seqNo:1668 2021-10-11T01:25:58Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.44 psi 2021-10-11T01:25:58Z- handleDepth()-Depth_Keller msg: 1633915555113 epoch sec; seqNo:1710; depth 50.30 2021-10-11T01:25:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915555.15 epoch sec; seqNo:1710; 4061836.70 north; 594377.70 east 2021-10-11T01:25:58Z- handleDepth()-Depth_Keller msg: 1633915555533 epoch sec; seqNo:1711; depth 50.29 2021-10-11T01:25:58Z- handleDvl() - RDI_Pathfinder msg: 1633915555.56 epoch sec; seqNo:477 2021-10-11T01:25:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.48 , 31.88 , 28.07 , 26.98 2021-10-11T01:25:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , 0.02 2021-10-11T01:25:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915555.58 epoch sec; seqNo:1711; 4061837.07 north; 594377.69 east 2021-10-11T01:25:59Z- AHRS_M2 msg: 1633915555.92 epoch sec; seqNo:1669 2021-10-11T01:25:59Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.45 psi 2021-10-11T01:25:59Z- handleDepth()-Depth_Keller msg: 1633915555928 epoch sec; seqNo:1712; depth 50.27 2021-10-11T01:25:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915555.96 epoch sec; seqNo:1712; 4061837.45 north; 594377.69 east 2021-10-11T01:25:59Z- AHRS_M2 msg: 1633915556.33 epoch sec; seqNo:1670 2021-10-11T01:25:59Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.45 psi 2021-10-11T01:25:59Z- handleDepth()-Depth_Keller msg: 1633915556341 epoch sec; seqNo:1713; depth 50.26 2021-10-11T01:25:59Z- handleDvl() - RDI_Pathfinder msg: 1633915556.36 epoch sec; seqNo:478 2021-10-11T01:25:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.61 , 31.75 , 27.93 , 26.98 2021-10-11T01:25:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.03 , 0.00 2021-10-11T01:25:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915556.39 epoch sec; seqNo:1713; 4061837.83 north; 594377.68 east 2021-10-11T01:26:00Z- AHRS_M2 msg: 1633915556.72 epoch sec; seqNo:1671 2021-10-11T01:26:00Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.45 psi 2021-10-11T01:26:00Z- handleDepth()-Depth_Keller msg: 1633915556740 epoch sec; seqNo:1714; depth 50.24 2021-10-11T01:26:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915556.76 epoch sec; seqNo:1714; 4061838.21 north; 594377.68 east 2021-10-11T01:26:00Z- AHRS_M2 msg: 1633915557.14 epoch sec; seqNo:1672 2021-10-11T01:26:00Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.46 psi 2021-10-11T01:26:00Z- handleDepth()-Depth_Keller msg: 1633915557144 epoch sec; seqNo:1715; depth 50.22 2021-10-11T01:26:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915557.17 epoch sec; seqNo:1715; 4061838.21 north; 594377.68 east 2021-10-11T01:26:00Z- AHRS_M2 msg: 1633915557.54 epoch sec; seqNo:1673 2021-10-11T01:26:00Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.46 psi 2021-10-11T01:26:00Z- handleDepth()-Depth_Keller msg: 1633915557546 epoch sec; seqNo:1716; depth 50.21 2021-10-11T01:26:00Z- handleDvl() - RDI_Pathfinder msg: 1633915557.57 epoch sec; seqNo:479 2021-10-11T01:26:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.70 , 31.88 , 28.07 , 27.11 2021-10-11T01:26:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.00 , -0.00 2021-10-11T01:26:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915557.60 epoch sec; seqNo:1716; 4061838.59 north; 594377.68 east 2021-10-11T01:26:01Z- AHRS_M2 msg: 1633915557.94 epoch sec; seqNo:1674 2021-10-11T01:26:01Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.46 psi 2021-10-11T01:26:01Z- handleDepth()-Depth_Keller msg: 1633915557943 epoch sec; seqNo:1717; depth 50.19 2021-10-11T01:26:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915557.96 epoch sec; seqNo:1717; 4061838.98 north; 594378.89 east 2021-10-11T01:26:01Z- AHRS_M2 msg: 1633915558.35 epoch sec; seqNo:1675 2021-10-11T01:26:01Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.46 psi 2021-10-11T01:26:01Z- handleDepth()-Depth_Keller msg: 1633915558359 epoch sec; seqNo:1718; depth 50.17 2021-10-11T01:26:01Z- handleDvl() - RDI_Pathfinder msg: 1633915558.38 epoch sec; seqNo:480 2021-10-11T01:26:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.48 , 32.29 , 28.34 , 26.84 2021-10-11T01:26:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.03 2021-10-11T01:26:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915558.39 epoch sec; seqNo:1718; 4061839.36 north; 594378.89 east 2021-10-11T01:26:02Z- LcmTrn::handleMessages() - handling 40 messages took 0.83 ms and 123 calls... 2021-10-11T01:26:02Z- waiting for 1633915556.55, time is 1633915558.39 2021-10-11T01:26:02Z- LcmTrn::updateTrn() equating pose 1633915558.39 and meas times 1633915558.39 2021-10-11T01:26:02Z- LcmTrn::updateTrn() >>>> pose time 1633915558.39, meas time 1633915558.39 <<<< 2021-10-11T01:26:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915558.39 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:02Z- TerrainNav::motionUpdate() - currEstimate = (4061839, 594378.89, 50.17) 2021-10-11T01:26:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:02Z- TerrainNav:: SubcloudNIS is 0.78, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:02Z- TNavBF::Projecting Measurements 2021-10-11T01:26:02Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:02Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:02Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:02Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:02Z- TNavFilter::4 good beams. 2021-10-11T01:26:02Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:02Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:02Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:02Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:02Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:02Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:02Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:02Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:02Z- TerrainMapOctree: (vehN, vehE ) = (4061839.36, 594378.89). 2021-10-11T01:26:02Z- TerrainMapOctree: Min Distance = 156.84. 2021-10-11T01:26:02Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:02Z- Forcing Subcloud Comparison 2021-10-11T01:26:02Z- Filter 0 deapthBias would have been set to Nan. indexP: 555 indexM: 3 2021-10-11T01:26:02Z- Old Depth Bias: -23.41 DepthBiasCov: 0.50 K: 0.147 ExpectedMeasDiff: nan currMeas.covariance: 1.15 2021-10-11T01:26:02Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:02Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:02Z- Filter 0 partialDeltaRmsComputation: 8.275397 terrainVariance: 0.062097 1-SumSquareWeights: 0.721729 2021-10-11T01:26:02Z- Filter 0 meanExpectedMeasDiff: -2.865886 delta_rms_squared: 0.054879 alpha: 0.732904 2021-10-11T01:26:02Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:02Z- Filter 0 partialDeltaRmsComputation: 11.372757 terrainVariance: 0.178253 1-SumSquareWeights: 0.721729 2021-10-11T01:26:02Z- Filter 0 meanExpectedMeasDiff: 3.345819 delta_rms_squared: 0.171036 alpha: 0.895307 2021-10-11T01:26:02Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:02Z- Filter 0 partialDeltaRmsComputation: 1.351165 terrainVariance: 0.058584 1-SumSquareWeights: 0.721729 2021-10-11T01:26:02Z- Filter 0 meanExpectedMeasDiff: 1.136917 delta_rms_squared: 0.051367 alpha: 0.719758 2021-10-11T01:26:02Z- Filter 0 beam number: 3 num in subcloud: 9997 num not in subcloud: 3 2021-10-11T01:26:02Z- Filter 0 partialDeltaRmsComputation: 0.301050 terrainVariance: 0.062097 1-SumSquareWeights: 0.721729 2021-10-11T01:26:02Z- Filter 0 meanExpectedMeasDiff: 0.488828 delta_rms_squared: 0.054879 alpha: 0.732904 2021-10-11T01:26:02Z- Filter 0 SubcloudNIS: 0.693787 2021-10-11T01:26:02Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:02Z- TNavBF:: Filter 0 sumWeights = 0.093426 2021-10-11T01:26:02Z- Filter 0 NorthBias: 3.0 EastBias: -82.8 DepthBias: -45.4 NorthVariance: 0.7 EastVariance: 1.3 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:26:02Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915558.39 sec. 2021-10-11T01:26:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:02Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:02Z- variances([0], [2], and psi_berg) = 0.701263 1.346142 0.000000 2021-10-11T01:26:02Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:02Z- LcmTrn::publishEstimates() - MLE : 4061841.85 594296.99 38.17 2021-10-11T01:26:02Z- LcmTrn::publishEstimates() - MMSE : 4061842.34 594296.06 4.77 2021-10-11T01:26:02Z- LcmTrn::publishEstimates() - COVAR: 0.70 1.35 0.50 0.00 2021-10-11T01:26:02Z- AHRS_M2 msg: 1633915558.74 epoch sec; seqNo:1676 2021-10-11T01:26:02Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:02Z- handleDepth()-Depth_Keller msg: 1633915558751 epoch sec; seqNo:1719; depth 50.15 2021-10-11T01:26:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915558.78 epoch sec; seqNo:1719; 4061839.74 north; 594378.88 east 2021-10-11T01:26:02Z- AHRS_M2 msg: 1633915559.15 epoch sec; seqNo:1677 2021-10-11T01:26:02Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:02Z- handleDepth()-Depth_Keller msg: 1633915559157 epoch sec; seqNo:1720; depth 50.13 2021-10-11T01:26:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915559.17 epoch sec; seqNo:1720; 4061839.74 north; 594378.88 east 2021-10-11T01:26:02Z- AHRS_M2 msg: 1633915559.56 epoch sec; seqNo:1678 2021-10-11T01:26:02Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:02Z- handleDepth()-Depth_Keller msg: 1633915559565 epoch sec; seqNo:1721; depth 50.11 2021-10-11T01:26:02Z- handleDvl() - RDI_Pathfinder msg: 1633915559.59 epoch sec; seqNo:481 2021-10-11T01:26:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.48 , 31.88 , 28.20 , 26.98 2021-10-11T01:26:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , -0.02 2021-10-11T01:26:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915559.62 epoch sec; seqNo:1721; 4061840.12 north; 594378.88 east 2021-10-11T01:26:03Z- AHRS_M2 msg: 1633915559.96 epoch sec; seqNo:1679 2021-10-11T01:26:03Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:03Z- handleDepth()-Depth_Keller msg: 1633915559962 epoch sec; seqNo:1722; depth 50.09 2021-10-11T01:26:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915559.99 epoch sec; seqNo:1722; 4061840.50 north; 594378.88 east 2021-10-11T01:26:03Z- AHRS_M2 msg: 1633915560.38 epoch sec; seqNo:1680 2021-10-11T01:26:03Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:03Z- handleDepth()-Depth_Keller msg: 1633915560386 epoch sec; seqNo:1723; depth 50.08 2021-10-11T01:26:03Z- handleDvl() - RDI_Pathfinder msg: 1633915560.41 epoch sec; seqNo:482 2021-10-11T01:26:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.98 , 31.88 , 28.89 , 26.70 2021-10-11T01:26:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.12 , -0.00 2021-10-11T01:26:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915560.42 epoch sec; seqNo:1723; 4061840.88 north; 594378.87 east 2021-10-11T01:26:04Z- AHRS_M2 msg: 1633915560.77 epoch sec; seqNo:1681 2021-10-11T01:26:04Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:04Z- handleDepth()-Depth_Keller msg: 1633915560773 epoch sec; seqNo:1724; depth 50.07 2021-10-11T01:26:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915560.79 epoch sec; seqNo:1724; 4061841.25 north; 594378.87 east 2021-10-11T01:26:04Z- AHRS_M2 msg: 1633915561.17 epoch sec; seqNo:1682 2021-10-11T01:26:04Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:04Z- handleDepth()-Depth_Keller msg: 1633915561181 epoch sec; seqNo:1725; depth 50.05 2021-10-11T01:26:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915561.19 epoch sec; seqNo:1725; 4061841.25 north; 594378.87 east 2021-10-11T01:26:04Z- AHRS_M2 msg: 1633915561.58 epoch sec; seqNo:1683 2021-10-11T01:26:04Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:04Z- handleDepth()-Depth_Keller msg: 1633915561592 epoch sec; seqNo:1726; depth 50.04 2021-10-11T01:26:04Z- handleDvl() - RDI_Pathfinder msg: 1633915561.62 epoch sec; seqNo:483 2021-10-11T01:26:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 1.00 , 32.29 , 28.89 , 26.70 2021-10-11T01:26:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.12 , 0.03 2021-10-11T01:26:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915561.64 epoch sec; seqNo:1726; 4061841.63 north; 594378.86 east 2021-10-11T01:26:05Z- AHRS_M2 msg: 1633915561.98 epoch sec; seqNo:1684 2021-10-11T01:26:05Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:05Z- handleDepth()-Depth_Keller msg: 1633915561986 epoch sec; seqNo:1727; depth 50.02 2021-10-11T01:26:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915562.00 epoch sec; seqNo:1727; 4061842.01 north; 594378.86 east 2021-10-11T01:26:05Z- AHRS_M2 msg: 1633915562.41 epoch sec; seqNo:1685 2021-10-11T01:26:05Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:05Z- handleDepth()-Depth_Keller msg: 1633915562412 epoch sec; seqNo:1728; depth 50.00 2021-10-11T01:26:05Z- handleDvl() - RDI_Pathfinder msg: 1633915562.43 epoch sec; seqNo:484 2021-10-11T01:26:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 2.00 , 32.02 , 30.25 , 26.57 2021-10-11T01:26:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.11 , 0.04 2021-10-11T01:26:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915562.46 epoch sec; seqNo:1728; 4061842.40 north; 594380.07 east 2021-10-11T01:26:06Z- AHRS_M2 msg: 1633915562.79 epoch sec; seqNo:1686 2021-10-11T01:26:06Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:06Z- handleDepth()-Depth_Keller msg: 1633915562789 epoch sec; seqNo:1729; depth 49.99 2021-10-11T01:26:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915562.82 epoch sec; seqNo:1729; 4061842.78 north; 594380.07 east 2021-10-11T01:26:06Z- AHRS_M2 msg: 1633915563.19 epoch sec; seqNo:1687 2021-10-11T01:26:06Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.47 psi 2021-10-11T01:26:06Z- handleDepth()-Depth_Keller msg: 1633915563197 epoch sec; seqNo:1730; depth 49.98 2021-10-11T01:26:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915563.21 epoch sec; seqNo:1730; 4061842.78 north; 594380.07 east 2021-10-11T01:26:06Z- AHRS_M2 msg: 1633915563.60 epoch sec; seqNo:1688 2021-10-11T01:26:06Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.48 psi 2021-10-11T01:26:06Z- handleDepth()-Depth_Keller msg: 1633915563607 epoch sec; seqNo:1731; depth 49.97 2021-10-11T01:26:07Z- handleDvl() - RDI_Pathfinder msg: 1633915563.63 epoch sec; seqNo:485 2021-10-11T01:26:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 3.00 , 32.02 , 29.98 , 26.70 2021-10-11T01:26:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , 0.04 2021-10-11T01:26:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915563.66 epoch sec; seqNo:1731; 4061843.16 north; 594380.07 east 2021-10-11T01:26:07Z- LcmTrn::handleMessages() - handling 44 messages took 0.82 ms and 127 calls... 2021-10-11T01:26:07Z- waiting for 1633915561.39, time is 1633915563.66 2021-10-11T01:26:07Z- LcmTrn::updateTrn() equating pose 1633915563.66 and meas times 1633915563.66 2021-10-11T01:26:07Z- LcmTrn::updateTrn() >>>> pose time 1633915563.66, meas time 1633915563.66 <<<< 2021-10-11T01:26:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915563.66 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:07Z- TerrainNav::motionUpdate() - currEstimate = (4061843, 594380.07, 49.97) 2021-10-11T01:26:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:07Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:07Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915563.66 sec.; No relevant navigation data available 2021-10-11T01:26:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:07Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:07Z- variances([0], [2], and psi_berg) = 0.736713 1.381593 0.000000 2021-10-11T01:26:07Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:07Z- LcmTrn::publishEstimates() - MLE : 4061845.65 594298.17 37.96 2021-10-11T01:26:07Z- LcmTrn::publishEstimates() - MMSE : 4061846.14 594297.24 4.56 2021-10-11T01:26:07Z- LcmTrn::publishEstimates() - COVAR: 0.74 1.38 0.70 0.00 2021-10-11T01:26:07Z- AHRS_M2 msg: 1633915564.00 epoch sec; seqNo:1689 2021-10-11T01:26:07Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.48 psi 2021-10-11T01:26:07Z- handleDepth()-Depth_Keller msg: 1633915564002 epoch sec; seqNo:1732; depth 49.96 2021-10-11T01:26:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915564.03 epoch sec; seqNo:1732; 4061843.54 north; 594380.06 east 2021-10-11T01:26:07Z- AHRS_M2 msg: 1633915564.44 epoch sec; seqNo:1690 2021-10-11T01:26:07Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.48 psi 2021-10-11T01:26:07Z- handleDepth()-Depth_Keller msg: 1633915564442 epoch sec; seqNo:1733; depth 49.94 2021-10-11T01:26:07Z- handleDvl() - RDI_Pathfinder msg: 1633915564.46 epoch sec; seqNo:486 2021-10-11T01:26:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.11 , 32.02 , 29.98 , 26.57 2021-10-11T01:26:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.03 2021-10-11T01:26:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915564.49 epoch sec; seqNo:1733; 4061843.92 north; 594380.06 east 2021-10-11T01:26:08Z- AHRS_M2 msg: 1633915564.81 epoch sec; seqNo:1691 2021-10-11T01:26:08Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.48 psi 2021-10-11T01:26:08Z- handleDepth()-Depth_Keller msg: 1633915564810 epoch sec; seqNo:1734; depth 49.92 2021-10-11T01:26:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915564.83 epoch sec; seqNo:1734; 4061843.92 north; 594380.06 east 2021-10-11T01:26:08Z- AHRS_M2 msg: 1633915565.21 epoch sec; seqNo:1692 2021-10-11T01:26:08Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.48 psi 2021-10-11T01:26:08Z- handleDepth()-Depth_Keller msg: 1633915565220 epoch sec; seqNo:1735; depth 49.91 2021-10-11T01:26:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915565.23 epoch sec; seqNo:1735; 4061844.30 north; 594380.05 east 2021-10-11T01:26:08Z- AHRS_M2 msg: 1633915565.61 epoch sec; seqNo:1693 2021-10-11T01:26:08Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.48 psi 2021-10-11T01:26:08Z- handleDepth()-Depth_Keller msg: 1633915565617 epoch sec; seqNo:1736; depth 49.89 2021-10-11T01:26:09Z- handleDvl() - RDI_Pathfinder msg: 1633915565.65 epoch sec; seqNo:487 2021-10-11T01:26:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 5.00 , 32.84 , 29.70 , 26.57 2021-10-11T01:26:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.01 2021-10-11T01:26:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915565.67 epoch sec; seqNo:1736; 4061844.68 north; 594380.05 east 2021-10-11T01:26:09Z- AHRS_M2 msg: 1633915566.02 epoch sec; seqNo:1694 2021-10-11T01:26:09Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.49 psi 2021-10-11T01:26:09Z- handleDepth()-Depth_Keller msg: 1633915566022 epoch sec; seqNo:1737; depth 49.89 2021-10-11T01:26:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915566.05 epoch sec; seqNo:1737; 4061845.06 north; 594380.05 east 2021-10-11T01:26:09Z- AHRS_M2 msg: 1633915566.45 epoch sec; seqNo:1695 2021-10-11T01:26:09Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.49 psi 2021-10-11T01:26:09Z- handleDepth()-Depth_Keller msg: 1633915566469 epoch sec; seqNo:1738; depth 49.89 2021-10-11T01:26:09Z- handleDvl() - RDI_Pathfinder msg: 1633915566.49 epoch sec; seqNo:488 2021-10-11T01:26:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 6.00 , 33.24 , 29.16 , 26.43 2021-10-11T01:26:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.00 2021-10-11T01:26:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915566.51 epoch sec; seqNo:1738; 4061845.45 north; 594381.26 east 2021-10-11T01:26:10Z- AHRS_M2 msg: 1633915566.83 epoch sec; seqNo:1696 2021-10-11T01:26:10Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.49 psi 2021-10-11T01:26:10Z- handleDepth()-Depth_Keller msg: 1633915566833 epoch sec; seqNo:1739; depth 49.86 2021-10-11T01:26:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915566.85 epoch sec; seqNo:1739; 4061845.45 north; 594381.26 east 2021-10-11T01:26:10Z- AHRS_M2 msg: 1633915567.24 epoch sec; seqNo:1697 2021-10-11T01:26:10Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.49 psi 2021-10-11T01:26:10Z- handleDepth()-Depth_Keller msg: 1633915567248 epoch sec; seqNo:1740; depth 49.85 2021-10-11T01:26:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915567.26 epoch sec; seqNo:1740; 4061845.83 north; 594381.26 east 2021-10-11T01:26:11Z- AHRS_M2 msg: 1633915567.63 epoch sec; seqNo:1698 2021-10-11T01:26:11Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.49 psi 2021-10-11T01:26:11Z- handleDepth()-Depth_Keller msg: 1633915567644 epoch sec; seqNo:1741; depth 49.85 2021-10-11T01:26:11Z- handleDvl() - RDI_Pathfinder msg: 1633915567.67 epoch sec; seqNo:489 2021-10-11T01:26:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 14.71 , 33.10 , 28.75 , 26.43 2021-10-11T01:26:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.16 , -0.02 2021-10-11T01:26:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915567.69 epoch sec; seqNo:1741; 4061846.21 north; 594381.25 east 2021-10-11T01:26:11Z- AHRS_M2 msg: 1633915568.05 epoch sec; seqNo:1699 2021-10-11T01:26:11Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.49 psi 2021-10-11T01:26:11Z- handleDepth()-Depth_Keller msg: 1633915568056 epoch sec; seqNo:1742; depth 49.84 2021-10-11T01:26:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915568.08 epoch sec; seqNo:1742; 4061846.59 north; 594381.25 east 2021-10-11T01:26:11Z- AHRS_M2 msg: 1633915568.48 epoch sec; seqNo:1700 2021-10-11T01:26:11Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:11Z- handleDepth()-Depth_Keller msg: 1633915568494 epoch sec; seqNo:1743; depth 49.82 2021-10-11T01:26:11Z- handleDvl() - RDI_Pathfinder msg: 1633915568.52 epoch sec; seqNo:490 2021-10-11T01:26:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.40 , 33.02 , 28.49 , 26.58 2021-10-11T01:26:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.11 , 0.01 2021-10-11T01:26:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915568.54 epoch sec; seqNo:1743; 4061846.59 north; 594381.25 east 2021-10-11T01:26:12Z- AHRS_M2 msg: 1633915568.85 epoch sec; seqNo:1701 2021-10-11T01:26:12Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:12Z- handleDepth()-Depth_Keller msg: 1633915568855 epoch sec; seqNo:1744; depth 49.82 2021-10-11T01:26:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915568.87 epoch sec; seqNo:1744; 4061846.96 north; 594381.24 east 2021-10-11T01:26:12Z- LcmTrn::handleMessages() - handling 44 messages took 0.85 ms and 127 calls... 2021-10-11T01:26:12Z- waiting for 1633915566.66, time is 1633915568.87 2021-10-11T01:26:12Z- LcmTrn::updateTrn() >>>> pose time 1633915568.87, meas time 1633915568.52 <<<< 2021-10-11T01:26:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915568.52 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:12Z- TerrainNav::motionUpdate() - currEstimate = (4061847, 594381.24, 49.82) 2021-10-11T01:26:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:12Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:12Z- TNavBF::Projecting Measurements 2021-10-11T01:26:12Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:12Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:12Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:12Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:12Z- TNavFilter::4 good beams. 2021-10-11T01:26:12Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:12Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:12Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:12Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:12Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:12Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:12Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:12Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:12Z- TerrainMapOctree: (vehN, vehE ) = (4061846.71, 594381.17). 2021-10-11T01:26:12Z- TerrainMapOctree: Min Distance = 162.96. 2021-10-11T01:26:12Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:12Z- Forcing Subcloud Comparison 2021-10-11T01:26:12Z- Filter 0 deapthBias would have been set to Nan. indexP: 254 indexM: 3 2021-10-11T01:26:12Z- Old Depth Bias: -22.36 DepthBiasCov: 0.46 K: 0.139 ExpectedMeasDiff: nan currMeas.covariance: 1.13 2021-10-11T01:26:12Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:12Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:12Z- Filter 0 partialDeltaRmsComputation: 1.524357 terrainVariance: 0.061454 1-SumSquareWeights: 0.849379 2021-10-11T01:26:12Z- Filter 0 meanExpectedMeasDiff: 1.209505 delta_rms_squared: 0.052961 alpha: 0.725879 2021-10-11T01:26:12Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:12Z- Filter 0 partialDeltaRmsComputation: 8.356337 terrainVariance: 0.096744 1-SumSquareWeights: 0.849379 2021-10-11T01:26:12Z- Filter 0 meanExpectedMeasDiff: 2.873951 delta_rms_squared: 0.088250 alpha: 0.815243 2021-10-11T01:26:12Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:12Z- Filter 0 partialDeltaRmsComputation: 0.224070 terrainVariance: 0.161243 1-SumSquareWeights: 0.849379 2021-10-11T01:26:12Z- Filter 0 meanExpectedMeasDiff: -0.250654 delta_rms_squared: 0.152749 alpha: 0.884225 2021-10-11T01:26:12Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:26:12Z- Filter 0 partialDeltaRmsComputation: 0.574878 terrainVariance: 0.061454 1-SumSquareWeights: 0.849379 2021-10-11T01:26:12Z- Filter 0 meanExpectedMeasDiff: -0.716536 delta_rms_squared: 0.052961 alpha: 0.725879 2021-10-11T01:26:12Z- Filter 0 SubcloudNIS: 0.665187 2021-10-11T01:26:12Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:12Z- TNavBF:: Filter 0 sumWeights = 0.329093 2021-10-11T01:26:12Z- Filter 0 NorthBias: 3.0 EastBias: -82.8 DepthBias: -44.7 NorthVariance: 0.8 EastVariance: 1.5 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:26:12Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915568.52 sec. 2021-10-11T01:26:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:12Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:12Z- variances([0], [2], and psi_berg) = 0.824356 1.512165 0.000000 2021-10-11T01:26:12Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:12Z- LcmTrn::publishEstimates() - MLE : 4061849.45 594299.35 37.81 2021-10-11T01:26:12Z- LcmTrn::publishEstimates() - MMSE : 4061849.96 594298.40 5.11 2021-10-11T01:26:12Z- LcmTrn::publishEstimates() - COVAR: 0.82 1.51 0.48 0.00 2021-10-11T01:26:12Z- AHRS_M2 msg: 1633915569.25 epoch sec; seqNo:1702 2021-10-11T01:26:12Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:12Z- handleDepth()-Depth_Keller msg: 1633915569258 epoch sec; seqNo:1745; depth 49.79 2021-10-11T01:26:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915569.27 epoch sec; seqNo:1745; 4061847.34 north; 594381.24 east 2021-10-11T01:26:13Z- AHRS_M2 msg: 1633915569.65 epoch sec; seqNo:1703 2021-10-11T01:26:13Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:13Z- handleDepth()-Depth_Keller msg: 1633915569662 epoch sec; seqNo:1746; depth 49.80 2021-10-11T01:26:13Z- handleDvl() - RDI_Pathfinder msg: 1633915569.69 epoch sec; seqNo:491 2021-10-11T01:26:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.70 , 32.70 , 28.07 , 26.70 2021-10-11T01:26:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.10 , 0.02 2021-10-11T01:26:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915569.71 epoch sec; seqNo:1746; 4061847.72 north; 594381.24 east 2021-10-11T01:26:13Z- AHRS_M2 msg: 1633915570.06 epoch sec; seqNo:1704 2021-10-11T01:26:13Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:13Z- handleDepth()-Depth_Keller msg: 1633915570069 epoch sec; seqNo:1747; depth 49.78 2021-10-11T01:26:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915570.09 epoch sec; seqNo:1747; 4061847.72 north; 594381.24 east 2021-10-11T01:26:13Z- AHRS_M2 msg: 1633915570.50 epoch sec; seqNo:1705 2021-10-11T01:26:13Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:13Z- handleDepth()-Depth_Keller msg: 1633915570514 epoch sec; seqNo:1748; depth 49.77 2021-10-11T01:26:13Z- handleDvl() - RDI_Pathfinder msg: 1633915570.55 epoch sec; seqNo:492 2021-10-11T01:26:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.29 , 32.70 , 27.52 , 26.70 2021-10-11T01:26:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.09 , 0.03 2021-10-11T01:26:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915570.57 epoch sec; seqNo:1748; 4061848.10 north; 594381.23 east 2021-10-11T01:26:14Z- AHRS_M2 msg: 1633915570.87 epoch sec; seqNo:1706 2021-10-11T01:26:14Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:14Z- handleDepth()-Depth_Keller msg: 1633915570879 epoch sec; seqNo:1749; depth 49.77 2021-10-11T01:26:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915570.90 epoch sec; seqNo:1749; 4061848.48 north; 594381.23 east 2021-10-11T01:26:14Z- AHRS_M2 msg: 1633915571.27 epoch sec; seqNo:1707 2021-10-11T01:26:14Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.50 psi 2021-10-11T01:26:14Z- handleDepth()-Depth_Keller msg: 1633915571280 epoch sec; seqNo:1750; depth 49.76 2021-10-11T01:26:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915571.29 epoch sec; seqNo:1750; 4061848.87 north; 594382.44 east 2021-10-11T01:26:15Z- AHRS_M2 msg: 1633915571.68 epoch sec; seqNo:1708 2021-10-11T01:26:15Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.51 psi 2021-10-11T01:26:15Z- handleDepth()-Depth_Keller msg: 1633915571680 epoch sec; seqNo:1751; depth 49.75 2021-10-11T01:26:15Z- handleDvl() - RDI_Pathfinder msg: 1633915571.70 epoch sec; seqNo:493 2021-10-11T01:26:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 32.84 , 27.25 , 26.57 2021-10-11T01:26:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , 0.03 2021-10-11T01:26:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915571.74 epoch sec; seqNo:1751; 4061849.25 north; 594382.44 east 2021-10-11T01:26:15Z- AHRS_M2 msg: 1633915572.08 epoch sec; seqNo:1709 2021-10-11T01:26:15Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.51 psi 2021-10-11T01:26:15Z- handleDepth()-Depth_Keller msg: 1633915572097 epoch sec; seqNo:1752; depth 49.74 2021-10-11T01:26:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915572.11 epoch sec; seqNo:1752; 4061849.25 north; 594382.44 east 2021-10-11T01:26:15Z- AHRS_M2 msg: 1633915572.49 epoch sec; seqNo:1710 2021-10-11T01:26:15Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.51 psi 2021-10-11T01:26:15Z- handleDepth()-Depth_Keller msg: 1633915572504 epoch sec; seqNo:1753; depth 49.73 2021-10-11T01:26:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915572.56 epoch sec; seqNo:1753; 4061849.63 north; 594382.44 east 2021-10-11T01:26:16Z- AHRS_M2 msg: 1633915572.91 epoch sec; seqNo:1711 2021-10-11T01:26:16Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.51 psi 2021-10-11T01:26:16Z- handleDepth()-Depth_Keller msg: 1633915572923 epoch sec; seqNo:1754; depth 49.72 2021-10-11T01:26:16Z- handleDvl() - RDI_Pathfinder msg: 1633915572.95 epoch sec; seqNo:494 2021-10-11T01:26:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.25 , 32.97 , 26.98 , 26.57 2021-10-11T01:26:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , 0.02 2021-10-11T01:26:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915572.96 epoch sec; seqNo:1754; 4061850.01 north; 594382.43 east 2021-10-11T01:26:16Z- AHRS_M2 msg: 1633915573.30 epoch sec; seqNo:1712 2021-10-11T01:26:16Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.51 psi 2021-10-11T01:26:16Z- handleDepth()-Depth_Keller msg: 1633915573305 epoch sec; seqNo:1755; depth 49.72 2021-10-11T01:26:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915573.33 epoch sec; seqNo:1755; 4061850.39 north; 594382.43 east 2021-10-11T01:26:17Z- AHRS_M2 msg: 1633915573.69 epoch sec; seqNo:1713 2021-10-11T01:26:17Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.51 psi 2021-10-11T01:26:17Z- handleDepth()-Depth_Keller msg: 1633915573698 epoch sec; seqNo:1756; depth 49.71 2021-10-11T01:26:17Z- handleDvl() - RDI_Pathfinder msg: 1633915573.73 epoch sec; seqNo:495 2021-10-11T01:26:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.24 , 33.51 , 26.97 , 26.57 2021-10-11T01:26:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , 0.02 2021-10-11T01:26:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915573.75 epoch sec; seqNo:1756; 4061850.39 north; 594382.43 east 2021-10-11T01:26:17Z- AHRS_M2 msg: 1633915574.10 epoch sec; seqNo:1714 2021-10-11T01:26:17Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.52 psi 2021-10-11T01:26:17Z- handleDepth()-Depth_Keller msg: 1633915574109 epoch sec; seqNo:1757; depth 49.69 2021-10-11T01:26:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915574.14 epoch sec; seqNo:1757; 4061850.77 north; 594382.42 east 2021-10-11T01:26:17Z- LcmTrn::handleMessages() - handling 44 messages took 0.88 ms and 126 calls... 2021-10-11T01:26:17Z- waiting for 1633915571.87, time is 1633915574.14 2021-10-11T01:26:17Z- LcmTrn::updateTrn() >>>> pose time 1633915574.14, meas time 1633915573.73 <<<< 2021-10-11T01:26:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915573.73 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:17Z- TerrainNav::motionUpdate() - currEstimate = (4061851, 594382.42, 49.69) 2021-10-11T01:26:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:17Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:17Z- TNavBF::Projecting Measurements 2021-10-11T01:26:17Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:17Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:17Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:17Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:17Z- TNavFilter::4 good beams. 2021-10-11T01:26:17Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:17Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:17Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:17Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:17Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:17Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:17Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:17Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:17Z- TerrainMapOctree: (vehN, vehE ) = (4061850.47, 594382.33). 2021-10-11T01:26:17Z- TerrainMapOctree: Min Distance = 166.15. 2021-10-11T01:26:17Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:17Z- Forcing Subcloud Comparison 2021-10-11T01:26:17Z- Filter 0 deapthBias would have been set to Nan. indexP: 8454 indexM: 2 2021-10-11T01:26:17Z- Old Depth Bias: -24.67 DepthBiasCov: 0.44 K: 0.132 ExpectedMeasDiff: nan currMeas.covariance: 1.16 2021-10-11T01:26:17Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:17Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:17Z- Filter 0 partialDeltaRmsComputation: 1.034290 terrainVariance: 0.039288 1-SumSquareWeights: 0.859767 2021-10-11T01:26:17Z- Filter 0 meanExpectedMeasDiff: 0.997498 delta_rms_squared: 0.030690 alpha: 0.605445 2021-10-11T01:26:17Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:17Z- Filter 0 partialDeltaRmsComputation: 8.678412 terrainVariance: 0.108673 1-SumSquareWeights: 0.859767 2021-10-11T01:26:17Z- Filter 0 meanExpectedMeasDiff: 2.927412 delta_rms_squared: 0.100075 alpha: 0.833438 2021-10-11T01:26:17Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:26:17Z- Filter 0 partialDeltaRmsComputation: 4.920325 terrainVariance: 0.050412 1-SumSquareWeights: 0.859767 2021-10-11T01:26:17Z- Filter 0 meanExpectedMeasDiff: -2.206788 delta_rms_squared: 0.041815 alpha: 0.676452 2021-10-11T01:26:17Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:17Z- Filter 0 partialDeltaRmsComputation: 1.284735 terrainVariance: 0.039288 1-SumSquareWeights: 0.859767 2021-10-11T01:26:17Z- Filter 0 meanExpectedMeasDiff: -1.115996 delta_rms_squared: 0.030690 alpha: 0.605445 2021-10-11T01:26:17Z- Filter 0 SubcloudNIS: 0.676059 2021-10-11T01:26:17Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:17Z- TNavBF:: Filter 0 sumWeights = 0.197711 2021-10-11T01:26:17Z- Filter 0 NorthBias: 3.1 EastBias: -83.1 DepthBias: -44.8 NorthVariance: 0.9 EastVariance: 1.6 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:26:17Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915573.73 sec. 2021-10-11T01:26:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:17Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:17Z- variances([0], [2], and psi_berg) = 0.919501 1.577953 0.000000 2021-10-11T01:26:17Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:17Z- LcmTrn::publishEstimates() - MLE : 4061853.25 594300.52 37.69 2021-10-11T01:26:17Z- LcmTrn::publishEstimates() - MMSE : 4061853.91 594299.28 4.94 2021-10-11T01:26:17Z- LcmTrn::publishEstimates() - COVAR: 0.92 1.58 0.39 0.00 2021-10-11T01:26:17Z- AHRS_M2 msg: 1633915574.51 epoch sec; seqNo:1715 2021-10-11T01:26:17Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.52 psi 2021-10-11T01:26:17Z- handleDepth()-Depth_Keller msg: 1633915574512 epoch sec; seqNo:1758; depth 49.68 2021-10-11T01:26:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915574.58 epoch sec; seqNo:1758; 4061851.15 north; 594382.42 east 2021-10-11T01:26:18Z- AHRS_M2 msg: 1633915574.91 epoch sec; seqNo:1716 2021-10-11T01:26:18Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.52 psi 2021-10-11T01:26:18Z- handleDepth()-Depth_Keller msg: 1633915574915 epoch sec; seqNo:1759; depth 49.68 2021-10-11T01:26:18Z- handleDvl() - RDI_Pathfinder msg: 1633915574.94 epoch sec; seqNo:496 2021-10-11T01:26:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.65 , 33.10 , 26.84 , 26.16 2021-10-11T01:26:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , 0.01 2021-10-11T01:26:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915574.97 epoch sec; seqNo:1759; 4061851.54 north; 594383.64 east 2021-10-11T01:26:18Z- AHRS_M2 msg: 1633915575.31 epoch sec; seqNo:1717 2021-10-11T01:26:18Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.52 psi 2021-10-11T01:26:18Z- handleDepth()-Depth_Keller msg: 1633915575318 epoch sec; seqNo:1760; depth 49.67 2021-10-11T01:26:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915575.35 epoch sec; seqNo:1760; 4061851.54 north; 594383.64 east 2021-10-11T01:26:19Z- AHRS_M2 msg: 1633915575.71 epoch sec; seqNo:1718 2021-10-11T01:26:19Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.53 psi 2021-10-11T01:26:19Z- handleDepth()-Depth_Keller msg: 1633915575720 epoch sec; seqNo:1761; depth 49.67 2021-10-11T01:26:19Z- handleDvl() - RDI_Pathfinder msg: 1633915575.75 epoch sec; seqNo:497 2021-10-11T01:26:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.92 , 32.70 , 27.25 , 26.16 2021-10-11T01:26:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.06 , 0.01 2021-10-11T01:26:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915575.77 epoch sec; seqNo:1761; 4061851.92 north; 594383.63 east 2021-10-11T01:26:19Z- AHRS_M2 msg: 1633915576.12 epoch sec; seqNo:1719 2021-10-11T01:26:19Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.53 psi 2021-10-11T01:26:19Z- handleDepth()-Depth_Keller msg: 1633915576124 epoch sec; seqNo:1762; depth 49.65 2021-10-11T01:26:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915576.14 epoch sec; seqNo:1762; 4061852.30 north; 594383.63 east 2021-10-11T01:26:19Z- AHRS_M2 msg: 1633915576.53 epoch sec; seqNo:1720 2021-10-11T01:26:19Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.53 psi 2021-10-11T01:26:19Z- handleDepth()-Depth_Keller msg: 1633915576534 epoch sec; seqNo:1763; depth 49.65 2021-10-11T01:26:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915576.56 epoch sec; seqNo:1763; 4061852.67 north; 594383.62 east 2021-10-11T01:26:20Z- AHRS_M2 msg: 1633915576.93 epoch sec; seqNo:1721 2021-10-11T01:26:20Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.53 psi 2021-10-11T01:26:20Z- handleDepth()-Depth_Keller msg: 1633915576938 epoch sec; seqNo:1764; depth 49.65 2021-10-11T01:26:20Z- handleDvl() - RDI_Pathfinder msg: 1633915576.97 epoch sec; seqNo:498 2021-10-11T01:26:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.61 , 32.70 , 26.84 , 26.43 2021-10-11T01:26:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.00 2021-10-11T01:26:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915576.98 epoch sec; seqNo:1764; 4061852.67 north; 594383.62 east 2021-10-11T01:26:20Z- AHRS_M2 msg: 1633915577.33 epoch sec; seqNo:1722 2021-10-11T01:26:20Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.53 psi 2021-10-11T01:26:20Z- handleDepth()-Depth_Keller msg: 1633915577335 epoch sec; seqNo:1765; depth 49.63 2021-10-11T01:26:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915577.35 epoch sec; seqNo:1765; 4061853.05 north; 594383.62 east 2021-10-11T01:26:21Z- AHRS_M2 msg: 1633915577.74 epoch sec; seqNo:1723 2021-10-11T01:26:21Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.54 psi 2021-10-11T01:26:21Z- handleDepth()-Depth_Keller msg: 1633915577741 epoch sec; seqNo:1766; depth 49.63 2021-10-11T01:26:21Z- handleDvl() - RDI_Pathfinder msg: 1633915577.76 epoch sec; seqNo:499 2021-10-11T01:26:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 32.97 , 26.97 , 26.29 2021-10-11T01:26:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.01 2021-10-11T01:26:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915577.78 epoch sec; seqNo:1766; 4061853.43 north; 594383.61 east 2021-10-11T01:26:21Z- AHRS_M2 msg: 1633915578.14 epoch sec; seqNo:1724 2021-10-11T01:26:21Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.54 psi 2021-10-11T01:26:21Z- handleDepth()-Depth_Keller msg: 1633915578141 epoch sec; seqNo:1767; depth 49.63 2021-10-11T01:26:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915578.16 epoch sec; seqNo:1767; 4061853.81 north; 594383.61 east 2021-10-11T01:26:21Z- AHRS_M2 msg: 1633915578.54 epoch sec; seqNo:1725 2021-10-11T01:26:21Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.54 psi 2021-10-11T01:26:21Z- handleDepth()-Depth_Keller msg: 1633915578552 epoch sec; seqNo:1768; depth 49.61 2021-10-11T01:26:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915578.59 epoch sec; seqNo:1768; 4061853.82 north; 594384.83 east 2021-10-11T01:26:22Z- AHRS_M2 msg: 1633915578.95 epoch sec; seqNo:1726 2021-10-11T01:26:22Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.54 psi 2021-10-11T01:26:22Z- handleDepth()-Depth_Keller msg: 1633915578960 epoch sec; seqNo:1769; depth 49.60 2021-10-11T01:26:22Z- handleDvl() - RDI_Pathfinder msg: 1633915579.00 epoch sec; seqNo:500 2021-10-11T01:26:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 32.70 , 26.97 , 26.43 2021-10-11T01:26:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.01 2021-10-11T01:26:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915579.01 epoch sec; seqNo:1769; 4061854.20 north; 594384.83 east 2021-10-11T01:26:22Z- LcmTrn::handleMessages() - handling 41 messages took 0.95 ms and 122 calls... 2021-10-11T01:26:22Z- waiting for 1633915577.14, time is 1633915579.01 2021-10-11T01:26:22Z- LcmTrn::updateTrn() equating pose 1633915579.01 and meas times 1633915579.01 2021-10-11T01:26:22Z- LcmTrn::updateTrn() >>>> pose time 1633915579.01, meas time 1633915579.01 <<<< 2021-10-11T01:26:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915579.01 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:22Z- TerrainNav::motionUpdate() - currEstimate = (4061854, 594384.83, 49.60) 2021-10-11T01:26:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:22Z- TerrainNav:: SubcloudNIS is 0.68, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:22Z- TNavBF::Projecting Measurements 2021-10-11T01:26:22Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:22Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:22Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:22Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:22Z- TNavFilter::4 good beams. 2021-10-11T01:26:22Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:22Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:22Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:22Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:22Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:22Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:22Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:22Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:22Z- TerrainMapOctree: (vehN, vehE ) = (4061854.20, 594384.83). 2021-10-11T01:26:22Z- TerrainMapOctree: Min Distance = 170.40. 2021-10-11T01:26:22Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:22Z- Forcing Subcloud Comparison 2021-10-11T01:26:22Z- Filter 0 deapthBias would have been set to Nan. indexP: 8151 indexM: 2 2021-10-11T01:26:22Z- Old Depth Bias: -25.07 DepthBiasCov: 0.42 K: 0.128 ExpectedMeasDiff: nan currMeas.covariance: 1.16 2021-10-11T01:26:22Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:22Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:22Z- Filter 0 partialDeltaRmsComputation: 6.562241 terrainVariance: 0.052365 1-SumSquareWeights: 0.900624 2021-10-11T01:26:22Z- Filter 0 meanExpectedMeasDiff: 2.551446 delta_rms_squared: 0.043359 alpha: 0.684339 2021-10-11T01:26:22Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:22Z- Filter 0 partialDeltaRmsComputation: 3.070590 terrainVariance: 0.179527 1-SumSquareWeights: 0.900624 2021-10-11T01:26:22Z- Filter 0 meanExpectedMeasDiff: 1.700312 delta_rms_squared: 0.170521 alpha: 0.895025 2021-10-11T01:26:22Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:26:22Z- Filter 0 partialDeltaRmsComputation: 6.711128 terrainVariance: 0.178826 1-SumSquareWeights: 0.900624 2021-10-11T01:26:22Z- Filter 0 meanExpectedMeasDiff: -2.555837 delta_rms_squared: 0.169820 alpha: 0.894637 2021-10-11T01:26:22Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:22Z- Filter 0 partialDeltaRmsComputation: 2.026141 terrainVariance: 0.052368 1-SumSquareWeights: 0.900624 2021-10-11T01:26:22Z- Filter 0 meanExpectedMeasDiff: -1.404910 delta_rms_squared: 0.043361 alpha: 0.684350 2021-10-11T01:26:22Z- Filter 0 SubcloudNIS: 0.663253 2021-10-11T01:26:22Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:22Z- TNavBF:: Filter 0 sumWeights = 0.124018 2021-10-11T01:26:22Z- Filter 0 NorthBias: 3.0 EastBias: -83.1 DepthBias: -44.8 NorthVariance: 0.9 EastVariance: 1.7 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:26:22Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915579.01 sec. 2021-10-11T01:26:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:22Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:22Z- variances([0], [2], and psi_berg) = 0.894331 1.657296 0.000000 2021-10-11T01:26:22Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:22Z- LcmTrn::publishEstimates() - MLE : 4061856.69 594302.93 37.60 2021-10-11T01:26:22Z- LcmTrn::publishEstimates() - MMSE : 4061857.23 594301.72 4.80 2021-10-11T01:26:22Z- LcmTrn::publishEstimates() - COVAR: 0.89 1.66 0.38 0.00 2021-10-11T01:26:22Z- AHRS_M2 msg: 1633915579.40 epoch sec; seqNo:1727 2021-10-11T01:26:22Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.54 psi 2021-10-11T01:26:22Z- handleDepth()-Depth_Keller msg: 1633915579422 epoch sec; seqNo:1770; depth 49.60 2021-10-11T01:26:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915579.44 epoch sec; seqNo:1770; 4061854.58 north; 594384.82 east 2021-10-11T01:26:23Z- AHRS_M2 msg: 1633915579.75 epoch sec; seqNo:1728 2021-10-11T01:26:23Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.54 psi 2021-10-11T01:26:23Z- handleDepth()-Depth_Keller msg: 1633915579758 epoch sec; seqNo:1771; depth 49.58 2021-10-11T01:26:23Z- handleDvl() - RDI_Pathfinder msg: 1633915579.79 epoch sec; seqNo:501 2021-10-11T01:26:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 32.84 , 26.70 , 26.57 2021-10-11T01:26:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.00 2021-10-11T01:26:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915579.81 epoch sec; seqNo:1771; 4061854.96 north; 594384.82 east 2021-10-11T01:26:23Z- AHRS_M2 msg: 1633915580.16 epoch sec; seqNo:1729 2021-10-11T01:26:23Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.55 psi 2021-10-11T01:26:23Z- handleDepth()-Depth_Keller msg: 1633915580163 epoch sec; seqNo:1772; depth 49.58 2021-10-11T01:26:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915580.19 epoch sec; seqNo:1772; 4061854.96 north; 594384.82 east 2021-10-11T01:26:23Z- AHRS_M2 msg: 1633915580.56 epoch sec; seqNo:1730 2021-10-11T01:26:23Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.55 psi 2021-10-11T01:26:23Z- handleDepth()-Depth_Keller msg: 1633915580567 epoch sec; seqNo:1773; depth 49.57 2021-10-11T01:26:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915580.58 epoch sec; seqNo:1773; 4061855.34 north; 594384.81 east 2021-10-11T01:26:24Z- AHRS_M2 msg: 1633915580.97 epoch sec; seqNo:1731 2021-10-11T01:26:24Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.55 psi 2021-10-11T01:26:24Z- handleDepth()-Depth_Keller msg: 1633915580973 epoch sec; seqNo:1774; depth 49.55 2021-10-11T01:26:24Z- handleDvl() - RDI_Pathfinder msg: 1633915581.00 epoch sec; seqNo:502 2021-10-11T01:26:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.34 , 33.11 , 26.57 , 26.57 2021-10-11T01:26:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.01 2021-10-11T01:26:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915581.03 epoch sec; seqNo:1774; 4061855.72 north; 594384.81 east 2021-10-11T01:26:24Z- AHRS_M2 msg: 1633915581.37 epoch sec; seqNo:1732 2021-10-11T01:26:24Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.55 psi 2021-10-11T01:26:24Z- handleDepth()-Depth_Keller msg: 1633915581378 epoch sec; seqNo:1775; depth 49.55 2021-10-11T01:26:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915581.39 epoch sec; seqNo:1775; 4061856.10 north; 594384.81 east 2021-10-11T01:26:25Z- AHRS_M2 msg: 1633915581.77 epoch sec; seqNo:1733 2021-10-11T01:26:25Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.55 psi 2021-10-11T01:26:25Z- handleDepth()-Depth_Keller msg: 1633915581778 epoch sec; seqNo:1776; depth 49.54 2021-10-11T01:26:25Z- handleDvl() - RDI_Pathfinder msg: 1633915581.81 epoch sec; seqNo:503 2021-10-11T01:26:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.20 , 32.70 , 26.43 , 26.84 2021-10-11T01:26:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , 0.00 2021-10-11T01:26:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915581.82 epoch sec; seqNo:1776; 4061856.11 north; 594386.03 east 2021-10-11T01:26:25Z- AHRS_M2 msg: 1633915582.18 epoch sec; seqNo:1734 2021-10-11T01:26:25Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.55 psi 2021-10-11T01:26:25Z- handleDepth()-Depth_Keller msg: 1633915582182 epoch sec; seqNo:1777; depth 49.53 2021-10-11T01:26:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915582.22 epoch sec; seqNo:1777; 4061856.49 north; 594386.02 east 2021-10-11T01:26:25Z- AHRS_M2 msg: 1633915582.58 epoch sec; seqNo:1735 2021-10-11T01:26:25Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.55 psi 2021-10-11T01:26:25Z- handleDepth()-Depth_Keller msg: 1633915582587 epoch sec; seqNo:1778; depth 49.54 2021-10-11T01:26:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915582.60 epoch sec; seqNo:1778; 4061856.87 north; 594386.02 east 2021-10-11T01:26:26Z- AHRS_M2 msg: 1633915582.98 epoch sec; seqNo:1736 2021-10-11T01:26:26Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.56 psi 2021-10-11T01:26:26Z- handleDepth()-Depth_Keller msg: 1633915582989 epoch sec; seqNo:1779; depth 49.52 2021-10-11T01:26:26Z- handleDvl() - RDI_Pathfinder msg: 1633915583.03 epoch sec; seqNo:504 2021-10-11T01:26:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.20 , 32.97 , 26.29 , 27.11 2021-10-11T01:26:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.07 , -0.00 2021-10-11T01:26:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915583.05 epoch sec; seqNo:1779; 4061857.25 north; 594386.01 east 2021-10-11T01:26:26Z- AHRS_M2 msg: 1633915583.39 epoch sec; seqNo:1737 2021-10-11T01:26:26Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.56 psi 2021-10-11T01:26:26Z- handleDepth()-Depth_Keller msg: 1633915583394 epoch sec; seqNo:1780; depth 49.51 2021-10-11T01:26:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915583.41 epoch sec; seqNo:1780; 4061857.25 north; 594386.01 east 2021-10-11T01:26:27Z- AHRS_M2 msg: 1633915583.80 epoch sec; seqNo:1738 2021-10-11T01:26:27Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.56 psi 2021-10-11T01:26:27Z- handleDepth()-Depth_Keller msg: 1633915583802 epoch sec; seqNo:1781; depth 49.50 2021-10-11T01:26:27Z- handleDvl() - RDI_Pathfinder msg: 1633915583.82 epoch sec; seqNo:505 2021-10-11T01:26:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.06 , 33.24 , 26.97 , 27.38 2021-10-11T01:26:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.08 , -0.01 2021-10-11T01:26:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915583.84 epoch sec; seqNo:1781; 4061857.63 north; 594386.01 east 2021-10-11T01:26:27Z- AHRS_M2 msg: 1633915584.20 epoch sec; seqNo:1739 2021-10-11T01:26:27Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.56 psi 2021-10-11T01:26:27Z- handleDepth()-Depth_Keller msg: 1633915584201 epoch sec; seqNo:1782; depth 49.49 2021-10-11T01:26:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915584.24 epoch sec; seqNo:1782; 4061858.00 north; 594386.00 east 2021-10-11T01:26:27Z- LcmTrn::handleMessages() - handling 44 messages took 0.77 ms and 128 calls... 2021-10-11T01:26:27Z- waiting for 1633915582.01, time is 1633915584.24 2021-10-11T01:26:27Z- LcmTrn::updateTrn() >>>> pose time 1633915584.24, meas time 1633915583.82 <<<< 2021-10-11T01:26:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915583.82 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:27Z- TerrainNav::motionUpdate() - currEstimate = (4061858, 594386.00, 49.49) 2021-10-11T01:26:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:27Z- TerrainNav:: SubcloudNIS is 0.66, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:27Z- TNavBF::Projecting Measurements 2021-10-11T01:26:27Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:27Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:27Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:27Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:27Z- TNavFilter::4 good beams. 2021-10-11T01:26:27Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:27Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:27Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:27Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:27Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:27Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:27Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:27Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:27Z- TerrainMapOctree: (vehN, vehE ) = (4061857.70, 594385.91). 2021-10-11T01:26:27Z- TerrainMapOctree: Min Distance = 173.41. 2021-10-11T01:26:27Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:28Z- Forcing Subcloud Comparison 2021-10-11T01:26:28Z- Filter 0 deapthBias would have been set to Nan. indexP: 7950 indexM: 2 2021-10-11T01:26:28Z- Old Depth Bias: -25.07 DepthBiasCov: 0.39 K: 0.120 ExpectedMeasDiff: nan currMeas.covariance: 1.16 2021-10-11T01:26:28Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:28Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:28Z- Filter 0 partialDeltaRmsComputation: 5.550439 terrainVariance: 0.066372 1-SumSquareWeights: 0.908660 2021-10-11T01:26:28Z- Filter 0 meanExpectedMeasDiff: 2.341809 delta_rms_squared: 0.057285 alpha: 0.741218 2021-10-11T01:26:28Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:28Z- Filter 0 partialDeltaRmsComputation: 3.004836 terrainVariance: 0.174890 1-SumSquareWeights: 0.908660 2021-10-11T01:26:28Z- Filter 0 meanExpectedMeasDiff: 1.682244 delta_rms_squared: 0.165803 alpha: 0.892359 2021-10-11T01:26:28Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:26:28Z- Filter 0 partialDeltaRmsComputation: 9.645934 terrainVariance: 0.328514 1-SumSquareWeights: 0.908660 2021-10-11T01:26:28Z- Filter 0 meanExpectedMeasDiff: -3.052445 delta_rms_squared: 0.319428 alpha: 0.941077 2021-10-11T01:26:28Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:28Z- Filter 0 partialDeltaRmsComputation: 0.517566 terrainVariance: 0.066372 1-SumSquareWeights: 0.908660 2021-10-11T01:26:28Z- Filter 0 meanExpectedMeasDiff: -0.671710 delta_rms_squared: 0.057285 alpha: 0.741218 2021-10-11T01:26:28Z- Filter 0 SubcloudNIS: 0.676104 2021-10-11T01:26:28Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:28Z- TNavBF:: Filter 0 sumWeights = 0.102416 2021-10-11T01:26:28Z- Filter 0 NorthBias: 2.7 EastBias: -82.9 DepthBias: -44.8 NorthVariance: 0.7 EastVariance: 1.4 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:26:28Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915583.82 sec. 2021-10-11T01:26:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:28Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:28Z- variances([0], [2], and psi_berg) = 0.705856 1.373344 0.000000 2021-10-11T01:26:28Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:28Z- LcmTrn::publishEstimates() - MLE : 4061860.49 594304.11 37.49 2021-10-11T01:26:28Z- LcmTrn::publishEstimates() - MMSE : 4061860.73 594303.11 4.72 2021-10-11T01:26:28Z- LcmTrn::publishEstimates() - COVAR: 0.71 1.37 0.38 0.00 2021-10-11T01:26:28Z- AHRS_M2 msg: 1633915584.60 epoch sec; seqNo:1740 2021-10-11T01:26:28Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.56 psi 2021-10-11T01:26:28Z- handleDepth()-Depth_Keller msg: 1633915584612 epoch sec; seqNo:1783; depth 49.50 2021-10-11T01:26:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915584.62 epoch sec; seqNo:1783; 4061858.38 north; 594386.00 east 2021-10-11T01:26:28Z- AHRS_M2 msg: 1633915585.01 epoch sec; seqNo:1741 2021-10-11T01:26:28Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.56 psi 2021-10-11T01:26:28Z- handleDepth()-Depth_Keller msg: 1633915585017 epoch sec; seqNo:1784; depth 49.49 2021-10-11T01:26:28Z- handleDvl() - RDI_Pathfinder msg: 1633915585.04 epoch sec; seqNo:506 2021-10-11T01:26:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 33.24 , 26.84 , 27.66 2021-10-11T01:26:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , -0.01 2021-10-11T01:26:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915585.07 epoch sec; seqNo:1784; 4061858.38 north; 594386.00 east 2021-10-11T01:26:28Z- AHRS_M2 msg: 1633915585.41 epoch sec; seqNo:1742 2021-10-11T01:26:28Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.56 psi 2021-10-11T01:26:28Z- handleDepth()-Depth_Keller msg: 1633915585424 epoch sec; seqNo:1785; depth 49.49 2021-10-11T01:26:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915585.45 epoch sec; seqNo:1785; 4061858.78 north; 594387.22 east 2021-10-11T01:26:29Z- AHRS_M2 msg: 1633915585.81 epoch sec; seqNo:1743 2021-10-11T01:26:29Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.57 psi 2021-10-11T01:26:29Z- handleDepth()-Depth_Keller msg: 1633915585818 epoch sec; seqNo:1786; depth 49.47 2021-10-11T01:26:29Z- handleDvl() - RDI_Pathfinder msg: 1633915585.85 epoch sec; seqNo:507 2021-10-11T01:26:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.06 , 32.97 , 26.97 , 27.52 2021-10-11T01:26:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.10 , -0.01 2021-10-11T01:26:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915585.86 epoch sec; seqNo:1786; 4061859.15 north; 594387.21 east 2021-10-11T01:26:29Z- AHRS_M2 msg: 1633915586.22 epoch sec; seqNo:1744 2021-10-11T01:26:29Z- AHRS_M2 msg: -0.20 phi; 0.01 theta; 0.57 psi 2021-10-11T01:26:29Z- handleDepth()-Depth_Keller msg: 1633915586227 epoch sec; seqNo:1787; depth 49.48 2021-10-11T01:26:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915586.24 epoch sec; seqNo:1787; 4061859.53 north; 594387.21 east 2021-10-11T01:26:29Z- AHRS_M2 msg: 1633915586.62 epoch sec; seqNo:1745 2021-10-11T01:26:29Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 0.57 psi 2021-10-11T01:26:29Z- handleDepth()-Depth_Keller msg: 1633915586633 epoch sec; seqNo:1788; depth 49.49 2021-10-11T01:26:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915586.64 epoch sec; seqNo:1788; 4061859.53 north; 594387.21 east 2021-10-11T01:26:30Z- AHRS_M2 msg: 1633915587.03 epoch sec; seqNo:1746 2021-10-11T01:26:30Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 0.57 psi 2021-10-11T01:26:30Z- handleDepth()-Depth_Keller msg: 1633915587034 epoch sec; seqNo:1789; depth 49.49 2021-10-11T01:26:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915587.08 epoch sec; seqNo:1789; 4061859.91 north; 594387.20 east 2021-10-11T01:26:30Z- AHRS_M2 msg: 1633915587.43 epoch sec; seqNo:1747 2021-10-11T01:26:30Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 0.57 psi 2021-10-11T01:26:30Z- handleDepth()-Depth_Keller msg: 1633915587437 epoch sec; seqNo:1790; depth 49.49 2021-10-11T01:26:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915587.45 epoch sec; seqNo:1790; 4061860.29 north; 594387.20 east 2021-10-11T01:26:31Z- AHRS_M2 msg: 1633915587.84 epoch sec; seqNo:1748 2021-10-11T01:26:31Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 0.57 psi 2021-10-11T01:26:31Z- handleDepth()-Depth_Keller msg: 1633915587848 epoch sec; seqNo:1791; depth 49.48 2021-10-11T01:26:31Z- handleDvl() - RDI_Pathfinder msg: 1633915587.87 epoch sec; seqNo:508 2021-10-11T01:26:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 32.97 , 27.25 , 28.47 2021-10-11T01:26:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , 0.02 2021-10-11T01:26:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915587.93 epoch sec; seqNo:1791; 4061860.67 north; 594387.20 east 2021-10-11T01:26:31Z- AHRS_M2 msg: 1633915588.24 epoch sec; seqNo:1749 2021-10-11T01:26:31Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 0.57 psi 2021-10-11T01:26:31Z- handleDepth()-Depth_Keller msg: 1633915588244 epoch sec; seqNo:1792; depth 49.51 2021-10-11T01:26:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915588.27 epoch sec; seqNo:1792; 4061860.67 north; 594387.20 east 2021-10-11T01:26:32Z- AHRS_M2 msg: 1633915588.65 epoch sec; seqNo:1750 2021-10-11T01:26:32Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.57 psi 2021-10-11T01:26:32Z- handleDepth()-Depth_Keller msg: 1633915588655 epoch sec; seqNo:1793; depth 49.51 2021-10-11T01:26:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915588.68 epoch sec; seqNo:1793; 4061861.05 north; 594387.19 east 2021-10-11T01:26:32Z- AHRS_M2 msg: 1633915589.04 epoch sec; seqNo:1751 2021-10-11T01:26:32Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.57 psi 2021-10-11T01:26:32Z- handleDepth()-Depth_Keller msg: 1633915589056 epoch sec; seqNo:1794; depth 49.52 2021-10-11T01:26:32Z- handleDvl() - RDI_Pathfinder msg: 1633915589.09 epoch sec; seqNo:509 2021-10-11T01:26:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.06 , 33.51 , 27.38 , 28.75 2021-10-11T01:26:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , 0.03 2021-10-11T01:26:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915589.11 epoch sec; seqNo:1794; 4061861.44 north; 594388.41 east 2021-10-11T01:26:32Z- AHRS_M2 msg: 1633915589.45 epoch sec; seqNo:1752 2021-10-11T01:26:32Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.58 psi 2021-10-11T01:26:32Z- handleDepth()-Depth_Keller msg: 1633915589460 epoch sec; seqNo:1795; depth 49.51 2021-10-11T01:26:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915589.48 epoch sec; seqNo:1795; 4061861.82 north; 594388.40 east 2021-10-11T01:26:33Z- LcmTrn::handleMessages() - handling 43 messages took 0.80 ms and 127 calls... 2021-10-11T01:26:33Z- waiting for 1633915587.24, time is 1633915589.48 2021-10-11T01:26:33Z- LcmTrn::updateTrn() >>>> pose time 1633915589.48, meas time 1633915589.09 <<<< 2021-10-11T01:26:33Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915589.09 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:33Z- TerrainNav::motionUpdate() - currEstimate = (4061862, 594388.40, 49.51) 2021-10-11T01:26:33Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:33Z- TerrainNav:: SubcloudNIS is 0.68, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:33Z- TNavBF::Projecting Measurements 2021-10-11T01:26:33Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:33Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:33Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:33Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:33Z- TNavFilter::4 good beams. 2021-10-11T01:26:33Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:33Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:33Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:33Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:33Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:33Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:33Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:33Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:33Z- TerrainMapOctree: (vehN, vehE ) = (4061861.54, 594388.23). 2021-10-11T01:26:33Z- TerrainMapOctree: Min Distance = 177.62. 2021-10-11T01:26:33Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:33Z- Forcing Subcloud Comparison 2021-10-11T01:26:33Z- Filter 0 deapthBias would have been set to Nan. indexP: 5980 indexM: 0 2021-10-11T01:26:33Z- Old Depth Bias: -18.14 DepthBiasCov: 0.54 K: 0.141 ExpectedMeasDiff: nan currMeas.covariance: 1.54 2021-10-11T01:26:33Z- Filter 0 deapthBias would have been set to Nan. indexP: 7649 indexM: 2 2021-10-11T01:26:33Z- Old Depth Bias: -24.89 DepthBiasCov: 0.41 K: 0.123 ExpectedMeasDiff: nan currMeas.covariance: 1.20 2021-10-11T01:26:33Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:33Z- Filter 0 beam number: 0 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:26:33Z- Filter 0 partialDeltaRmsComputation: 6.807213 terrainVariance: 0.050477 1-SumSquareWeights: 0.871676 2021-10-11T01:26:33Z- Filter 0 meanExpectedMeasDiff: 2.599372 delta_rms_squared: 0.041760 alpha: 0.676166 2021-10-11T01:26:33Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:33Z- Filter 0 partialDeltaRmsComputation: 2.343273 terrainVariance: 0.258377 1-SumSquareWeights: 0.871676 2021-10-11T01:26:33Z- Filter 0 meanExpectedMeasDiff: 1.443917 delta_rms_squared: 0.249660 alpha: 0.925833 2021-10-11T01:26:33Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:26:33Z- Filter 0 partialDeltaRmsComputation: 7.275763 terrainVariance: 0.085873 1-SumSquareWeights: 0.871676 2021-10-11T01:26:33Z- Filter 0 meanExpectedMeasDiff: -2.681397 delta_rms_squared: 0.077156 alpha: 0.794146 2021-10-11T01:26:33Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:33Z- Filter 0 partialDeltaRmsComputation: 0.051369 terrainVariance: 0.050477 1-SumSquareWeights: 0.871676 2021-10-11T01:26:33Z- Filter 0 meanExpectedMeasDiff: -0.029871 delta_rms_squared: 0.041760 alpha: 0.676166 2021-10-11T01:26:33Z- Filter 0 SubcloudNIS: 0.696860 2021-10-11T01:26:33Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:33Z- TNavBF:: Filter 0 sumWeights = 0.169291 2021-10-11T01:26:33Z- Filter 0 NorthBias: 2.7 EastBias: -83.0 DepthBias: -44.6 NorthVariance: 0.8 EastVariance: 1.2 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:26:33Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915589.09 sec. 2021-10-11T01:26:33Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:33Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:33Z- variances([0], [2], and psi_berg) = 0.800192 1.172358 0.000000 2021-10-11T01:26:33Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:33Z- LcmTrn::publishEstimates() - MLE : 4061864.30 594306.50 37.51 2021-10-11T01:26:33Z- LcmTrn::publishEstimates() - MMSE : 4061864.53 594305.45 4.88 2021-10-11T01:26:33Z- LcmTrn::publishEstimates() - COVAR: 0.80 1.17 0.38 0.00 2021-10-11T01:26:33Z- AHRS_M2 msg: 1633915589.85 epoch sec; seqNo:1753 2021-10-11T01:26:33Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.58 psi 2021-10-11T01:26:33Z- handleDepth()-Depth_Keller msg: 1633915589858 epoch sec; seqNo:1796; depth 49.52 2021-10-11T01:26:33Z- handleDvl() - RDI_Pathfinder msg: 1633915589.89 epoch sec; seqNo:510 2021-10-11T01:26:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.06 , 33.38 , 27.38 , 28.61 2021-10-11T01:26:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.02 2021-10-11T01:26:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915589.91 epoch sec; seqNo:1796; 4061861.82 north; 594388.40 east 2021-10-11T01:26:33Z- AHRS_M2 msg: 1633915590.26 epoch sec; seqNo:1754 2021-10-11T01:26:33Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.58 psi 2021-10-11T01:26:33Z- handleDepth()-Depth_Keller msg: 1633915590264 epoch sec; seqNo:1797; depth 49.54 2021-10-11T01:26:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915590.30 epoch sec; seqNo:1797; 4061862.20 north; 594388.40 east 2021-10-11T01:26:34Z- AHRS_M2 msg: 1633915590.66 epoch sec; seqNo:1755 2021-10-11T01:26:34Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.58 psi 2021-10-11T01:26:34Z- handleDepth()-Depth_Keller msg: 1633915590667 epoch sec; seqNo:1798; depth 49.55 2021-10-11T01:26:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915590.68 epoch sec; seqNo:1798; 4061862.58 north; 594388.40 east 2021-10-11T01:26:34Z- AHRS_M2 msg: 1633915591.07 epoch sec; seqNo:1756 2021-10-11T01:26:34Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.58 psi 2021-10-11T01:26:34Z- handleDepth()-Depth_Keller msg: 1633915591092 epoch sec; seqNo:1799; depth 49.55 2021-10-11T01:26:34Z- handleDvl() - RDI_Pathfinder msg: 1633915591.12 epoch sec; seqNo:511 2021-10-11T01:26:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 33.24 , 27.25 , 27.11 2021-10-11T01:26:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.02 2021-10-11T01:26:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915591.14 epoch sec; seqNo:1799; 4061862.58 north; 594388.40 east 2021-10-11T01:26:34Z- AHRS_M2 msg: 1633915591.47 epoch sec; seqNo:1757 2021-10-11T01:26:34Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.58 psi 2021-10-11T01:26:34Z- handleDepth()-Depth_Keller msg: 1633915591480 epoch sec; seqNo:1800; depth 49.57 2021-10-11T01:26:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915591.51 epoch sec; seqNo:1800; 4061862.96 north; 594388.39 east 2021-10-11T01:26:35Z- AHRS_M2 msg: 1633915591.88 epoch sec; seqNo:1758 2021-10-11T01:26:35Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.58 psi 2021-10-11T01:26:35Z- handleDepth()-Depth_Keller msg: 1633915591882 epoch sec; seqNo:1801; depth 49.58 2021-10-11T01:26:35Z- handleDvl() - RDI_Pathfinder msg: 1633915591.91 epoch sec; seqNo:512 2021-10-11T01:26:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.52 , 33.24 , 27.11 , 26.97 2021-10-11T01:26:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.01 2021-10-11T01:26:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915591.93 epoch sec; seqNo:1801; 4061863.34 north; 594388.39 east 2021-10-11T01:26:35Z- AHRS_M2 msg: 1633915592.28 epoch sec; seqNo:1759 2021-10-11T01:26:35Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:35Z- handleDepth()-Depth_Keller msg: 1633915592291 epoch sec; seqNo:1802; depth 49.58 2021-10-11T01:26:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915592.31 epoch sec; seqNo:1802; 4061863.35 north; 594389.61 east 2021-10-11T01:26:36Z- AHRS_M2 msg: 1633915592.68 epoch sec; seqNo:1760 2021-10-11T01:26:36Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:36Z- handleDepth()-Depth_Keller msg: 1633915592685 epoch sec; seqNo:1803; depth 49.60 2021-10-11T01:26:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915592.70 epoch sec; seqNo:1803; 4061863.73 north; 594389.60 east 2021-10-11T01:26:36Z- AHRS_M2 msg: 1633915593.09 epoch sec; seqNo:1761 2021-10-11T01:26:36Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:36Z- handleDepth()-Depth_Keller msg: 1633915593093 epoch sec; seqNo:1804; depth 49.61 2021-10-11T01:26:36Z- handleDvl() - RDI_Pathfinder msg: 1633915593.12 epoch sec; seqNo:513 2021-10-11T01:26:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 32.97 , 27.38 , 26.97 2021-10-11T01:26:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.00 2021-10-11T01:26:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915593.14 epoch sec; seqNo:1804; 4061864.11 north; 594389.60 east 2021-10-11T01:26:36Z- AHRS_M2 msg: 1633915593.50 epoch sec; seqNo:1762 2021-10-11T01:26:36Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:36Z- handleDepth()-Depth_Keller msg: 1633915593504 epoch sec; seqNo:1805; depth 49.61 2021-10-11T01:26:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915593.52 epoch sec; seqNo:1805; 4061864.49 north; 594389.59 east 2021-10-11T01:26:37Z- AHRS_M2 msg: 1633915593.90 epoch sec; seqNo:1763 2021-10-11T01:26:37Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:37Z- handleDepth()-Depth_Keller msg: 1633915593902 epoch sec; seqNo:1806; depth 49.62 2021-10-11T01:26:37Z- handleDvl() - RDI_Pathfinder msg: 1633915593.92 epoch sec; seqNo:514 2021-10-11T01:26:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.43 , 33.10 , 26.70 , 27.38 2021-10-11T01:26:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.04 , 0.00 2021-10-11T01:26:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915593.94 epoch sec; seqNo:1806; 4061864.49 north; 594389.59 east 2021-10-11T01:26:37Z- AHRS_M2 msg: 1633915594.30 epoch sec; seqNo:1764 2021-10-11T01:26:37Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:37Z- handleDepth()-Depth_Keller msg: 1633915594313 epoch sec; seqNo:1807; depth 49.64 2021-10-11T01:26:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915594.33 epoch sec; seqNo:1807; 4061864.86 north; 594389.59 east 2021-10-11T01:26:38Z- AHRS_M2 msg: 1633915594.70 epoch sec; seqNo:1765 2021-10-11T01:26:38Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:38Z- handleDepth()-Depth_Keller msg: 1633915594708 epoch sec; seqNo:1808; depth 49.65 2021-10-11T01:26:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915594.72 epoch sec; seqNo:1808; 4061865.24 north; 594389.59 east 2021-10-11T01:26:38Z- LcmTrn::handleMessages() - handling 44 messages took 0.69 ms and 130 calls... 2021-10-11T01:26:38Z- waiting for 1633915592.48, time is 1633915594.72 2021-10-11T01:26:38Z- LcmTrn::updateTrn() >>>> pose time 1633915594.72, meas time 1633915593.92 <<<< 2021-10-11T01:26:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915593.92 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:38Z- TerrainNav::motionUpdate() - currEstimate = (4061865, 594389.59, 49.65) 2021-10-11T01:26:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:38Z- TerrainNav:: SubcloudNIS is 0.70, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:38Z- TNavBF::Projecting Measurements 2021-10-11T01:26:38Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:38Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:38Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:38Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:38Z- TNavFilter::4 good beams. 2021-10-11T01:26:38Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:38Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:38Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:38Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:38Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:38Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:38Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:38Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:38Z- TerrainMapOctree: (vehN, vehE ) = (4061864.72, 594389.41). 2021-10-11T01:26:38Z- TerrainMapOctree: Min Distance = 180.54. 2021-10-11T01:26:38Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:38Z- Forcing Subcloud Comparison 2021-10-11T01:26:38Z- Filter 0 deapthBias would have been set to Nan. indexP: 7448 indexM: 2 2021-10-11T01:26:38Z- Old Depth Bias: -25.02 DepthBiasCov: 0.38 K: 0.117 ExpectedMeasDiff: nan currMeas.covariance: 1.14 2021-10-11T01:26:38Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:38Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:38Z- Filter 0 partialDeltaRmsComputation: 3.027921 terrainVariance: 0.038118 1-SumSquareWeights: 0.886195 2021-10-11T01:26:38Z- Filter 0 meanExpectedMeasDiff: 1.729105 delta_rms_squared: 0.029256 alpha: 0.593955 2021-10-11T01:26:38Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:38Z- Filter 0 partialDeltaRmsComputation: 0.750511 terrainVariance: 0.167325 1-SumSquareWeights: 0.886195 2021-10-11T01:26:38Z- Filter 0 meanExpectedMeasDiff: 0.763666 delta_rms_squared: 0.158463 alpha: 0.887932 2021-10-11T01:26:38Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:26:38Z- Filter 0 partialDeltaRmsComputation: 7.056053 terrainVariance: 0.045993 1-SumSquareWeights: 0.886195 2021-10-11T01:26:38Z- Filter 0 meanExpectedMeasDiff: -2.647652 delta_rms_squared: 0.037131 alpha: 0.649929 2021-10-11T01:26:38Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:38Z- Filter 0 partialDeltaRmsComputation: 1.710576 terrainVariance: 0.038118 1-SumSquareWeights: 0.886195 2021-10-11T01:26:38Z- Filter 0 meanExpectedMeasDiff: -1.293235 delta_rms_squared: 0.029256 alpha: 0.593955 2021-10-11T01:26:38Z- Filter 0 SubcloudNIS: 0.696943 2021-10-11T01:26:38Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:38Z- TNavBF:: Filter 0 sumWeights = 0.296048 2021-10-11T01:26:38Z- Filter 0 NorthBias: 2.7 EastBias: -83.0 DepthBias: -44.9 NorthVariance: 0.8 EastVariance: 1.1 DepthVariance: 0.3 this->DepthBiasCov: 0.3 2021-10-11T01:26:38Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915593.92 sec. 2021-10-11T01:26:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:38Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:38Z- variances([0], [2], and psi_berg) = 0.817131 1.074894 0.000000 2021-10-11T01:26:38Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:38Z- LcmTrn::publishEstimates() - MLE : 4061867.73 594307.69 37.64 2021-10-11T01:26:38Z- LcmTrn::publishEstimates() - MMSE : 4061867.95 594306.59 4.72 2021-10-11T01:26:38Z- LcmTrn::publishEstimates() - COVAR: 0.82 1.07 0.36 0.00 2021-10-11T01:26:38Z- AHRS_M2 msg: 1633915595.11 epoch sec; seqNo:1766 2021-10-11T01:26:38Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.59 psi 2021-10-11T01:26:38Z- handleDepth()-Depth_Keller msg: 1633915595115 epoch sec; seqNo:1809; depth 49.65 2021-10-11T01:26:38Z- handleDvl() - RDI_Pathfinder msg: 1633915595.13 epoch sec; seqNo:515 2021-10-11T01:26:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.97 , 32.97 , 1.00 , 27.66 2021-10-11T01:26:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , -0.00 2021-10-11T01:26:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915595.15 epoch sec; seqNo:1809; 4061865.24 north; 594389.59 east 2021-10-11T01:26:38Z- AHRS_M2 msg: 1633915595.51 epoch sec; seqNo:1767 2021-10-11T01:26:38Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.60 psi 2021-10-11T01:26:38Z- handleDepth()-Depth_Keller msg: 1633915595532 epoch sec; seqNo:1810; depth 49.67 2021-10-11T01:26:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915595.55 epoch sec; seqNo:1810; 4061865.64 north; 594390.80 east 2021-10-11T01:26:39Z- AHRS_M2 msg: 1633915595.92 epoch sec; seqNo:1768 2021-10-11T01:26:39Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.60 psi 2021-10-11T01:26:39Z- handleDepth()-Depth_Keller msg: 1633915595927 epoch sec; seqNo:1811; depth 49.68 2021-10-11T01:26:39Z- handleDvl() - RDI_Pathfinder msg: 1633915595.96 epoch sec; seqNo:516 2021-10-11T01:26:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.24 , 32.83 , 29.15 , 27.93 2021-10-11T01:26:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.07 , -0.01 2021-10-11T01:26:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915595.97 epoch sec; seqNo:1811; 4061866.01 north; 594390.80 east 2021-10-11T01:26:39Z- AHRS_M2 msg: 1633915596.33 epoch sec; seqNo:1769 2021-10-11T01:26:39Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.60 psi 2021-10-11T01:26:39Z- handleDepth()-Depth_Keller msg: 1633915596334 epoch sec; seqNo:1812; depth 49.69 2021-10-11T01:26:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915596.36 epoch sec; seqNo:1812; 4061866.39 north; 594390.79 east 2021-10-11T01:26:40Z- AHRS_M2 msg: 1633915596.72 epoch sec; seqNo:1770 2021-10-11T01:26:40Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.60 psi 2021-10-11T01:26:40Z- handleDepth()-Depth_Keller msg: 1633915596731 epoch sec; seqNo:1813; depth 49.70 2021-10-11T01:26:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915596.74 epoch sec; seqNo:1813; 4061866.39 north; 594390.79 east 2021-10-11T01:26:40Z- AHRS_M2 msg: 1633915597.13 epoch sec; seqNo:1771 2021-10-11T01:26:40Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.60 psi 2021-10-11T01:26:40Z- handleDepth()-Depth_Keller msg: 1633915597136 epoch sec; seqNo:1814; depth 49.72 2021-10-11T01:26:40Z- handleDvl() - RDI_Pathfinder msg: 1633915597.17 epoch sec; seqNo:517 2021-10-11T01:26:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 32.97 , 28.88 , 28.20 2021-10-11T01:26:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , 0.00 2021-10-11T01:26:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915597.18 epoch sec; seqNo:1814; 4061866.77 north; 594390.79 east 2021-10-11T01:26:40Z- AHRS_M2 msg: 1633915597.53 epoch sec; seqNo:1772 2021-10-11T01:26:40Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.60 psi 2021-10-11T01:26:40Z- handleDepth()-Depth_Keller msg: 1633915597535 epoch sec; seqNo:1815; depth 49.72 2021-10-11T01:26:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915597.56 epoch sec; seqNo:1815; 4061867.15 north; 594390.79 east 2021-10-11T01:26:41Z- AHRS_M2 msg: 1633915597.96 epoch sec; seqNo:1773 2021-10-11T01:26:41Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.60 psi 2021-10-11T01:26:41Z- handleDepth()-Depth_Keller msg: 1633915597961 epoch sec; seqNo:1816; depth 49.74 2021-10-11T01:26:41Z- handleDvl() - RDI_Pathfinder msg: 1633915597.99 epoch sec; seqNo:518 2021-10-11T01:26:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.97 , 33.10 , 28.75 , 28.75 2021-10-11T01:26:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.10 , 0.01 2021-10-11T01:26:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915598.01 epoch sec; seqNo:1816; 4061867.53 north; 594390.78 east 2021-10-11T01:26:41Z- AHRS_M2 msg: 1633915598.35 epoch sec; seqNo:1774 2021-10-11T01:26:41Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.60 psi 2021-10-11T01:26:41Z- handleDepth()-Depth_Keller msg: 1633915598360 epoch sec; seqNo:1817; depth 49.74 2021-10-11T01:26:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915598.38 epoch sec; seqNo:1817; 4061867.53 north; 594390.78 east 2021-10-11T01:26:42Z- AHRS_M2 msg: 1633915598.74 epoch sec; seqNo:1775 2021-10-11T01:26:42Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:42Z- handleDepth()-Depth_Keller msg: 1633915598746 epoch sec; seqNo:1818; depth 49.75 2021-10-11T01:26:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915598.76 epoch sec; seqNo:1818; 4061867.92 north; 594392.00 east 2021-10-11T01:26:42Z- AHRS_M2 msg: 1633915599.14 epoch sec; seqNo:1776 2021-10-11T01:26:42Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:42Z- handleDepth()-Depth_Keller msg: 1633915599150 epoch sec; seqNo:1819; depth 49.75 2021-10-11T01:26:42Z- handleDvl() - RDI_Pathfinder msg: 1633915599.17 epoch sec; seqNo:519 2021-10-11T01:26:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 32.70 , 28.47 , 29.15 2021-10-11T01:26:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.08 , 0.02 2021-10-11T01:26:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915599.20 epoch sec; seqNo:1819; 4061868.30 north; 594391.99 east 2021-10-11T01:26:42Z- AHRS_M2 msg: 1633915599.55 epoch sec; seqNo:1777 2021-10-11T01:26:42Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:42Z- handleDepth()-Depth_Keller msg: 1633915599556 epoch sec; seqNo:1820; depth 49.77 2021-10-11T01:26:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915599.57 epoch sec; seqNo:1820; 4061868.68 north; 594391.99 east 2021-10-11T01:26:43Z- AHRS_M2 msg: 1633915599.98 epoch sec; seqNo:1778 2021-10-11T01:26:43Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:43Z- handleDepth()-Depth_Keller msg: 1633915599982 epoch sec; seqNo:1821; depth 49.78 2021-10-11T01:26:43Z- handleDvl() - RDI_Pathfinder msg: 1633915600.02 epoch sec; seqNo:520 2021-10-11T01:26:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.65 , 32.83 , 28.75 , 29.43 2021-10-11T01:26:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.09 , 0.03 2021-10-11T01:26:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915600.04 epoch sec; seqNo:1821; 4061868.68 north; 594391.99 east 2021-10-11T01:26:43Z- LcmTrn::handleMessages() - handling 45 messages took 0.88 ms and 127 calls... 2021-10-11T01:26:43Z- waiting for 1633915597.72, time is 1633915600.04 2021-10-11T01:26:43Z- LcmTrn::updateTrn() equating pose 1633915600.04 and meas times 1633915600.04 2021-10-11T01:26:43Z- LcmTrn::updateTrn() >>>> pose time 1633915600.04, meas time 1633915600.04 <<<< 2021-10-11T01:26:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915600.04 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:43Z- TerrainNav::motionUpdate() - currEstimate = (4061869, 594391.99, 49.78) 2021-10-11T01:26:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:43Z- TerrainNav:: SubcloudNIS is 0.70, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:43Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915600.04 sec.; No relevant navigation data available 2021-10-11T01:26:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:43Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:43Z- variances([0], [2], and psi_berg) = 0.853518 1.111281 0.000000 2021-10-11T01:26:43Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:43Z- LcmTrn::publishEstimates() - MLE : 4061871.16 594310.09 37.78 2021-10-11T01:26:43Z- LcmTrn::publishEstimates() - MMSE : 4061871.39 594308.99 4.85 2021-10-11T01:26:43Z- LcmTrn::publishEstimates() - COVAR: 0.85 1.11 0.58 0.00 2021-10-11T01:26:43Z- AHRS_M2 msg: 1633915600.36 epoch sec; seqNo:1779 2021-10-11T01:26:43Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:43Z- handleDepth()-Depth_Keller msg: 1633915600368 epoch sec; seqNo:1822; depth 49.81 2021-10-11T01:26:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915600.40 epoch sec; seqNo:1822; 4061869.06 north; 594391.99 east 2021-10-11T01:26:44Z- AHRS_M2 msg: 1633915600.76 epoch sec; seqNo:1780 2021-10-11T01:26:44Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:44Z- handleDepth()-Depth_Keller msg: 1633915600767 epoch sec; seqNo:1823; depth 49.82 2021-10-11T01:26:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915600.78 epoch sec; seqNo:1823; 4061869.44 north; 594391.98 east 2021-10-11T01:26:44Z- AHRS_M2 msg: 1633915601.16 epoch sec; seqNo:1781 2021-10-11T01:26:44Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:44Z- handleDepth()-Depth_Keller msg: 1633915601176 epoch sec; seqNo:1824; depth 49.82 2021-10-11T01:26:44Z- handleDvl() - RDI_Pathfinder msg: 1633915601.20 epoch sec; seqNo:521 2021-10-11T01:26:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 32.70 , 29.02 , 29.29 2021-10-11T01:26:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , 0.03 2021-10-11T01:26:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915601.23 epoch sec; seqNo:1824; 4061869.82 north; 594391.98 east 2021-10-11T01:26:44Z- AHRS_M2 msg: 1633915601.57 epoch sec; seqNo:1782 2021-10-11T01:26:44Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:44Z- handleDepth()-Depth_Keller msg: 1633915601588 epoch sec; seqNo:1825; depth 49.84 2021-10-11T01:26:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915601.61 epoch sec; seqNo:1825; 4061869.82 north; 594391.98 east 2021-10-11T01:26:45Z- AHRS_M2 msg: 1633915602.01 epoch sec; seqNo:1783 2021-10-11T01:26:45Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.61 psi 2021-10-11T01:26:45Z- handleDepth()-Depth_Keller msg: 1633915602009 epoch sec; seqNo:1826; depth 49.84 2021-10-11T01:26:45Z- handleDvl() - RDI_Pathfinder msg: 1633915602.03 epoch sec; seqNo:522 2021-10-11T01:26:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 32.56 , 29.43 , 29.43 2021-10-11T01:26:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , 0.02 2021-10-11T01:26:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915602.06 epoch sec; seqNo:1826; 4061870.21 north; 594393.19 east 2021-10-11T01:26:45Z- AHRS_M2 msg: 1633915602.38 epoch sec; seqNo:1784 2021-10-11T01:26:45Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.62 psi 2021-10-11T01:26:45Z- handleDepth()-Depth_Keller msg: 1633915602382 epoch sec; seqNo:1827; depth 49.85 2021-10-11T01:26:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915602.42 epoch sec; seqNo:1827; 4061870.59 north; 594393.19 east 2021-10-11T01:26:46Z- AHRS_M2 msg: 1633915602.78 epoch sec; seqNo:1785 2021-10-11T01:26:46Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.62 psi 2021-10-11T01:26:46Z- handleDepth()-Depth_Keller msg: 1633915602786 epoch sec; seqNo:1828; depth 49.86 2021-10-11T01:26:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915602.80 epoch sec; seqNo:1828; 4061870.59 north; 594393.19 east 2021-10-11T01:26:46Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:26:46Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:26:46Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:26:46Z- AHRS_M2 msg: 1633915603.18 epoch sec; seqNo:1786 2021-10-11T01:26:46Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.62 psi 2021-10-11T01:26:46Z- handleDepth()-Depth_Keller msg: 1633915603212 epoch sec; seqNo:1829; depth 49.88 2021-10-11T01:26:46Z- handleDvl() - RDI_Pathfinder msg: 1633915603.23 epoch sec; seqNo:523 2021-10-11T01:26:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 32.15 , 29.15 , 29.29 2021-10-11T01:26:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.00 2021-10-11T01:26:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915603.25 epoch sec; seqNo:1829; 4061870.97 north; 594393.18 east 2021-10-11T01:26:46Z- AHRS_M2 msg: 1633915603.59 epoch sec; seqNo:1787 2021-10-11T01:26:46Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.62 psi 2021-10-11T01:26:46Z- handleDepth()-Depth_Keller msg: 1633915603595 epoch sec; seqNo:1830; depth 49.88 2021-10-11T01:26:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915603.62 epoch sec; seqNo:1830; 4061871.35 north; 594393.18 east 2021-10-11T01:26:47Z- AHRS_M2 msg: 1633915604.03 epoch sec; seqNo:1788 2021-10-11T01:26:47Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.63 psi 2021-10-11T01:26:47Z- handleDepth()-Depth_Keller msg: 1633915604038 epoch sec; seqNo:1831; depth 49.90 2021-10-11T01:26:47Z- handleDvl() - RDI_Pathfinder msg: 1633915604.06 epoch sec; seqNo:524 2021-10-11T01:26:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 32.01 , 29.97 , 29.70 2021-10-11T01:26:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.01 2021-10-11T01:26:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915604.10 epoch sec; seqNo:1831; 4061871.72 north; 594393.18 east 2021-10-11T01:26:47Z- AHRS_M2 msg: 1633915604.40 epoch sec; seqNo:1789 2021-10-11T01:26:47Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.63 psi 2021-10-11T01:26:47Z- handleDepth()-Depth_Keller msg: 1633915604404 epoch sec; seqNo:1832; depth 49.91 2021-10-11T01:26:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915604.42 epoch sec; seqNo:1832; 4061871.72 north; 594393.18 east 2021-10-11T01:26:48Z- AHRS_M2 msg: 1633915604.80 epoch sec; seqNo:1790 2021-10-11T01:26:48Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.63 psi 2021-10-11T01:26:48Z- handleDepth()-Depth_Keller msg: 1633915604811 epoch sec; seqNo:1833; depth 49.91 2021-10-11T01:26:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915604.82 epoch sec; seqNo:1833; 4061872.12 north; 594394.39 east 2021-10-11T01:26:48Z- AHRS_M2 msg: 1633915605.20 epoch sec; seqNo:1791 2021-10-11T01:26:48Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.63 psi 2021-10-11T01:26:48Z- handleDepth()-Depth_Keller msg: 1633915605216 epoch sec; seqNo:1834; depth 49.92 2021-10-11T01:26:48Z- handleDvl() - RDI_Pathfinder msg: 1633915605.25 epoch sec; seqNo:525 2021-10-11T01:26:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.24 , 32.01 , 29.83 , 29.70 2021-10-11T01:26:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.06 , -0.02 2021-10-11T01:26:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915605.26 epoch sec; seqNo:1834; 4061872.50 north; 594394.39 east 2021-10-11T01:26:48Z- LcmTrn::handleMessages() - handling 44 messages took 0.92 ms and 125 calls... 2021-10-11T01:26:48Z- waiting for 1633915603.04, time is 1633915605.26 2021-10-11T01:26:48Z- LcmTrn::updateTrn() equating pose 1633915605.26 and meas times 1633915605.26 2021-10-11T01:26:48Z- LcmTrn::updateTrn() >>>> pose time 1633915605.26, meas time 1633915605.26 <<<< 2021-10-11T01:26:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915605.26 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:48Z- TerrainNav::motionUpdate() - currEstimate = (4061872, 594394.39, 49.92) 2021-10-11T01:26:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:48Z- TerrainNav:: SubcloudNIS is 0.70, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:48Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915605.26 sec.; No relevant navigation data available 2021-10-11T01:26:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:48Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:48Z- variances([0], [2], and psi_berg) = 0.891240 1.149003 0.000000 2021-10-11T01:26:48Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:48Z- LcmTrn::publishEstimates() - MLE : 4061874.98 594312.49 37.91 2021-10-11T01:26:48Z- LcmTrn::publishEstimates() - MMSE : 4061875.20 594311.39 4.99 2021-10-11T01:26:48Z- LcmTrn::publishEstimates() - COVAR: 0.89 1.15 0.81 0.00 2021-10-11T01:26:48Z- AHRS_M2 msg: 1633915605.61 epoch sec; seqNo:1792 2021-10-11T01:26:48Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.63 psi 2021-10-11T01:26:48Z- handleDepth()-Depth_Keller msg: 1633915605614 epoch sec; seqNo:1835; depth 49.92 2021-10-11T01:26:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915605.63 epoch sec; seqNo:1835; 4061872.50 north; 594394.39 east 2021-10-11T01:26:49Z- AHRS_M2 msg: 1633915606.05 epoch sec; seqNo:1793 2021-10-11T01:26:49Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.64 psi 2021-10-11T01:26:49Z- handleDepth()-Depth_Keller msg: 1633915606075 epoch sec; seqNo:1836; depth 49.93 2021-10-11T01:26:49Z- handleDvl() - RDI_Pathfinder msg: 1633915606.10 epoch sec; seqNo:526 2021-10-11T01:26:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 32.15 , 29.56 , 29.70 2021-10-11T01:26:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.08 , -0.01 2021-10-11T01:26:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915606.12 epoch sec; seqNo:1836; 4061872.87 north; 594394.38 east 2021-10-11T01:26:49Z- AHRS_M2 msg: 1633915606.42 epoch sec; seqNo:1794 2021-10-11T01:26:49Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.64 psi 2021-10-11T01:26:49Z- handleDepth()-Depth_Keller msg: 1633915606429 epoch sec; seqNo:1837; depth 49.96 2021-10-11T01:26:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915606.45 epoch sec; seqNo:1837; 4061873.25 north; 594394.38 east 2021-10-11T01:26:50Z- AHRS_M2 msg: 1633915606.82 epoch sec; seqNo:1795 2021-10-11T01:26:50Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.64 psi 2021-10-11T01:26:50Z- handleDepth()-Depth_Keller msg: 1633915606832 epoch sec; seqNo:1838; depth 49.95 2021-10-11T01:26:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915606.84 epoch sec; seqNo:1838; 4061873.25 north; 594394.38 east 2021-10-11T01:26:50Z- AHRS_M2 msg: 1633915607.23 epoch sec; seqNo:1796 2021-10-11T01:26:50Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.64 psi 2021-10-11T01:26:50Z- handleDepth()-Depth_Keller msg: 1633915607232 epoch sec; seqNo:1839; depth 49.96 2021-10-11T01:26:50Z- handleDvl() - RDI_Pathfinder msg: 1633915607.25 epoch sec; seqNo:527 2021-10-11T01:26:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 31.88 , 29.43 , 29.83 2021-10-11T01:26:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.06 , -0.01 2021-10-11T01:26:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915607.29 epoch sec; seqNo:1839; 4061873.63 north; 594394.38 east 2021-10-11T01:26:50Z- AHRS_M2 msg: 1633915607.63 epoch sec; seqNo:1797 2021-10-11T01:26:50Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.64 psi 2021-10-11T01:26:51Z- handleDepth()-Depth_Keller msg: 1633915607636 epoch sec; seqNo:1840; depth 50.00 2021-10-11T01:26:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915607.67 epoch sec; seqNo:1840; 4061874.01 north; 594394.37 east 2021-10-11T01:26:51Z- AHRS_M2 msg: 1633915608.09 epoch sec; seqNo:1798 2021-10-11T01:26:51Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.64 psi 2021-10-11T01:26:51Z- handleDepth()-Depth_Keller msg: 1633915608097 epoch sec; seqNo:1841; depth 49.99 2021-10-11T01:26:51Z- handleDvl() - RDI_Pathfinder msg: 1633915608.12 epoch sec; seqNo:528 2021-10-11T01:26:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.06 , 32.01 , 29.29 , 30.11 2021-10-11T01:26:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.08 , 0.01 2021-10-11T01:26:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915608.14 epoch sec; seqNo:1841; 4061874.02 north; 594395.59 east 2021-10-11T01:26:51Z- handleDepth()-Depth_Keller msg: 1633915608452 epoch sec; seqNo:1842; depth 50.02 2021-10-11T01:26:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915608.47 epoch sec; seqNo:1842; 4061874.40 north; 594395.59 east 2021-10-11T01:26:52Z- AHRS_M2 msg: 1633915608.85 epoch sec; seqNo:1799 2021-10-11T01:26:52Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:52Z- handleDepth()-Depth_Keller msg: 1633915608854 epoch sec; seqNo:1843; depth 50.03 2021-10-11T01:26:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915608.88 epoch sec; seqNo:1843; 4061874.78 north; 594395.58 east 2021-10-11T01:26:52Z- AHRS_M2 msg: 1633915609.25 epoch sec; seqNo:1800 2021-10-11T01:26:52Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:52Z- handleDepth()-Depth_Keller msg: 1633915609253 epoch sec; seqNo:1844; depth 50.04 2021-10-11T01:26:52Z- handleDvl() - RDI_Pathfinder msg: 1633915609.28 epoch sec; seqNo:529 2021-10-11T01:26:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.75 , 32.29 , 29.02 , 30.11 2021-10-11T01:26:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.10 , 0.02 2021-10-11T01:26:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915609.31 epoch sec; seqNo:1844; 4061874.78 north; 594395.58 east 2021-10-11T01:26:53Z- AHRS_M2 msg: 1633915609.65 epoch sec; seqNo:1801 2021-10-11T01:26:53Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:53Z- handleDepth()-Depth_Keller msg: 1633915609656 epoch sec; seqNo:1845; depth 50.06 2021-10-11T01:26:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915609.67 epoch sec; seqNo:1845; 4061875.16 north; 594395.58 east 2021-10-11T01:26:53Z- AHRS_M2 msg: 1633915610.06 epoch sec; seqNo:1802 2021-10-11T01:26:53Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:53Z- handleDepth()-Depth_Keller msg: 1633915610110 epoch sec; seqNo:1846; depth 50.06 2021-10-11T01:26:53Z- handleDvl() - RDI_Pathfinder msg: 1633915610.15 epoch sec; seqNo:530 2021-10-11T01:26:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 31.61 , 28.88 , 30.38 2021-10-11T01:26:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.09 , 0.03 2021-10-11T01:26:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915610.17 epoch sec; seqNo:1846; 4061875.54 north; 594395.58 east 2021-10-11T01:26:53Z- LcmTrn::handleMessages() - handling 40 messages took 0.83 ms and 123 calls... 2021-10-11T01:26:53Z- waiting for 1633915608.26, time is 1633915610.17 2021-10-11T01:26:53Z- LcmTrn::updateTrn() equating pose 1633915610.17 and meas times 1633915610.17 2021-10-11T01:26:53Z- LcmTrn::updateTrn() >>>> pose time 1633915610.17, meas time 1633915610.17 <<<< 2021-10-11T01:26:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915610.17 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:53Z- TerrainNav::motionUpdate() - currEstimate = (4061876, 594395.58, 50.06) 2021-10-11T01:26:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:53Z- TerrainNav:: SubcloudNIS is 0.70, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:53Z- TNavBF::Projecting Measurements 2021-10-11T01:26:53Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:26:53Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:26:53Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:26:53Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:26:53Z- TNavFilter::4 good beams. 2021-10-11T01:26:53Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:26:53Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:26:53Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:26:53Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:26:53Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:26:53Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:26:53Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:26:53Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:53Z- TerrainMapOctree: (vehN, vehE ) = (4061875.54, 594395.58). 2021-10-11T01:26:53Z- TerrainMapOctree: Min Distance = 192.23. 2021-10-11T01:26:53Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:26:53Z- Forcing Subcloud Comparison 2021-10-11T01:26:53Z- Filter 0 deapthBias would have been set to Nan. indexP: 4772 indexM: 0 2021-10-11T01:26:53Z- Old Depth Bias: -18.52 DepthBiasCov: 0.94 K: 0.238 ExpectedMeasDiff: nan currMeas.covariance: 1.27 2021-10-11T01:26:53Z- Filter 0 deapthBias would have been set to Nan. indexP: 6543 indexM: 2 2021-10-11T01:26:53Z- Old Depth Bias: -25.39 DepthBiasCov: 0.59 K: 0.161 ExpectedMeasDiff: nan currMeas.covariance: 1.33 2021-10-11T01:26:53Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:26:53Z- Filter 0 beam number: 0 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:26:53Z- Filter 0 partialDeltaRmsComputation: 0.925304 terrainVariance: 0.058436 1-SumSquareWeights: 0.908786 2021-10-11T01:26:53Z- Filter 0 meanExpectedMeasDiff: 0.931057 delta_rms_squared: 0.049348 alpha: 0.711600 2021-10-11T01:26:53Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:53Z- Filter 0 partialDeltaRmsComputation: 0.518094 terrainVariance: 0.299778 1-SumSquareWeights: 0.908786 2021-10-11T01:26:53Z- Filter 0 meanExpectedMeasDiff: -0.467243 delta_rms_squared: 0.290690 alpha: 0.935627 2021-10-11T01:26:53Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:26:53Z- Filter 0 partialDeltaRmsComputation: 1.285555 terrainVariance: 0.129790 1-SumSquareWeights: 0.908786 2021-10-11T01:26:53Z- Filter 0 meanExpectedMeasDiff: -1.075065 delta_rms_squared: 0.120702 alpha: 0.857856 2021-10-11T01:26:53Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:26:53Z- Filter 0 partialDeltaRmsComputation: 2.630209 terrainVariance: 0.058438 1-SumSquareWeights: 0.908786 2021-10-11T01:26:53Z- Filter 0 meanExpectedMeasDiff: 1.603674 delta_rms_squared: 0.049351 alpha: 0.711610 2021-10-11T01:26:53Z- Filter 0 SubcloudNIS: 0.673210 2021-10-11T01:26:53Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:26:53Z- TNavBF:: Filter 0 sumWeights = 0.578021 2021-10-11T01:26:53Z- Filter 0 NorthBias: 2.6 EastBias: -82.8 DepthBias: -44.6 NorthVariance: 0.9 EastVariance: 1.1 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:26:53Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915610.17 sec. 2021-10-11T01:26:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:53Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:53Z- variances([0], [2], and psi_berg) = 0.892449 1.081221 0.000000 2021-10-11T01:26:53Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:53Z- LcmTrn::publishEstimates() - MLE : 4061878.02 594313.68 38.06 2021-10-11T01:26:53Z- LcmTrn::publishEstimates() - MMSE : 4061878.13 594312.77 5.49 2021-10-11T01:26:53Z- LcmTrn::publishEstimates() - COVAR: 0.89 1.08 0.48 0.00 2021-10-11T01:26:53Z- AHRS_M2 msg: 1633915610.46 epoch sec; seqNo:1803 2021-10-11T01:26:53Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:53Z- handleDepth()-Depth_Keller msg: 1633915610468 epoch sec; seqNo:1847; depth 50.11 2021-10-11T01:26:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915610.49 epoch sec; seqNo:1847; 4061875.54 north; 594395.58 east 2021-10-11T01:26:54Z- AHRS_M2 msg: 1633915610.86 epoch sec; seqNo:1804 2021-10-11T01:26:54Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:54Z- handleDepth()-Depth_Keller msg: 1633915610866 epoch sec; seqNo:1848; depth 50.11 2021-10-11T01:26:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915610.88 epoch sec; seqNo:1848; 4061875.92 north; 594395.57 east 2021-10-11T01:26:54Z- AHRS_M2 msg: 1633915611.26 epoch sec; seqNo:1805 2021-10-11T01:26:54Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:54Z- handleDepth()-Depth_Keller msg: 1633915611269 epoch sec; seqNo:1849; depth 50.15 2021-10-11T01:26:54Z- handleDvl() - RDI_Pathfinder msg: 1633915611.29 epoch sec; seqNo:531 2021-10-11T01:26:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 31.47 , 29.02 , 30.11 2021-10-11T01:26:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.03 2021-10-11T01:26:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915611.33 epoch sec; seqNo:1849; 4061876.31 north; 594396.79 east 2021-10-11T01:26:55Z- AHRS_M2 msg: 1633915611.67 epoch sec; seqNo:1806 2021-10-11T01:26:55Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:55Z- handleDepth()-Depth_Keller msg: 1633915611686 epoch sec; seqNo:1850; depth 50.16 2021-10-11T01:26:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915611.71 epoch sec; seqNo:1850; 4061876.31 north; 594396.79 east 2021-10-11T01:26:55Z- AHRS_M2 msg: 1633915612.09 epoch sec; seqNo:1807 2021-10-11T01:26:55Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:55Z- handleDepth()-Depth_Keller msg: 1633915612105 epoch sec; seqNo:1851; depth 50.17 2021-10-11T01:26:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915612.16 epoch sec; seqNo:1851; 4061876.69 north; 594396.78 east 2021-10-11T01:26:55Z- AHRS_M2 msg: 1633915612.48 epoch sec; seqNo:1808 2021-10-11T01:26:55Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:55Z- handleDepth()-Depth_Keller msg: 1633915612485 epoch sec; seqNo:1852; depth 50.18 2021-10-11T01:26:55Z- handleDvl() - RDI_Pathfinder msg: 1633915612.51 epoch sec; seqNo:532 2021-10-11T01:26:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.61 , 31.61 , 28.88 , 30.52 2021-10-11T01:26:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , 0.03 2021-10-11T01:26:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915612.54 epoch sec; seqNo:1852; 4061877.07 north; 594396.78 east 2021-10-11T01:26:56Z- AHRS_M2 msg: 1633915612.88 epoch sec; seqNo:1809 2021-10-11T01:26:56Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.65 psi 2021-10-11T01:26:56Z- handleDepth()-Depth_Keller msg: 1633915612886 epoch sec; seqNo:1853; depth 50.21 2021-10-11T01:26:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915612.94 epoch sec; seqNo:1853; 4061877.45 north; 594396.77 east 2021-10-11T01:26:56Z- AHRS_M2 msg: 1633915613.29 epoch sec; seqNo:1810 2021-10-11T01:26:56Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.66 psi 2021-10-11T01:26:56Z- handleDepth()-Depth_Keller msg: 1633915613292 epoch sec; seqNo:1854; depth 50.22 2021-10-11T01:26:56Z- handleDvl() - RDI_Pathfinder msg: 1633915613.31 epoch sec; seqNo:533 2021-10-11T01:26:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.88 , 31.88 , 29.15 , 31.06 2021-10-11T01:26:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.03 2021-10-11T01:26:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915613.35 epoch sec; seqNo:1854; 4061877.45 north; 594396.77 east 2021-10-11T01:26:57Z- AHRS_M2 msg: 1633915613.69 epoch sec; seqNo:1811 2021-10-11T01:26:57Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.66 psi 2021-10-11T01:26:57Z- handleDepth()-Depth_Keller msg: 1633915613702 epoch sec; seqNo:1855; depth 50.24 2021-10-11T01:26:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915613.72 epoch sec; seqNo:1855; 4061877.83 north; 594396.77 east 2021-10-11T01:26:57Z- AHRS_M2 msg: 1633915614.10 epoch sec; seqNo:1812 2021-10-11T01:26:57Z- AHRS_M2 msg: -0.20 phi; -0.03 theta; 0.66 psi 2021-10-11T01:26:57Z- handleDepth()-Depth_Keller msg: 1633915614106 epoch sec; seqNo:1856; depth 50.24 2021-10-11T01:26:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915614.28 epoch sec; seqNo:1856; 4061878.22 north; 594397.99 east 2021-10-11T01:26:57Z- AHRS_M2 msg: 1633915614.50 epoch sec; seqNo:1813 2021-10-11T01:26:57Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.66 psi 2021-10-11T01:26:57Z- handleDepth()-Depth_Keller msg: 1633915614509 epoch sec; seqNo:1857; depth 50.27 2021-10-11T01:26:57Z- handleDvl() - RDI_Pathfinder msg: 1633915614.53 epoch sec; seqNo:534 2021-10-11T01:26:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.56 , 31.88 , 29.15 , 20.00 2021-10-11T01:26:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.05 , 0.02 2021-10-11T01:26:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915614.55 epoch sec; seqNo:1857; 4061878.22 north; 594397.99 east 2021-10-11T01:26:58Z- AHRS_M2 msg: 1633915614.90 epoch sec; seqNo:1814 2021-10-11T01:26:58Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.66 psi 2021-10-11T01:26:58Z- handleDepth()-Depth_Keller msg: 1633915614907 epoch sec; seqNo:1858; depth 50.28 2021-10-11T01:26:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915614.92 epoch sec; seqNo:1858; 4061878.60 north; 594397.98 east 2021-10-11T01:26:58Z- AHRS_M2 msg: 1633915615.31 epoch sec; seqNo:1815 2021-10-11T01:26:58Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.66 psi 2021-10-11T01:26:58Z- handleDepth()-Depth_Keller msg: 1633915615316 epoch sec; seqNo:1859; depth 50.30 2021-10-11T01:26:58Z- handleDvl() - RDI_Pathfinder msg: 1633915615.35 epoch sec; seqNo:535 2021-10-11T01:26:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 31.47 , 29.02 , 31.06 2021-10-11T01:26:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.05 , 0.01 2021-10-11T01:26:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915615.37 epoch sec; seqNo:1859; 4061878.98 north; 594397.98 east 2021-10-11T01:26:58Z- LcmTrn::handleMessages() - handling 44 messages took 0.82 ms and 127 calls... 2021-10-11T01:26:58Z- waiting for 1633915613.17, time is 1633915615.37 2021-10-11T01:26:58Z- LcmTrn::updateTrn() equating pose 1633915615.37 and meas times 1633915615.37 2021-10-11T01:26:58Z- LcmTrn::updateTrn() >>>> pose time 1633915615.37, meas time 1633915615.37 <<<< 2021-10-11T01:26:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915615.37 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:26:58Z- TerrainNav::motionUpdate() - currEstimate = (4061879, 594397.98, 50.30) 2021-10-11T01:26:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:26:58Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:26:58Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915615.37 sec.; No relevant navigation data available 2021-10-11T01:26:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:26:58Z- TNavBF::mmse selected from filter -1 2021-10-11T01:26:58Z- variances([0], [2], and psi_berg) = 0.928836 1.117608 0.000000 2021-10-11T01:26:58Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:26:58Z- LcmTrn::publishEstimates() - MLE : 4061881.46 594316.08 38.29 2021-10-11T01:26:58Z- LcmTrn::publishEstimates() - MMSE : 4061881.56 594315.17 5.72 2021-10-11T01:26:58Z- LcmTrn::publishEstimates() - COVAR: 0.93 1.12 0.70 0.00 2021-10-11T01:26:59Z- AHRS_M2 msg: 1633915615.71 epoch sec; seqNo:1816 2021-10-11T01:26:59Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.66 psi 2021-10-11T01:26:59Z- handleDepth()-Depth_Keller msg: 1633915615721 epoch sec; seqNo:1860; depth 50.31 2021-10-11T01:26:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915615.74 epoch sec; seqNo:1860; 4061878.98 north; 594397.98 east 2021-10-11T01:26:59Z- AHRS_M2 msg: 1633915616.11 epoch sec; seqNo:1817 2021-10-11T01:26:59Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.67 psi 2021-10-11T01:26:59Z- handleDepth()-Depth_Keller msg: 1633915616123 epoch sec; seqNo:1861; depth 50.33 2021-10-11T01:26:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915616.14 epoch sec; seqNo:1861; 4061879.35 north; 594397.97 east 2021-10-11T01:26:59Z- AHRS_M2 msg: 1633915616.52 epoch sec; seqNo:1818 2021-10-11T01:26:59Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.67 psi 2021-10-11T01:26:59Z- handleDepth()-Depth_Keller msg: 1633915616526 epoch sec; seqNo:1862; depth 50.32 2021-10-11T01:26:59Z- handleDvl() - RDI_Pathfinder msg: 1633915616.56 epoch sec; seqNo:536 2021-10-11T01:26:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.92 , 31.06 , 28.61 , 30.52 2021-10-11T01:26:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.05 , 0.01 2021-10-11T01:26:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915616.58 epoch sec; seqNo:1862; 4061879.75 north; 594399.19 east 2021-10-11T01:27:00Z- AHRS_M2 msg: 1633915616.92 epoch sec; seqNo:1819 2021-10-11T01:27:00Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.67 psi 2021-10-11T01:27:00Z- handleDepth()-Depth_Keller msg: 1633915616926 epoch sec; seqNo:1863; depth 50.34 2021-10-11T01:27:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915616.94 epoch sec; seqNo:1863; 4061879.75 north; 594399.19 east 2021-10-11T01:27:00Z- AHRS_M2 msg: 1633915617.33 epoch sec; seqNo:1820 2021-10-11T01:27:00Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.67 psi 2021-10-11T01:27:00Z- handleDepth()-Depth_Keller msg: 1633915617338 epoch sec; seqNo:1864; depth 50.35 2021-10-11T01:27:00Z- handleDvl() - RDI_Pathfinder msg: 1633915617.36 epoch sec; seqNo:537 2021-10-11T01:27:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 30.65 , 27.93 , 26.16 2021-10-11T01:27:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.04 , -0.01 2021-10-11T01:27:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915617.38 epoch sec; seqNo:1864; 4061880.13 north; 594399.19 east 2021-10-11T01:27:01Z- AHRS_M2 msg: 1633915617.73 epoch sec; seqNo:1821 2021-10-11T01:27:01Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.67 psi 2021-10-11T01:27:01Z- handleDepth()-Depth_Keller msg: 1633915617734 epoch sec; seqNo:1865; depth 50.36 2021-10-11T01:27:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915617.76 epoch sec; seqNo:1865; 4061880.50 north; 594399.18 east 2021-10-11T01:27:01Z- AHRS_M2 msg: 1633915618.13 epoch sec; seqNo:1822 2021-10-11T01:27:01Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.67 psi 2021-10-11T01:27:01Z- handleDepth()-Depth_Keller msg: 1633915618138 epoch sec; seqNo:1866; depth 50.38 2021-10-11T01:27:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915618.15 epoch sec; seqNo:1866; 4061880.88 north; 594399.18 east 2021-10-11T01:27:01Z- AHRS_M2 msg: 1633915618.54 epoch sec; seqNo:1823 2021-10-11T01:27:01Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.67 psi 2021-10-11T01:27:01Z- handleDepth()-Depth_Keller msg: 1633915618552 epoch sec; seqNo:1867; depth 50.37 2021-10-11T01:27:01Z- handleDvl() - RDI_Pathfinder msg: 1633915618.58 epoch sec; seqNo:538 2021-10-11T01:27:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.15 , 30.52 , 27.25 , 24.00 2021-10-11T01:27:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.03 , 0.00 2021-10-11T01:27:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915618.60 epoch sec; seqNo:1867; 4061880.88 north; 594399.18 east 2021-10-11T01:27:02Z- AHRS_M2 msg: 1633915618.94 epoch sec; seqNo:1824 2021-10-11T01:27:02Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.68 psi 2021-10-11T01:27:02Z- handleDepth()-Depth_Keller msg: 1633915618952 epoch sec; seqNo:1868; depth 50.38 2021-10-11T01:27:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915618.98 epoch sec; seqNo:1868; 4061881.26 north; 594399.17 east 2021-10-11T01:27:02Z- AHRS_M2 msg: 1633915619.35 epoch sec; seqNo:1825 2021-10-11T01:27:02Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.68 psi 2021-10-11T01:27:02Z- handleDepth()-Depth_Keller msg: 1633915619350 epoch sec; seqNo:1869; depth 50.38 2021-10-11T01:27:02Z- handleDvl() - RDI_Pathfinder msg: 1633915619.39 epoch sec; seqNo:539 2021-10-11T01:27:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.43 , 30.24 , 26.97 , 25.34 2021-10-11T01:27:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.06 , -0.02 2021-10-11T01:27:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915619.41 epoch sec; seqNo:1869; 4061881.65 north; 594400.39 east 2021-10-11T01:27:03Z- AHRS_M2 msg: 1633915619.75 epoch sec; seqNo:1826 2021-10-11T01:27:03Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.68 psi 2021-10-11T01:27:03Z- handleDepth()-Depth_Keller msg: 1633915619755 epoch sec; seqNo:1870; depth 50.38 2021-10-11T01:27:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915619.77 epoch sec; seqNo:1870; 4061881.65 north; 594400.39 east 2021-10-11T01:27:03Z- AHRS_M2 msg: 1633915620.15 epoch sec; seqNo:1827 2021-10-11T01:27:03Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.68 psi 2021-10-11T01:27:03Z- handleDepth()-Depth_Keller msg: 1633915620164 epoch sec; seqNo:1871; depth 50.38 2021-10-11T01:27:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915620.18 epoch sec; seqNo:1871; 4061882.03 north; 594400.39 east 2021-10-11T01:27:03Z- AHRS_M2 msg: 1633915620.56 epoch sec; seqNo:1828 2021-10-11T01:27:03Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.68 psi 2021-10-11T01:27:03Z- handleDepth()-Depth_Keller msg: 1633915620564 epoch sec; seqNo:1872; depth 50.40 2021-10-11T01:27:03Z- handleDvl() - RDI_Pathfinder msg: 1633915620.59 epoch sec; seqNo:540 2021-10-11T01:27:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 30.92 , 26.70 , 25.34 2021-10-11T01:27:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , -0.03 2021-10-11T01:27:03Z- LcmTrn::handleMessages() - handling 43 messages took 0.88 ms and 125 calls... 2021-10-11T01:27:03Z- waiting for 1633915618.37, time is 1633915620.59 2021-10-11T01:27:03Z- LcmTrn::updateTrn() equating pose 1633915620.59 and meas times 1633915620.59 2021-10-11T01:27:03Z- LcmTrn::updateTrn() >>>> pose time 1633915620.59, meas time 1633915620.59 <<<< 2021-10-11T01:27:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915620.59 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:03Z- TerrainNav::motionUpdate() - currEstimate = (4061882, 594400.39, 50.40) 2021-10-11T01:27:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:03Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:03Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915620.59 sec.; No relevant navigation data available 2021-10-11T01:27:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:03Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:03Z- variances([0], [2], and psi_berg) = 0.963889 1.152661 0.000000 2021-10-11T01:27:03Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:03Z- LcmTrn::publishEstimates() - MLE : 4061884.52 594318.49 38.39 2021-10-11T01:27:03Z- LcmTrn::publishEstimates() - MMSE : 4061884.62 594317.58 5.82 2021-10-11T01:27:03Z- LcmTrn::publishEstimates() - COVAR: 0.96 1.15 0.90 0.00 2021-10-11T01:27:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915620.62 epoch sec; seqNo:1872; 4061882.41 north; 594400.38 east 2021-10-11T01:27:04Z- AHRS_M2 msg: 1633915620.96 epoch sec; seqNo:1829 2021-10-11T01:27:04Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.68 psi 2021-10-11T01:27:04Z- handleDepth()-Depth_Keller msg: 1633915620968 epoch sec; seqNo:1873; depth 50.40 2021-10-11T01:27:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915620.98 epoch sec; seqNo:1873; 4061882.41 north; 594400.38 east 2021-10-11T01:27:04Z- AHRS_M2 msg: 1633915621.39 epoch sec; seqNo:1830 2021-10-11T01:27:04Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.68 psi 2021-10-11T01:27:04Z- handleDepth()-Depth_Keller msg: 1633915621393 epoch sec; seqNo:1874; depth 50.42 2021-10-11T01:27:04Z- handleDvl() - RDI_Pathfinder msg: 1633915621.41 epoch sec; seqNo:541 2021-10-11T01:27:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.92 , 31.33 , 26.16 , 24.93 2021-10-11T01:27:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.09 , -0.02 2021-10-11T01:27:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915621.44 epoch sec; seqNo:1874; 4061882.79 north; 594400.38 east 2021-10-11T01:27:05Z- AHRS_M2 msg: 1633915621.77 epoch sec; seqNo:1831 2021-10-11T01:27:05Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:05Z- handleDepth()-Depth_Keller msg: 1633915621773 epoch sec; seqNo:1875; depth 50.44 2021-10-11T01:27:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915621.80 epoch sec; seqNo:1875; 4061883.17 north; 594400.37 east 2021-10-11T01:27:05Z- AHRS_M2 msg: 1633915622.17 epoch sec; seqNo:1832 2021-10-11T01:27:05Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:05Z- handleDepth()-Depth_Keller msg: 1633915622178 epoch sec; seqNo:1876; depth 50.43 2021-10-11T01:27:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915622.19 epoch sec; seqNo:1876; 4061883.18 north; 594401.59 east 2021-10-11T01:27:05Z- AHRS_M2 msg: 1633915622.58 epoch sec; seqNo:1833 2021-10-11T01:27:05Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:05Z- handleDepth()-Depth_Keller msg: 1633915622592 epoch sec; seqNo:1877; depth 50.44 2021-10-11T01:27:05Z- handleDvl() - RDI_Pathfinder msg: 1633915622.61 epoch sec; seqNo:542 2021-10-11T01:27:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.33 , 31.61 , 25.61 , 25.07 2021-10-11T01:27:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.10 , -0.01 2021-10-11T01:27:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915622.65 epoch sec; seqNo:1877; 4061883.56 north; 594401.59 east 2021-10-11T01:27:06Z- AHRS_M2 msg: 1633915622.98 epoch sec; seqNo:1834 2021-10-11T01:27:06Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:06Z- handleDepth()-Depth_Keller msg: 1633915622997 epoch sec; seqNo:1878; depth 50.45 2021-10-11T01:27:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915623.01 epoch sec; seqNo:1878; 4061883.94 north; 594401.58 east 2021-10-11T01:27:06Z- AHRS_M2 msg: 1633915623.39 epoch sec; seqNo:1835 2021-10-11T01:27:06Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:06Z- handleDepth()-Depth_Keller msg: 1633915623393 epoch sec; seqNo:1879; depth 50.45 2021-10-11T01:27:06Z- handleDvl() - RDI_Pathfinder msg: 1633915623.43 epoch sec; seqNo:543 2021-10-11T01:27:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 31.61 , 25.89 , 25.20 2021-10-11T01:27:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.11 , 0.01 2021-10-11T01:27:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915623.45 epoch sec; seqNo:1879; 4061884.32 north; 594401.58 east 2021-10-11T01:27:07Z- AHRS_M2 msg: 1633915623.79 epoch sec; seqNo:1836 2021-10-11T01:27:07Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:07Z- handleDepth()-Depth_Keller msg: 1633915623793 epoch sec; seqNo:1880; depth 50.48 2021-10-11T01:27:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915623.81 epoch sec; seqNo:1880; 4061884.32 north; 594401.58 east 2021-10-11T01:27:07Z- AHRS_M2 msg: 1633915624.19 epoch sec; seqNo:1837 2021-10-11T01:27:07Z- AHRS_M2 msg: -0.18 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:07Z- handleDepth()-Depth_Keller msg: 1633915624200 epoch sec; seqNo:1881; depth 50.50 2021-10-11T01:27:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915624.21 epoch sec; seqNo:1881; 4061884.70 north; 594401.58 east 2021-10-11T01:27:07Z- AHRS_M2 msg: 1633915624.60 epoch sec; seqNo:1838 2021-10-11T01:27:07Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:07Z- handleDepth()-Depth_Keller msg: 1633915624608 epoch sec; seqNo:1882; depth 50.49 2021-10-11T01:27:08Z- handleDvl() - RDI_Pathfinder msg: 1633915624.64 epoch sec; seqNo:544 2021-10-11T01:27:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.92 , 31.47 , 25.61 , 25.61 2021-10-11T01:27:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.10 , 0.03 2021-10-11T01:27:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915624.66 epoch sec; seqNo:1882; 4061885.08 north; 594401.57 east 2021-10-11T01:27:08Z- AHRS_M2 msg: 1633915625.01 epoch sec; seqNo:1839 2021-10-11T01:27:08Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:08Z- handleDepth()-Depth_Keller msg: 1633915625009 epoch sec; seqNo:1883; depth 50.50 2021-10-11T01:27:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915625.04 epoch sec; seqNo:1883; 4061885.08 north; 594401.57 east 2021-10-11T01:27:08Z- AHRS_M2 msg: 1633915625.41 epoch sec; seqNo:1840 2021-10-11T01:27:08Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:08Z- handleDepth()-Depth_Keller msg: 1633915625421 epoch sec; seqNo:1884; depth 50.52 2021-10-11T01:27:08Z- handleDvl() - RDI_Pathfinder msg: 1633915625.44 epoch sec; seqNo:545 2021-10-11T01:27:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 31.47 , 25.61 , 26.43 2021-10-11T01:27:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , 0.03 2021-10-11T01:27:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915625.48 epoch sec; seqNo:1884; 4061885.47 north; 594402.79 east 2021-10-11T01:27:08Z- LcmTrn::handleMessages() - handling 42 messages took 0.86 ms and 124 calls... 2021-10-11T01:27:08Z- waiting for 1633915623.59, time is 1633915625.48 2021-10-11T01:27:08Z- LcmTrn::updateTrn() equating pose 1633915625.48 and meas times 1633915625.48 2021-10-11T01:27:08Z- LcmTrn::updateTrn() >>>> pose time 1633915625.48, meas time 1633915625.48 <<<< 2021-10-11T01:27:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915625.48 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:08Z- TerrainNav::motionUpdate() - currEstimate = (4061885, 594402.79, 50.52) 2021-10-11T01:27:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:08Z- TerrainNav:: SubcloudNIS is 0.67, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:09Z- TNavBF::Projecting Measurements 2021-10-11T01:27:09Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:09Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:09Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:09Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:09Z- TNavFilter::4 good beams. 2021-10-11T01:27:09Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:09Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:09Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:09Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:09Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:09Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:09Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:09Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:09Z- TerrainMapOctree: (vehN, vehE ) = (4061885.47, 594402.79). 2021-10-11T01:27:09Z- TerrainMapOctree: Min Distance = 204.20. 2021-10-11T01:27:09Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:09Z- Forcing Subcloud Comparison 2021-10-11T01:27:09Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:09Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:09Z- Filter 0 partialDeltaRmsComputation: 18.259514 terrainVariance: 0.088069 1-SumSquareWeights: 0.914830 2021-10-11T01:27:09Z- Filter 0 meanExpectedMeasDiff: 4.262798 delta_rms_squared: 0.078921 alpha: 0.797818 2021-10-11T01:27:09Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:09Z- Filter 0 partialDeltaRmsComputation: 4.954410 terrainVariance: 0.326595 1-SumSquareWeights: 0.914830 2021-10-11T01:27:09Z- Filter 0 meanExpectedMeasDiff: 2.151236 delta_rms_squared: 0.317447 alpha: 0.940731 2021-10-11T01:27:09Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:09Z- Filter 0 partialDeltaRmsComputation: 16.576834 terrainVariance: 0.056843 1-SumSquareWeights: 0.914830 2021-10-11T01:27:09Z- Filter 0 meanExpectedMeasDiff: -4.064479 delta_rms_squared: 0.047695 alpha: 0.704557 2021-10-11T01:27:09Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:09Z- Filter 0 partialDeltaRmsComputation: 2.100834 terrainVariance: 0.067621 1-SumSquareWeights: 0.914830 2021-10-11T01:27:09Z- Filter 0 meanExpectedMeasDiff: -1.425908 delta_rms_squared: 0.058473 alpha: 0.745134 2021-10-11T01:27:09Z- Filter 0 SubcloudNIS: 0.716687 2021-10-11T01:27:09Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:09Z- TNavBF:: Filter 0 sumWeights = 0.011939 2021-10-11T01:27:09Z- Filter 0 NorthBias: 2.9 EastBias: -83.3 DepthBias: -44.7 NorthVariance: 1.3 EastVariance: 1.2 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:27:09Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915625.48 sec. 2021-10-11T01:27:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:09Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:09Z- variances([0], [2], and psi_berg) = 1.272520 1.231766 0.000000 2021-10-11T01:27:09Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:09Z- LcmTrn::publishEstimates() - MLE : 4061888.95 594318.89 38.52 2021-10-11T01:27:09Z- LcmTrn::publishEstimates() - MMSE : 4061888.42 594319.45 5.79 2021-10-11T01:27:09Z- LcmTrn::publishEstimates() - COVAR: 1.27 1.23 0.51 0.00 2021-10-11T01:27:09Z- AHRS_M2 msg: 1633915625.82 epoch sec; seqNo:1841 2021-10-11T01:27:09Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:09Z- handleDepth()-Depth_Keller msg: 1633915625825 epoch sec; seqNo:1885; depth 50.52 2021-10-11T01:27:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915625.84 epoch sec; seqNo:1885; 4061885.85 north; 594402.78 east 2021-10-11T01:27:09Z- AHRS_M2 msg: 1633915626.22 epoch sec; seqNo:1842 2021-10-11T01:27:09Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.69 psi 2021-10-11T01:27:09Z- handleDepth()-Depth_Keller msg: 1633915626224 epoch sec; seqNo:1886; depth 50.53 2021-10-11T01:27:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915626.25 epoch sec; seqNo:1886; 4061885.85 north; 594402.78 east 2021-10-11T01:27:09Z- AHRS_M2 msg: 1633915626.62 epoch sec; seqNo:1843 2021-10-11T01:27:09Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.70 psi 2021-10-11T01:27:09Z- handleDepth()-Depth_Keller msg: 1633915626623 epoch sec; seqNo:1887; depth 50.56 2021-10-11T01:27:10Z- handleDvl() - RDI_Pathfinder msg: 1633915626.64 epoch sec; seqNo:546 2021-10-11T01:27:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 31.06 , 25.61 , 26.43 2021-10-11T01:27:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.04 , 0.02 2021-10-11T01:27:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915626.68 epoch sec; seqNo:1887; 4061886.23 north; 594402.78 east 2021-10-11T01:27:10Z- AHRS_M2 msg: 1633915627.02 epoch sec; seqNo:1844 2021-10-11T01:27:10Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.70 psi 2021-10-11T01:27:10Z- handleDepth()-Depth_Keller msg: 1633915627036 epoch sec; seqNo:1888; depth 50.56 2021-10-11T01:27:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915627.05 epoch sec; seqNo:1888; 4061886.23 north; 594402.78 east 2021-10-11T01:27:10Z- AHRS_M2 msg: 1633915627.43 epoch sec; seqNo:1845 2021-10-11T01:27:10Z- AHRS_M2 msg: -0.19 phi; -0.01 theta; 0.70 psi 2021-10-11T01:27:10Z- handleDepth()-Depth_Keller msg: 1633915627430 epoch sec; seqNo:1889; depth 50.57 2021-10-11T01:27:10Z- handleDvl() - RDI_Pathfinder msg: 1633915627.47 epoch sec; seqNo:547 2021-10-11T01:27:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 30.92 , 25.34 , 26.29 2021-10-11T01:27:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.02 , 0.01 2021-10-11T01:27:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915627.48 epoch sec; seqNo:1889; 4061886.61 north; 594402.78 east 2021-10-11T01:27:11Z- AHRS_M2 msg: 1633915627.83 epoch sec; seqNo:1846 2021-10-11T01:27:11Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 0.70 psi 2021-10-11T01:27:11Z- handleDepth()-Depth_Keller msg: 1633915627839 epoch sec; seqNo:1890; depth 50.59 2021-10-11T01:27:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915627.87 epoch sec; seqNo:1890; 4061887.00 north; 594403.99 east 2021-10-11T01:27:11Z- AHRS_M2 msg: 1633915628.23 epoch sec; seqNo:1847 2021-10-11T01:27:11Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 0.70 psi 2021-10-11T01:27:11Z- handleDepth()-Depth_Keller msg: 1633915628238 epoch sec; seqNo:1891; depth 50.61 2021-10-11T01:27:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915628.25 epoch sec; seqNo:1891; 4061887.00 north; 594403.99 east 2021-10-11T01:27:12Z- AHRS_M2 msg: 1633915628.64 epoch sec; seqNo:1848 2021-10-11T01:27:12Z- AHRS_M2 msg: -0.19 phi; -0.00 theta; 0.70 psi 2021-10-11T01:27:12Z- handleDepth()-Depth_Keller msg: 1633915628642 epoch sec; seqNo:1892; depth 50.61 2021-10-11T01:27:12Z- handleDvl() - RDI_Pathfinder msg: 1633915628.67 epoch sec; seqNo:548 2021-10-11T01:27:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.56 , 30.65 , 26.02 , 26.43 2021-10-11T01:27:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.04 , -0.02 2021-10-11T01:27:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915628.69 epoch sec; seqNo:1892; 4061887.38 north; 594403.99 east 2021-10-11T01:27:12Z- AHRS_M2 msg: 1633915629.04 epoch sec; seqNo:1849 2021-10-11T01:27:12Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 0.70 psi 2021-10-11T01:27:12Z- handleDepth()-Depth_Keller msg: 1633915629045 epoch sec; seqNo:1893; depth 50.63 2021-10-11T01:27:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915629.07 epoch sec; seqNo:1893; 4061887.76 north; 594403.98 east 2021-10-11T01:27:12Z- AHRS_M2 msg: 1633915629.44 epoch sec; seqNo:1850 2021-10-11T01:27:12Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 0.71 psi 2021-10-11T01:27:12Z- handleDepth()-Depth_Keller msg: 1633915629462 epoch sec; seqNo:1894; depth 50.63 2021-10-11T01:27:12Z- handleDvl() - RDI_Pathfinder msg: 1633915629.49 epoch sec; seqNo:549 2021-10-11T01:27:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.61 , 30.79 , 26.02 , 26.43 2021-10-11T01:27:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , -0.03 2021-10-11T01:27:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915629.52 epoch sec; seqNo:1894; 4061887.76 north; 594403.98 east 2021-10-11T01:27:13Z- AHRS_M2 msg: 1633915629.85 epoch sec; seqNo:1851 2021-10-11T01:27:13Z- AHRS_M2 msg: -0.19 phi; 0.00 theta; 0.71 psi 2021-10-11T01:27:13Z- handleDepth()-Depth_Keller msg: 1633915629861 epoch sec; seqNo:1895; depth 50.65 2021-10-11T01:27:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915629.89 epoch sec; seqNo:1895; 4061888.14 north; 594403.98 east 2021-10-11T01:27:13Z- AHRS_M2 msg: 1633915630.25 epoch sec; seqNo:1852 2021-10-11T01:27:13Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.71 psi 2021-10-11T01:27:13Z- handleDepth()-Depth_Keller msg: 1633915630258 epoch sec; seqNo:1896; depth 50.65 2021-10-11T01:27:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915630.27 epoch sec; seqNo:1896; 4061888.51 north; 594403.98 east 2021-10-11T01:27:14Z- AHRS_M2 msg: 1633915630.66 epoch sec; seqNo:1853 2021-10-11T01:27:14Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.71 psi 2021-10-11T01:27:14Z- handleDepth()-Depth_Keller msg: 1633915630662 epoch sec; seqNo:1897; depth 50.66 2021-10-11T01:27:14Z- handleDvl() - RDI_Pathfinder msg: 1633915630.68 epoch sec; seqNo:550 2021-10-11T01:27:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 30.52 , 26.16 , 26.97 2021-10-11T01:27:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , -0.03 2021-10-11T01:27:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915630.72 epoch sec; seqNo:1897; 4061888.53 north; 594405.20 east 2021-10-11T01:27:14Z- LcmTrn::handleMessages() - handling 44 messages took 0.85 ms and 126 calls... 2021-10-11T01:27:14Z- waiting for 1633915628.48, time is 1633915630.72 2021-10-11T01:27:14Z- LcmTrn::updateTrn() equating pose 1633915630.72 and meas times 1633915630.72 2021-10-11T01:27:14Z- LcmTrn::updateTrn() >>>> pose time 1633915630.72, meas time 1633915630.72 <<<< 2021-10-11T01:27:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915630.72 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:14Z- TerrainNav::motionUpdate() - currEstimate = (4061889, 594405.20, 50.66) 2021-10-11T01:27:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:14Z- TerrainNav:: SubcloudNIS is 0.72, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:14Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915630.72 sec.; No relevant navigation data available 2021-10-11T01:27:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:14Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:14Z- variances([0], [2], and psi_berg) = 1.307573 1.266819 0.000000 2021-10-11T01:27:14Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:14Z- LcmTrn::publishEstimates() - MLE : 4061892.01 594321.30 38.66 2021-10-11T01:27:14Z- LcmTrn::publishEstimates() - MMSE : 4061891.48 594321.86 5.93 2021-10-11T01:27:14Z- LcmTrn::publishEstimates() - COVAR: 1.31 1.27 0.71 0.00 2021-10-11T01:27:14Z- AHRS_M2 msg: 1633915631.07 epoch sec; seqNo:1854 2021-10-11T01:27:14Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.71 psi 2021-10-11T01:27:14Z- handleDepth()-Depth_Keller msg: 1633915631072 epoch sec; seqNo:1898; depth 50.68 2021-10-11T01:27:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915631.10 epoch sec; seqNo:1898; 4061888.91 north; 594405.19 east 2021-10-11T01:27:14Z- AHRS_M2 msg: 1633915631.46 epoch sec; seqNo:1855 2021-10-11T01:27:14Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.71 psi 2021-10-11T01:27:14Z- handleDepth()-Depth_Keller msg: 1633915631472 epoch sec; seqNo:1899; depth 50.68 2021-10-11T01:27:14Z- handleDvl() - RDI_Pathfinder msg: 1633915631.51 epoch sec; seqNo:551 2021-10-11T01:27:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.38 , 30.52 , 26.02 , 27.25 2021-10-11T01:27:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.09 , -0.02 2021-10-11T01:27:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915631.54 epoch sec; seqNo:1899; 4061889.29 north; 594405.19 east 2021-10-11T01:27:15Z- AHRS_M2 msg: 1633915631.87 epoch sec; seqNo:1856 2021-10-11T01:27:15Z- AHRS_M2 msg: -0.19 phi; 0.01 theta; 0.71 psi 2021-10-11T01:27:15Z- handleDepth()-Depth_Keller msg: 1633915631873 epoch sec; seqNo:1900; depth 50.69 2021-10-11T01:27:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915631.90 epoch sec; seqNo:1900; 4061889.29 north; 594405.19 east 2021-10-11T01:27:15Z- AHRS_M2 msg: 1633915632.27 epoch sec; seqNo:1857 2021-10-11T01:27:15Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.71 psi 2021-10-11T01:27:15Z- handleDepth()-Depth_Keller msg: 1633915632285 epoch sec; seqNo:1901; depth 50.69 2021-10-11T01:27:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915632.30 epoch sec; seqNo:1901; 4061889.66 north; 594405.18 east 2021-10-11T01:27:16Z- AHRS_M2 msg: 1633915632.68 epoch sec; seqNo:1858 2021-10-11T01:27:16Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.71 psi 2021-10-11T01:27:16Z- handleDepth()-Depth_Keller msg: 1633915632681 epoch sec; seqNo:1902; depth 50.70 2021-10-11T01:27:16Z- handleDvl() - RDI_Pathfinder msg: 1633915632.71 epoch sec; seqNo:552 2021-10-11T01:27:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.92 , 30.52 , 25.89 , 27.25 2021-10-11T01:27:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.00 2021-10-11T01:27:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915632.73 epoch sec; seqNo:1902; 4061890.04 north; 594405.18 east 2021-10-11T01:27:16Z- handleDepth()-Depth_Keller msg: 1633915633103 epoch sec; seqNo:1903; depth 50.71 2021-10-11T01:27:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915633.12 epoch sec; seqNo:1903; 4061890.04 north; 594405.18 east 2021-10-11T01:27:16Z- AHRS_M2 msg: 1633915633.49 epoch sec; seqNo:1859 2021-10-11T01:27:16Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.71 psi 2021-10-11T01:27:16Z- handleDepth()-Depth_Keller msg: 1633915633496 epoch sec; seqNo:1904; depth 50.71 2021-10-11T01:27:16Z- handleDvl() - RDI_Pathfinder msg: 1633915633.52 epoch sec; seqNo:553 2021-10-11T01:27:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.20 , 30.38 , 26.02 , 27.52 2021-10-11T01:27:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.02 2021-10-11T01:27:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915633.53 epoch sec; seqNo:1904; 4061890.44 north; 594406.40 east 2021-10-11T01:27:17Z- AHRS_M2 msg: 1633915633.89 epoch sec; seqNo:1860 2021-10-11T01:27:17Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.71 psi 2021-10-11T01:27:17Z- handleDepth()-Depth_Keller msg: 1633915633896 epoch sec; seqNo:1905; depth 50.72 2021-10-11T01:27:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915633.93 epoch sec; seqNo:1905; 4061890.81 north; 594406.39 east 2021-10-11T01:27:17Z- AHRS_M2 msg: 1633915634.30 epoch sec; seqNo:1861 2021-10-11T01:27:17Z- AHRS_M2 msg: -0.19 phi; 0.02 theta; 0.71 psi 2021-10-11T01:27:17Z- handleDepth()-Depth_Keller msg: 1633915634302 epoch sec; seqNo:1906; depth 50.72 2021-10-11T01:27:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915634.31 epoch sec; seqNo:1906; 4061890.81 north; 594406.39 east 2021-10-11T01:27:18Z- AHRS_M2 msg: 1633915634.70 epoch sec; seqNo:1862 2021-10-11T01:27:18Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.71 psi 2021-10-11T01:27:18Z- handleDepth()-Depth_Keller msg: 1633915634704 epoch sec; seqNo:1907; depth 50.72 2021-10-11T01:27:18Z- handleDvl() - RDI_Pathfinder msg: 1633915634.72 epoch sec; seqNo:554 2021-10-11T01:27:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.33 , 30.65 , 26.16 , 27.52 2021-10-11T01:27:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.02 2021-10-11T01:27:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915634.76 epoch sec; seqNo:1907; 4061891.19 north; 594406.39 east 2021-10-11T01:27:18Z- AHRS_M2 msg: 1633915635.10 epoch sec; seqNo:1863 2021-10-11T01:27:18Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.71 psi 2021-10-11T01:27:18Z- handleDepth()-Depth_Keller msg: 1633915635107 epoch sec; seqNo:1908; depth 50.71 2021-10-11T01:27:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915635.12 epoch sec; seqNo:1908; 4061891.57 north; 594406.38 east 2021-10-11T01:27:18Z- AHRS_M2 msg: 1633915635.51 epoch sec; seqNo:1864 2021-10-11T01:27:18Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.71 psi 2021-10-11T01:27:18Z- handleDepth()-Depth_Keller msg: 1633915635512 epoch sec; seqNo:1909; depth 50.71 2021-10-11T01:27:18Z- handleDvl() - RDI_Pathfinder msg: 1633915635.54 epoch sec; seqNo:555 2021-10-11T01:27:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.79 , 30.52 , 26.02 , 27.38 2021-10-11T01:27:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.01 2021-10-11T01:27:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915635.56 epoch sec; seqNo:1909; 4061891.57 north; 594406.38 east 2021-10-11T01:27:19Z- LcmTrn::handleMessages() - handling 40 messages took 0.79 ms and 124 calls... 2021-10-11T01:27:19Z- waiting for 1633915633.72, time is 1633915635.56 2021-10-11T01:27:19Z- LcmTrn::updateTrn() equating pose 1633915635.56 and meas times 1633915635.56 2021-10-11T01:27:19Z- LcmTrn::updateTrn() >>>> pose time 1633915635.56, meas time 1633915635.56 <<<< 2021-10-11T01:27:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915635.56 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:19Z- TerrainNav::motionUpdate() - currEstimate = (4061892, 594406.38, 50.71) 2021-10-11T01:27:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:19Z- TerrainNav:: SubcloudNIS is 0.72, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:19Z- TNavBF::Projecting Measurements 2021-10-11T01:27:19Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:19Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:19Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:19Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:19Z- TNavFilter::4 good beams. 2021-10-11T01:27:19Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:19Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:19Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:19Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:19Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:19Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:19Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:19Z- TerrainMapOctree: (vehN, vehE ) = (4061891.57, 594406.38). 2021-10-11T01:27:19Z- TerrainMapOctree: Min Distance = 210.95. 2021-10-11T01:27:19Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:19Z- Forcing Subcloud Comparison 2021-10-11T01:27:19Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:19Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:19Z- Filter 0 partialDeltaRmsComputation: 6.645798 terrainVariance: 0.055018 1-SumSquareWeights: 0.935133 2021-10-11T01:27:19Z- Filter 0 meanExpectedMeasDiff: 2.567251 delta_rms_squared: 0.045667 alpha: 0.695433 2021-10-11T01:27:19Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:19Z- Filter 0 partialDeltaRmsComputation: 2.788763 terrainVariance: 0.208861 1-SumSquareWeights: 0.935133 2021-10-11T01:27:19Z- Filter 0 meanExpectedMeasDiff: 1.606208 delta_rms_squared: 0.199509 alpha: 0.908888 2021-10-11T01:27:19Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:19Z- Filter 0 partialDeltaRmsComputation: 9.313706 terrainVariance: 0.198239 1-SumSquareWeights: 0.935133 2021-10-11T01:27:19Z- Filter 0 meanExpectedMeasDiff: -3.019183 delta_rms_squared: 0.188888 alpha: 0.904255 2021-10-11T01:27:19Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:19Z- Filter 0 partialDeltaRmsComputation: 0.330297 terrainVariance: 0.092480 1-SumSquareWeights: 0.935133 2021-10-11T01:27:19Z- Filter 0 meanExpectedMeasDiff: 0.487665 delta_rms_squared: 0.083128 alpha: 0.806067 2021-10-11T01:27:19Z- Filter 0 SubcloudNIS: 0.689357 2021-10-11T01:27:19Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:19Z- TNavBF:: Filter 0 sumWeights = 0.104809 2021-10-11T01:27:19Z- Filter 0 NorthBias: 3.1 EastBias: -83.1 DepthBias: -44.4 NorthVariance: 1.4 EastVariance: 1.2 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:27:19Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915635.56 sec. 2021-10-11T01:27:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:19Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:19Z- variances([0], [2], and psi_berg) = 1.389135 1.174915 0.000000 2021-10-11T01:27:19Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:19Z- LcmTrn::publishEstimates() - MLE : 4061896.06 594323.48 38.70 2021-10-11T01:27:19Z- LcmTrn::publishEstimates() - MMSE : 4061894.68 594323.29 6.34 2021-10-11T01:27:19Z- LcmTrn::publishEstimates() - COVAR: 1.39 1.17 0.48 0.00 2021-10-11T01:27:19Z- AHRS_M2 msg: 1633915635.91 epoch sec; seqNo:1865 2021-10-11T01:27:19Z- AHRS_M2 msg: -0.19 phi; 0.03 theta; 0.71 psi 2021-10-11T01:27:19Z- handleDepth()-Depth_Keller msg: 1633915635923 epoch sec; seqNo:1910; depth 50.72 2021-10-11T01:27:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915635.94 epoch sec; seqNo:1910; 4061891.96 north; 594407.60 east 2021-10-11T01:27:19Z- AHRS_M2 msg: 1633915636.32 epoch sec; seqNo:1866 2021-10-11T01:27:19Z- AHRS_M2 msg: -0.18 phi; 0.03 theta; 0.72 psi 2021-10-11T01:27:19Z- handleDepth()-Depth_Keller msg: 1633915636322 epoch sec; seqNo:1911; depth 50.72 2021-10-11T01:27:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915636.33 epoch sec; seqNo:1911; 4061892.34 north; 594407.59 east 2021-10-11T01:27:20Z- AHRS_M2 msg: 1633915636.72 epoch sec; seqNo:1867 2021-10-11T01:27:20Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.72 psi 2021-10-11T01:27:20Z- handleDepth()-Depth_Keller msg: 1633915636729 epoch sec; seqNo:1912; depth 50.71 2021-10-11T01:27:20Z- handleDvl() - RDI_Pathfinder msg: 1633915636.75 epoch sec; seqNo:556 2021-10-11T01:27:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.24 , 30.52 , 26.43 , 26.97 2021-10-11T01:27:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.05 , -0.01 2021-10-11T01:27:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915636.77 epoch sec; seqNo:1912; 4061892.34 north; 594407.59 east 2021-10-11T01:27:20Z- AHRS_M2 msg: 1633915637.12 epoch sec; seqNo:1868 2021-10-11T01:27:20Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.72 psi 2021-10-11T01:27:20Z- handleDepth()-Depth_Keller msg: 1633915637126 epoch sec; seqNo:1913; depth 50.71 2021-10-11T01:27:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915637.16 epoch sec; seqNo:1913; 4061892.72 north; 594407.59 east 2021-10-11T01:27:20Z- AHRS_M2 msg: 1633915637.53 epoch sec; seqNo:1869 2021-10-11T01:27:20Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.72 psi 2021-10-11T01:27:20Z- handleDepth()-Depth_Keller msg: 1633915637537 epoch sec; seqNo:1914; depth 50.70 2021-10-11T01:27:20Z- handleDvl() - RDI_Pathfinder msg: 1633915637.57 epoch sec; seqNo:557 2021-10-11T01:27:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.88 , 30.79 , 27.11 , 27.25 2021-10-11T01:27:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.03 2021-10-11T01:27:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915637.58 epoch sec; seqNo:1914; 4061893.10 north; 594407.59 east 2021-10-11T01:27:21Z- AHRS_M2 msg: 1633915637.94 epoch sec; seqNo:1870 2021-10-11T01:27:21Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.72 psi 2021-10-11T01:27:21Z- handleDepth()-Depth_Keller msg: 1633915637956 epoch sec; seqNo:1915; depth 50.71 2021-10-11T01:27:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915637.97 epoch sec; seqNo:1915; 4061893.10 north; 594407.59 east 2021-10-11T01:27:21Z- AHRS_M2 msg: 1633915638.34 epoch sec; seqNo:1871 2021-10-11T01:27:21Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.73 psi 2021-10-11T01:27:21Z- handleDepth()-Depth_Keller msg: 1633915638344 epoch sec; seqNo:1916; depth 50.69 2021-10-11T01:27:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915638.37 epoch sec; seqNo:1916; 4061893.48 north; 594407.58 east 2021-10-11T01:27:22Z- AHRS_M2 msg: 1633915638.74 epoch sec; seqNo:1872 2021-10-11T01:27:22Z- AHRS_M2 msg: -0.18 phi; 0.04 theta; 0.73 psi 2021-10-11T01:27:22Z- handleDepth()-Depth_Keller msg: 1633915638748 epoch sec; seqNo:1917; depth 50.68 2021-10-11T01:27:22Z- handleDvl() - RDI_Pathfinder msg: 1633915638.77 epoch sec; seqNo:558 2021-10-11T01:27:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.61 , 30.11 , 10.00 , 26.57 2021-10-11T01:27:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , -0.03 2021-10-11T01:27:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915638.80 epoch sec; seqNo:1917; 4061893.87 north; 594408.80 east 2021-10-11T01:27:22Z- AHRS_M2 msg: 1633915639.14 epoch sec; seqNo:1873 2021-10-11T01:27:22Z- AHRS_M2 msg: -0.18 phi; 0.05 theta; 0.73 psi 2021-10-11T01:27:22Z- handleDepth()-Depth_Keller msg: 1633915639151 epoch sec; seqNo:1918; depth 50.67 2021-10-11T01:27:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915639.17 epoch sec; seqNo:1918; 4061893.87 north; 594408.80 east 2021-10-11T01:27:22Z- AHRS_M2 msg: 1633915639.56 epoch sec; seqNo:1874 2021-10-11T01:27:22Z- AHRS_M2 msg: -0.18 phi; 0.05 theta; 0.73 psi 2021-10-11T01:27:22Z- handleDepth()-Depth_Keller msg: 1633915639566 epoch sec; seqNo:1919; depth 50.67 2021-10-11T01:27:22Z- handleDvl() - RDI_Pathfinder msg: 1633915639.59 epoch sec; seqNo:559 2021-10-11T01:27:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.75 , 30.24 , 28.06 , 26.84 2021-10-11T01:27:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , -0.03 2021-10-11T01:27:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915639.60 epoch sec; seqNo:1919; 4061894.25 north; 594408.79 east 2021-10-11T01:27:23Z- AHRS_M2 msg: 1633915639.95 epoch sec; seqNo:1875 2021-10-11T01:27:23Z- AHRS_M2 msg: -0.18 phi; 0.05 theta; 0.73 psi 2021-10-11T01:27:23Z- handleDepth()-Depth_Keller msg: 1633915639955 epoch sec; seqNo:1920; depth 50.65 2021-10-11T01:27:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915639.97 epoch sec; seqNo:1920; 4061894.63 north; 594408.79 east 2021-10-11T01:27:23Z- AHRS_M2 msg: 1633915640.36 epoch sec; seqNo:1876 2021-10-11T01:27:23Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.73 psi 2021-10-11T01:27:23Z- handleDepth()-Depth_Keller msg: 1633915640360 epoch sec; seqNo:1921; depth 50.64 2021-10-11T01:27:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915640.37 epoch sec; seqNo:1921; 4061894.63 north; 594408.79 east 2021-10-11T01:27:24Z- AHRS_M2 msg: 1633915640.76 epoch sec; seqNo:1877 2021-10-11T01:27:24Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.73 psi 2021-10-11T01:27:24Z- handleDepth()-Depth_Keller msg: 1633915640761 epoch sec; seqNo:1922; depth 50.63 2021-10-11T01:27:24Z- handleDvl() - RDI_Pathfinder msg: 1633915640.79 epoch sec; seqNo:560 2021-10-11T01:27:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.47 , 31.19 , 30.10 , 27.52 2021-10-11T01:27:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.08 , 0.01 2021-10-11T01:27:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915640.81 epoch sec; seqNo:1922; 4061895.01 north; 594408.79 east 2021-10-11T01:27:24Z- LcmTrn::handleMessages() - handling 44 messages took 0.77 ms and 128 calls... 2021-10-11T01:27:24Z- waiting for 1633915638.56, time is 1633915640.81 2021-10-11T01:27:24Z- LcmTrn::updateTrn() equating pose 1633915640.81 and meas times 1633915640.81 2021-10-11T01:27:24Z- LcmTrn::updateTrn() >>>> pose time 1633915640.81, meas time 1633915640.81 <<<< 2021-10-11T01:27:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915640.81 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:24Z- TerrainNav::motionUpdate() - currEstimate = (4061895, 594408.79, 50.63) 2021-10-11T01:27:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:24Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:24Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915640.81 sec.; No relevant navigation data available 2021-10-11T01:27:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:24Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:24Z- variances([0], [2], and psi_berg) = 1.425521 1.211302 0.000000 2021-10-11T01:27:24Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:24Z- LcmTrn::publishEstimates() - MLE : 4061898.49 594325.89 38.63 2021-10-11T01:27:24Z- LcmTrn::publishEstimates() - MMSE : 4061898.12 594325.69 6.26 2021-10-11T01:27:24Z- LcmTrn::publishEstimates() - COVAR: 1.43 1.21 0.70 0.00 2021-10-11T01:27:24Z- AHRS_M2 msg: 1633915641.16 epoch sec; seqNo:1878 2021-10-11T01:27:24Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.73 psi 2021-10-11T01:27:24Z- handleDepth()-Depth_Keller msg: 1633915641166 epoch sec; seqNo:1923; depth 50.63 2021-10-11T01:27:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915641.18 epoch sec; seqNo:1923; 4061895.40 north; 594410.00 east 2021-10-11T01:27:24Z- AHRS_M2 msg: 1633915641.59 epoch sec; seqNo:1879 2021-10-11T01:27:24Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.73 psi 2021-10-11T01:27:24Z- handleDepth()-Depth_Keller msg: 1633915641591 epoch sec; seqNo:1924; depth 50.62 2021-10-11T01:27:24Z- handleDvl() - RDI_Pathfinder msg: 1633915641.62 epoch sec; seqNo:561 2021-10-11T01:27:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 31.60 , 30.24 , 27.92 2021-10-11T01:27:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , 0.01 2021-10-11T01:27:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915641.64 epoch sec; seqNo:1924; 4061895.40 north; 594410.00 east 2021-10-11T01:27:25Z- handleDepth()-Depth_Keller msg: 1633915641997 epoch sec; seqNo:1925; depth 50.58 2021-10-11T01:27:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915642.03 epoch sec; seqNo:1925; 4061895.78 north; 594410.00 east 2021-10-11T01:27:25Z- AHRS_M2 msg: 1633915642.37 epoch sec; seqNo:1880 2021-10-11T01:27:25Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.73 psi 2021-10-11T01:27:25Z- handleDepth()-Depth_Keller msg: 1633915642386 epoch sec; seqNo:1926; depth 50.59 2021-10-11T01:27:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915642.40 epoch sec; seqNo:1926; 4061896.16 north; 594409.99 east 2021-10-11T01:27:26Z- AHRS_M2 msg: 1633915642.79 epoch sec; seqNo:1881 2021-10-11T01:27:26Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.73 psi 2021-10-11T01:27:26Z- handleDepth()-Depth_Keller msg: 1633915642804 epoch sec; seqNo:1927; depth 50.58 2021-10-11T01:27:26Z- handleDvl() - RDI_Pathfinder msg: 1633915642.83 epoch sec; seqNo:562 2021-10-11T01:27:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.52 , 31.33 , 30.11 , 28.61 2021-10-11T01:27:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , 0.02 2021-10-11T01:27:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915642.84 epoch sec; seqNo:1927; 4061896.16 north; 594409.99 east 2021-10-11T01:27:26Z- AHRS_M2 msg: 1633915643.19 epoch sec; seqNo:1882 2021-10-11T01:27:26Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.74 psi 2021-10-11T01:27:26Z- handleDepth()-Depth_Keller msg: 1633915643190 epoch sec; seqNo:1928; depth 50.56 2021-10-11T01:27:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915643.21 epoch sec; seqNo:1928; 4061896.54 north; 594409.99 east 2021-10-11T01:27:26Z- AHRS_M2 msg: 1633915643.62 epoch sec; seqNo:1883 2021-10-11T01:27:26Z- AHRS_M2 msg: -0.19 phi; 0.06 theta; 0.74 psi 2021-10-11T01:27:26Z- handleDepth()-Depth_Keller msg: 1633915643620 epoch sec; seqNo:1929; depth 50.55 2021-10-11T01:27:27Z- handleDvl() - RDI_Pathfinder msg: 1633915643.65 epoch sec; seqNo:563 2021-10-11T01:27:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.93 , 31.33 , 29.97 , 28.75 2021-10-11T01:27:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-11T01:27:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915643.66 epoch sec; seqNo:1929; 4061896.54 north; 594409.99 east 2021-10-11T01:27:27Z- AHRS_M2 msg: 1633915643.99 epoch sec; seqNo:1884 2021-10-11T01:27:27Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.74 psi 2021-10-11T01:27:27Z- handleDepth()-Depth_Keller msg: 1633915644000 epoch sec; seqNo:1930; depth 50.53 2021-10-11T01:27:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915644.03 epoch sec; seqNo:1930; 4061896.93 north; 594411.21 east 2021-10-11T01:27:27Z- AHRS_M2 msg: 1633915644.40 epoch sec; seqNo:1885 2021-10-11T01:27:27Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.74 psi 2021-10-11T01:27:27Z- handleDepth()-Depth_Keller msg: 1633915644402 epoch sec; seqNo:1931; depth 50.53 2021-10-11T01:27:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915644.41 epoch sec; seqNo:1931; 4061897.31 north; 594411.20 east 2021-10-11T01:27:28Z- AHRS_M2 msg: 1633915644.80 epoch sec; seqNo:1886 2021-10-11T01:27:28Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.74 psi 2021-10-11T01:27:28Z- handleDepth()-Depth_Keller msg: 1633915644803 epoch sec; seqNo:1932; depth 50.50 2021-10-11T01:27:28Z- handleDvl() - RDI_Pathfinder msg: 1633915644.82 epoch sec; seqNo:564 2021-10-11T01:27:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.93 , 31.33 , 29.70 , 29.15 2021-10-11T01:27:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , 0.01 2021-10-11T01:27:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915644.86 epoch sec; seqNo:1932; 4061897.31 north; 594411.20 east 2021-10-11T01:27:28Z- AHRS_M2 msg: 1633915645.20 epoch sec; seqNo:1887 2021-10-11T01:27:28Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.75 psi 2021-10-11T01:27:28Z- handleDepth()-Depth_Keller msg: 1633915645208 epoch sec; seqNo:1933; depth 50.49 2021-10-11T01:27:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915645.22 epoch sec; seqNo:1933; 4061897.69 north; 594411.20 east 2021-10-11T01:27:29Z- AHRS_M2 msg: 1633915645.64 epoch sec; seqNo:1888 2021-10-11T01:27:29Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.75 psi 2021-10-11T01:27:29Z- handleDepth()-Depth_Keller msg: 1633915645649 epoch sec; seqNo:1934; depth 50.48 2021-10-11T01:27:29Z- handleDvl() - RDI_Pathfinder msg: 1633915645.68 epoch sec; seqNo:565 2021-10-11T01:27:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.79 , 17.00 , 29.29 , 29.15 2021-10-11T01:27:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.08 , 0.00 2021-10-11T01:27:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915645.69 epoch sec; seqNo:1934; 4061898.07 north; 594411.19 east 2021-10-11T01:27:29Z- AHRS_M2 msg: 1633915646.01 epoch sec; seqNo:1889 2021-10-11T01:27:29Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.75 psi 2021-10-11T01:27:29Z- handleDepth()-Depth_Keller msg: 1633915646021 epoch sec; seqNo:1935; depth 50.45 2021-10-11T01:27:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915646.04 epoch sec; seqNo:1935; 4061898.07 north; 594411.19 east 2021-10-11T01:27:29Z- LcmTrn::handleMessages() - handling 43 messages took 0.86 ms and 125 calls... 2021-10-11T01:27:29Z- waiting for 1633915643.81, time is 1633915646.04 2021-10-11T01:27:29Z- LcmTrn::updateTrn() >>>> pose time 1633915646.04, meas time 1633915645.68 <<<< 2021-10-11T01:27:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915645.68 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:29Z- TerrainNav::motionUpdate() - currEstimate = (4061898, 594411.19, 50.45) 2021-10-11T01:27:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:29Z- TerrainNav:: SubcloudNIS is 0.69, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:29Z- TNavBF::Projecting Measurements 2021-10-11T01:27:29Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:29Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:29Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:29Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:29Z- TNavFilter::4 good beams. 2021-10-11T01:27:29Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:29Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:29Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:29Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:29Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:29Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:29Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:29Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:29Z- TerrainMapOctree: (vehN, vehE ) = (4061897.85, 594411.02). 2021-10-11T01:27:29Z- TerrainMapOctree: Min Distance = 218.61. 2021-10-11T01:27:29Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:29Z- Forcing Subcloud Comparison 2021-10-11T01:27:29Z- Filter 0 deapthBias would have been set to Nan. indexP: 4324 indexM: 2 2021-10-11T01:27:29Z- Old Depth Bias: -29.00 DepthBiasCov: 0.49 K: 0.135 ExpectedMeasDiff: nan currMeas.covariance: 1.37 2021-10-11T01:27:29Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:29Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:29Z- Filter 0 partialDeltaRmsComputation: 0.261134 terrainVariance: 0.126041 1-SumSquareWeights: 0.931673 2021-10-11T01:27:29Z- Filter 0 meanExpectedMeasDiff: 0.367549 delta_rms_squared: 0.116724 alpha: 0.853720 2021-10-11T01:27:29Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:29Z- Filter 0 partialDeltaRmsComputation: 92.890777 terrainVariance: 0.126344 1-SumSquareWeights: 0.931673 2021-10-11T01:27:29Z- Filter 0 meanExpectedMeasDiff: -9.631429 delta_rms_squared: 0.117027 alpha: 0.854043 2021-10-11T01:27:29Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:27:29Z- Filter 0 partialDeltaRmsComputation: 0.610236 terrainVariance: 0.131975 1-SumSquareWeights: 0.931673 2021-10-11T01:27:29Z- Filter 0 meanExpectedMeasDiff: 0.691564 delta_rms_squared: 0.122658 alpha: 0.859805 2021-10-11T01:27:29Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:29Z- Filter 0 partialDeltaRmsComputation: 21.960885 terrainVariance: 0.096612 1-SumSquareWeights: 0.931673 2021-10-11T01:27:29Z- Filter 0 meanExpectedMeasDiff: 4.675925 delta_rms_squared: 0.087295 alpha: 0.813599 2021-10-11T01:27:29Z- Filter 0 SubcloudNIS: 0.712076 2021-10-11T01:27:29Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:29Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-11T01:27:29Z- Filter 0 NorthBias: 3.1 EastBias: -83.1 DepthBias: -46.3 NorthVariance: 1.8 EastVariance: 0.7 DepthVariance: 0.4 this->DepthBiasCov: 0.4 2021-10-11T01:27:29Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915645.68 sec. 2021-10-11T01:27:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:29Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:29Z- variances([0], [2], and psi_berg) = 1.826754 0.729144 0.000000 2021-10-11T01:27:29Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:29Z- LcmTrn::publishEstimates() - MLE : 4061902.55 594328.29 38.44 2021-10-11T01:27:29Z- LcmTrn::publishEstimates() - MMSE : 4061901.12 594328.12 4.12 2021-10-11T01:27:29Z- LcmTrn::publishEstimates() - COVAR: 1.83 0.73 0.43 0.00 2021-10-11T01:27:29Z- AHRS_M2 msg: 1633915646.42 epoch sec; seqNo:1890 2021-10-11T01:27:29Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.75 psi 2021-10-11T01:27:29Z- handleDepth()-Depth_Keller msg: 1633915646422 epoch sec; seqNo:1936; depth 50.44 2021-10-11T01:27:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915646.43 epoch sec; seqNo:1936; 4061898.44 north; 594411.19 east 2021-10-11T01:27:30Z- AHRS_M2 msg: 1633915646.82 epoch sec; seqNo:1891 2021-10-11T01:27:30Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.75 psi 2021-10-11T01:27:30Z- handleDepth()-Depth_Keller msg: 1633915646828 epoch sec; seqNo:1937; depth 50.43 2021-10-11T01:27:30Z- handleDvl() - RDI_Pathfinder msg: 1633915646.85 epoch sec; seqNo:566 2021-10-11T01:27:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.47 , 18.00 , 28.88 , 29.29 2021-10-11T01:27:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , -0.01 2021-10-11T01:27:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915646.86 epoch sec; seqNo:1937; 4061898.84 north; 594412.40 east 2021-10-11T01:27:30Z- AHRS_M2 msg: 1633915647.22 epoch sec; seqNo:1892 2021-10-11T01:27:30Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 0.76 psi 2021-10-11T01:27:30Z- handleDepth()-Depth_Keller msg: 1633915647228 epoch sec; seqNo:1938; depth 50.40 2021-10-11T01:27:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915647.25 epoch sec; seqNo:1938; 4061898.84 north; 594412.40 east 2021-10-11T01:27:31Z- AHRS_M2 msg: 1633915647.66 epoch sec; seqNo:1893 2021-10-11T01:27:31Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 0.76 psi 2021-10-11T01:27:31Z- handleDepth()-Depth_Keller msg: 1633915647675 epoch sec; seqNo:1939; depth 50.39 2021-10-11T01:27:31Z- handleDvl() - RDI_Pathfinder msg: 1633915647.70 epoch sec; seqNo:567 2021-10-11T01:27:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.34 , 19.00 , 29.02 , 29.43 2021-10-11T01:27:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.01 2021-10-11T01:27:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915647.72 epoch sec; seqNo:1939; 4061899.22 north; 594412.40 east 2021-10-11T01:27:31Z- AHRS_M2 msg: 1633915648.03 epoch sec; seqNo:1894 2021-10-11T01:27:31Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 0.76 psi 2021-10-11T01:27:31Z- handleDepth()-Depth_Keller msg: 1633915648036 epoch sec; seqNo:1940; depth 50.38 2021-10-11T01:27:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915648.06 epoch sec; seqNo:1940; 4061899.22 north; 594412.40 east 2021-10-11T01:27:31Z- AHRS_M2 msg: 1633915648.44 epoch sec; seqNo:1895 2021-10-11T01:27:31Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 0.76 psi 2021-10-11T01:27:31Z- handleDepth()-Depth_Keller msg: 1633915648449 epoch sec; seqNo:1941; depth 50.35 2021-10-11T01:27:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915648.46 epoch sec; seqNo:1941; 4061899.59 north; 594412.40 east 2021-10-11T01:27:32Z- AHRS_M2 msg: 1633915648.84 epoch sec; seqNo:1896 2021-10-11T01:27:32Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.76 psi 2021-10-11T01:27:32Z- handleDepth()-Depth_Keller msg: 1633915648850 epoch sec; seqNo:1942; depth 50.34 2021-10-11T01:27:32Z- handleDvl() - RDI_Pathfinder msg: 1633915648.87 epoch sec; seqNo:568 2021-10-11T01:27:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.20 , 32.83 , 28.74 , 29.15 2021-10-11T01:27:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.10 , 0.00 2021-10-11T01:27:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915648.89 epoch sec; seqNo:1942; 4061899.97 north; 594412.39 east 2021-10-11T01:27:32Z- AHRS_M2 msg: 1633915649.24 epoch sec; seqNo:1897 2021-10-11T01:27:32Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.77 psi 2021-10-11T01:27:32Z- handleDepth()-Depth_Keller msg: 1633915649247 epoch sec; seqNo:1943; depth 50.32 2021-10-11T01:27:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915649.27 epoch sec; seqNo:1943; 4061899.99 north; 594413.61 east 2021-10-11T01:27:33Z- AHRS_M2 msg: 1633915649.67 epoch sec; seqNo:1898 2021-10-11T01:27:33Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.77 psi 2021-10-11T01:27:33Z- handleDepth()-Depth_Keller msg: 1633915649704 epoch sec; seqNo:1944; depth 50.30 2021-10-11T01:27:33Z- handleDvl() - RDI_Pathfinder msg: 1633915649.72 epoch sec; seqNo:569 2021-10-11T01:27:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 21.00 , 29.56 , 29.56 2021-10-11T01:27:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , 0.00 2021-10-11T01:27:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915649.75 epoch sec; seqNo:1944; 4061900.37 north; 594413.61 east 2021-10-11T01:27:33Z- AHRS_M2 msg: 1633915650.05 epoch sec; seqNo:1899 2021-10-11T01:27:33Z- AHRS_M2 msg: -0.19 phi; 0.07 theta; 0.77 psi 2021-10-11T01:27:33Z- handleDepth()-Depth_Keller msg: 1633915650060 epoch sec; seqNo:1945; depth 50.26 2021-10-11T01:27:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915650.08 epoch sec; seqNo:1945; 4061900.74 north; 594413.60 east 2021-10-11T01:27:33Z- AHRS_M2 msg: 1633915650.45 epoch sec; seqNo:1900 2021-10-11T01:27:33Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.77 psi 2021-10-11T01:27:33Z- handleDepth()-Depth_Keller msg: 1633915650472 epoch sec; seqNo:1946; depth 50.25 2021-10-11T01:27:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915650.48 epoch sec; seqNo:1946; 4061900.74 north; 594413.60 east 2021-10-11T01:27:34Z- AHRS_M2 msg: 1633915650.86 epoch sec; seqNo:1901 2021-10-11T01:27:34Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.77 psi 2021-10-11T01:27:34Z- handleDepth()-Depth_Keller msg: 1633915650868 epoch sec; seqNo:1947; depth 50.24 2021-10-11T01:27:34Z- handleDvl() - RDI_Pathfinder msg: 1633915650.90 epoch sec; seqNo:570 2021-10-11T01:27:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.66 , 22.00 , 29.83 , 29.43 2021-10-11T01:27:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , 0.01 2021-10-11T01:27:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915650.91 epoch sec; seqNo:1947; 4061901.12 north; 594413.60 east 2021-10-11T01:27:34Z- AHRS_M2 msg: 1633915651.26 epoch sec; seqNo:1902 2021-10-11T01:27:34Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.77 psi 2021-10-11T01:27:34Z- handleDepth()-Depth_Keller msg: 1633915651272 epoch sec; seqNo:1948; depth 50.21 2021-10-11T01:27:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915651.29 epoch sec; seqNo:1948; 4061901.50 north; 594413.60 east 2021-10-11T01:27:34Z- LcmTrn::handleMessages() - handling 44 messages took 0.84 ms and 127 calls... 2021-10-11T01:27:34Z- waiting for 1633915649.04, time is 1633915651.29 2021-10-11T01:27:34Z- LcmTrn::updateTrn() >>>> pose time 1633915651.29, meas time 1633915650.90 <<<< 2021-10-11T01:27:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915650.90 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:34Z- TerrainNav::motionUpdate() - currEstimate = (4061902, 594413.60, 50.21) 2021-10-11T01:27:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:34Z- TerrainNav:: SubcloudNIS is 0.71, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:34Z- TNavBF::Projecting Measurements 2021-10-11T01:27:34Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:34Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:34Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:34Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:34Z- TNavFilter::4 good beams. 2021-10-11T01:27:34Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:34Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:34Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:34Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:34Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:34Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:34Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:34Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:34Z- TerrainMapOctree: (vehN, vehE ) = (4061901.25, 594413.42). 2021-10-11T01:27:34Z- TerrainMapOctree: Min Distance = 222.67. 2021-10-11T01:27:34Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:34Z- Forcing Subcloud Comparison 2021-10-11T01:27:34Z- Filter 0 deapthBias would have been set to Nan. indexP: 1749 indexM: 0 2021-10-11T01:27:34Z- Old Depth Bias: -20.26 DepthBiasCov: 0.58 K: 0.164 ExpectedMeasDiff: nan currMeas.covariance: 1.22 2021-10-11T01:27:34Z- Filter 0 deapthBias would have been set to Nan. indexP: 4021 indexM: 2 2021-10-11T01:27:34Z- Old Depth Bias: -29.21 DepthBiasCov: 0.41 K: 0.114 ExpectedMeasDiff: nan currMeas.covariance: 1.42 2021-10-11T01:27:34Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:34Z- Filter 0 beam number: 0 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:27:34Z- Filter 0 partialDeltaRmsComputation: 0.267997 terrainVariance: 0.141303 1-SumSquareWeights: 0.892959 2021-10-11T01:27:34Z- Filter 0 meanExpectedMeasDiff: 0.355940 delta_rms_squared: 0.132373 alpha: 0.868744 2021-10-11T01:27:34Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:34Z- Filter 0 partialDeltaRmsComputation: 27.553220 terrainVariance: 0.228806 1-SumSquareWeights: 0.892959 2021-10-11T01:27:34Z- Filter 0 meanExpectedMeasDiff: -5.227276 delta_rms_squared: 0.219877 alpha: 0.916624 2021-10-11T01:27:34Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:27:34Z- Filter 0 partialDeltaRmsComputation: 2.955635 terrainVariance: 0.190622 1-SumSquareWeights: 0.892959 2021-10-11T01:27:34Z- Filter 0 meanExpectedMeasDiff: 1.662833 delta_rms_squared: 0.181692 alpha: 0.900839 2021-10-11T01:27:34Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:34Z- Filter 0 partialDeltaRmsComputation: 22.757770 terrainVariance: 0.047416 1-SumSquareWeights: 0.892959 2021-10-11T01:27:34Z- Filter 0 meanExpectedMeasDiff: 4.765538 delta_rms_squared: 0.038487 alpha: 0.658042 2021-10-11T01:27:34Z- Filter 0 SubcloudNIS: 0.752801 2021-10-11T01:27:34Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:34Z- TNavBF:: Filter 0 sumWeights = 0.001148 2021-10-11T01:27:34Z- Filter 0 NorthBias: 2.4 EastBias: -83.3 DepthBias: -46.3 NorthVariance: 1.3 EastVariance: 0.9 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:27:34Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915650.90 sec. 2021-10-11T01:27:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:34Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:34Z- variances([0], [2], and psi_berg) = 1.295568 0.921652 0.000000 2021-10-11T01:27:34Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:34Z- LcmTrn::publishEstimates() - MLE : 4061903.99 594329.70 38.20 2021-10-11T01:27:34Z- LcmTrn::publishEstimates() - MMSE : 4061903.92 594330.26 3.95 2021-10-11T01:27:34Z- LcmTrn::publishEstimates() - COVAR: 1.30 0.92 0.39 0.00 2021-10-11T01:27:35Z- AHRS_M2 msg: 1633915651.68 epoch sec; seqNo:1903 2021-10-11T01:27:35Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.78 psi 2021-10-11T01:27:35Z- handleDepth()-Depth_Keller msg: 1633915651702 epoch sec; seqNo:1949; depth 50.20 2021-10-11T01:27:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915651.74 epoch sec; seqNo:1949; 4061901.52 north; 594414.82 east 2021-10-11T01:27:35Z- AHRS_M2 msg: 1633915652.07 epoch sec; seqNo:1904 2021-10-11T01:27:35Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.78 psi 2021-10-11T01:27:35Z- handleDepth()-Depth_Keller msg: 1633915652078 epoch sec; seqNo:1950; depth 50.17 2021-10-11T01:27:35Z- handleDvl() - RDI_Pathfinder msg: 1633915652.11 epoch sec; seqNo:571 2021-10-11T01:27:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 35.28 , 30.11 , 29.70 2021-10-11T01:27:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.07 , 0.01 2021-10-11T01:27:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915652.14 epoch sec; seqNo:1950; 4061901.89 north; 594414.81 east 2021-10-11T01:27:35Z- AHRS_M2 msg: 1633915652.47 epoch sec; seqNo:1905 2021-10-11T01:27:35Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.78 psi 2021-10-11T01:27:35Z- handleDepth()-Depth_Keller msg: 1633915652480 epoch sec; seqNo:1951; depth 50.15 2021-10-11T01:27:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915652.52 epoch sec; seqNo:1951; 4061901.89 north; 594414.81 east 2021-10-11T01:27:36Z- AHRS_M2 msg: 1633915652.88 epoch sec; seqNo:1906 2021-10-11T01:27:36Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.78 psi 2021-10-11T01:27:36Z- handleDepth()-Depth_Keller msg: 1633915652888 epoch sec; seqNo:1952; depth 50.12 2021-10-11T01:27:36Z- handleDvl() - RDI_Pathfinder msg: 1633915652.91 epoch sec; seqNo:572 2021-10-11T01:27:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.52 , 35.01 , 30.10 , 29.56 2021-10-11T01:27:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , 0.01 2021-10-11T01:27:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915653.00 epoch sec; seqNo:1952; 4061902.27 north; 594414.81 east 2021-10-11T01:27:36Z- AHRS_M2 msg: 1633915653.28 epoch sec; seqNo:1907 2021-10-11T01:27:36Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.78 psi 2021-10-11T01:27:36Z- handleDepth()-Depth_Keller msg: 1633915653291 epoch sec; seqNo:1953; depth 50.10 2021-10-11T01:27:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915653.31 epoch sec; seqNo:1953; 4061902.65 north; 594414.80 east 2021-10-11T01:27:37Z- AHRS_M2 msg: 1633915653.69 epoch sec; seqNo:1908 2021-10-11T01:27:37Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.79 psi 2021-10-11T01:27:37Z- handleDepth()-Depth_Keller msg: 1633915653698 epoch sec; seqNo:1954; depth 50.08 2021-10-11T01:27:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915653.77 epoch sec; seqNo:1954; 4061902.65 north; 594414.80 east 2021-10-11T01:27:37Z- AHRS_M2 msg: 1633915654.10 epoch sec; seqNo:1909 2021-10-11T01:27:37Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.79 psi 2021-10-11T01:27:37Z- handleDepth()-Depth_Keller msg: 1633915654101 epoch sec; seqNo:1955; depth 50.05 2021-10-11T01:27:37Z- handleDvl() - RDI_Pathfinder msg: 1633915654.12 epoch sec; seqNo:573 2021-10-11T01:27:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.79 , 35.83 , 29.97 , 29.70 2021-10-11T01:27:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , 0.00 2021-10-11T01:27:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915654.13 epoch sec; seqNo:1955; 4061903.03 north; 594414.80 east 2021-10-11T01:27:37Z- AHRS_M2 msg: 1633915654.49 epoch sec; seqNo:1910 2021-10-11T01:27:37Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.79 psi 2021-10-11T01:27:37Z- handleDepth()-Depth_Keller msg: 1633915654497 epoch sec; seqNo:1956; depth 50.05 2021-10-11T01:27:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915654.54 epoch sec; seqNo:1956; 4061903.42 north; 594416.02 east 2021-10-11T01:27:38Z- handleDepth()-Depth_Keller msg: 1633915654916 epoch sec; seqNo:1957; depth 50.03 2021-10-11T01:27:38Z- handleDvl() - RDI_Pathfinder msg: 1633915654.94 epoch sec; seqNo:574 2021-10-11T01:27:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.65 , 35.83 , 29.70 , 29.42 2021-10-11T01:27:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , -0.01 2021-10-11T01:27:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915654.95 epoch sec; seqNo:1957; 4061903.42 north; 594416.02 east 2021-10-11T01:27:38Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:27:38Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:27:38Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:27:38Z- AHRS_M2 msg: 1633915655.29 epoch sec; seqNo:1911 2021-10-11T01:27:38Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.79 psi 2021-10-11T01:27:38Z- handleDepth()-Depth_Keller msg: 1633915655324 epoch sec; seqNo:1958; depth 50.01 2021-10-11T01:27:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915655.34 epoch sec; seqNo:1958; 4061903.80 north; 594416.01 east 2021-10-11T01:27:39Z- AHRS_M2 msg: 1633915655.71 epoch sec; seqNo:1912 2021-10-11T01:27:39Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.80 psi 2021-10-11T01:27:39Z- handleDepth()-Depth_Keller msg: 1633915655717 epoch sec; seqNo:1959; depth 49.98 2021-10-11T01:27:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915655.75 epoch sec; seqNo:1959; 4061903.80 north; 594416.01 east 2021-10-11T01:27:39Z- AHRS_M2 msg: 1633915656.11 epoch sec; seqNo:1913 2021-10-11T01:27:39Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.80 psi 2021-10-11T01:27:39Z- handleDepth()-Depth_Keller msg: 1633915656113 epoch sec; seqNo:1960; depth 49.96 2021-10-11T01:27:39Z- handleDvl() - RDI_Pathfinder msg: 1633915656.14 epoch sec; seqNo:575 2021-10-11T01:27:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.92 , 36.51 , 29.29 , 28.74 2021-10-11T01:27:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , -0.00 2021-10-11T01:27:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915656.16 epoch sec; seqNo:1960; 4061904.18 north; 594416.01 east 2021-10-11T01:27:39Z- AHRS_M2 msg: 1633915656.52 epoch sec; seqNo:1914 2021-10-11T01:27:39Z- AHRS_M2 msg: -0.19 phi; 0.08 theta; 0.80 psi 2021-10-11T01:27:39Z- handleDepth()-Depth_Keller msg: 1633915656525 epoch sec; seqNo:1961; depth 49.92 2021-10-11T01:27:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915656.57 epoch sec; seqNo:1961; 4061904.57 north; 594417.22 east 2021-10-11T01:27:39Z- LcmTrn::handleMessages() - handling 43 messages took 0.90 ms and 125 calls... 2021-10-11T01:27:39Z- waiting for 1633915654.29, time is 1633915656.57 2021-10-11T01:27:39Z- LcmTrn::updateTrn() >>>> pose time 1633915656.57, meas time 1633915656.14 <<<< 2021-10-11T01:27:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915656.14 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:39Z- TerrainNav::motionUpdate() - currEstimate = (4061905, 594417.22, 49.92) 2021-10-11T01:27:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:39Z- TerrainNav:: SubcloudNIS is 0.75, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:39Z- TNavBF::Projecting Measurements 2021-10-11T01:27:39Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:39Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:39Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:39Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:39Z- TNavFilter::4 good beams. 2021-10-11T01:27:39Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:39Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:39Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:39Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:39Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:39Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:39Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:39Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:39Z- TerrainMapOctree: (vehN, vehE ) = (4061904.32, 594416.93). 2021-10-11T01:27:39Z- TerrainMapOctree: Min Distance = 227.34. 2021-10-11T01:27:39Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:40Z- Forcing Subcloud Comparison 2021-10-11T01:27:40Z- Filter 0 deapthBias would have been set to Nan. indexP: 3817 indexM: 2 2021-10-11T01:27:40Z- Old Depth Bias: -27.87 DepthBiasCov: 0.42 K: 0.119 ExpectedMeasDiff: nan currMeas.covariance: 1.37 2021-10-11T01:27:40Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:40Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:40Z- Filter 0 partialDeltaRmsComputation: 0.594230 terrainVariance: 0.041616 1-SumSquareWeights: 0.895484 2021-10-11T01:27:40Z- Filter 0 meanExpectedMeasDiff: -0.743380 delta_rms_squared: 0.032661 alpha: 0.620216 2021-10-11T01:27:40Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:40Z- Filter 0 partialDeltaRmsComputation: 51.225151 terrainVariance: 0.074782 1-SumSquareWeights: 0.895484 2021-10-11T01:27:40Z- Filter 0 meanExpectedMeasDiff: 7.151949 delta_rms_squared: 0.065827 alpha: 0.766973 2021-10-11T01:27:40Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:27:40Z- Filter 0 partialDeltaRmsComputation: 1.831516 terrainVariance: 0.578620 1-SumSquareWeights: 0.895484 2021-10-11T01:27:40Z- Filter 0 meanExpectedMeasDiff: -1.119328 delta_rms_squared: 0.569665 alpha: 0.966082 2021-10-11T01:27:40Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:40Z- Filter 0 partialDeltaRmsComputation: 6.825034 terrainVariance: 0.044099 1-SumSquareWeights: 0.895484 2021-10-11T01:27:40Z- Filter 0 meanExpectedMeasDiff: 2.604023 delta_rms_squared: 0.035144 alpha: 0.637313 2021-10-11T01:27:40Z- Filter 0 SubcloudNIS: 0.877552 2021-10-11T01:27:40Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:40Z- TNavBF:: Filter 0 sumWeights = 0.003913 2021-10-11T01:27:40Z- Filter 0 NorthBias: 2.4 EastBias: -83.2 DepthBias: -45.1 NorthVariance: 1.2 EastVariance: 1.1 DepthVariance: 0.4 this->DepthBiasCov: 0.3 2021-10-11T01:27:40Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915656.14 sec. 2021-10-11T01:27:40Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:40Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:40Z- variances([0], [2], and psi_berg) = 1.168726 1.076917 0.000000 2021-10-11T01:27:40Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:40Z- LcmTrn::publishEstimates() - MLE : 4061908.06 594334.32 37.92 2021-10-11T01:27:40Z- LcmTrn::publishEstimates() - MMSE : 4061906.99 594334.02 4.87 2021-10-11T01:27:40Z- LcmTrn::publishEstimates() - COVAR: 1.17 1.08 0.38 0.00 2021-10-11T01:27:40Z- AHRS_M2 msg: 1633915656.92 epoch sec; seqNo:1915 2021-10-11T01:27:40Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 0.80 psi 2021-10-11T01:27:40Z- handleDepth()-Depth_Keller msg: 1633915656923 epoch sec; seqNo:1962; depth 49.91 2021-10-11T01:27:40Z- handleDvl() - RDI_Pathfinder msg: 1633915656.94 epoch sec; seqNo:576 2021-10-11T01:27:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.66 , 36.10 , 28.88 , 26.29 2021-10-11T01:27:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.04 , -0.01 2021-10-11T01:27:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915656.98 epoch sec; seqNo:1962; 4061904.57 north; 594417.22 east 2021-10-11T01:27:40Z- AHRS_M2 msg: 1633915657.41 epoch sec; seqNo:1916 2021-10-11T01:27:40Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 0.81 psi 2021-10-11T01:27:40Z- handleDepth()-Depth_Keller msg: 1633915657418 epoch sec; seqNo:1963; depth 49.87 2021-10-11T01:27:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915657.45 epoch sec; seqNo:1963; 4061904.95 north; 594417.22 east 2021-10-11T01:27:41Z- handleAhrs() - platform_orientation item not found in ahrs msg 2021-10-11T01:27:41Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2021-10-11T01:27:41Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2021-10-11T01:27:41Z- AHRS_M2 msg: 1633915657.72 epoch sec; seqNo:1917 2021-10-11T01:27:41Z- AHRS_M2 msg: -0.18 phi; 0.08 theta; 0.81 psi 2021-10-11T01:27:41Z- handleDepth()-Depth_Keller msg: 1633915657744 epoch sec; seqNo:1964; depth 49.85 2021-10-11T01:27:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915657.79 epoch sec; seqNo:1964; 4061904.95 north; 594417.22 east 2021-10-11T01:27:41Z- AHRS_M2 msg: 1633915658.13 epoch sec; seqNo:1918 2021-10-11T01:27:41Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.81 psi 2021-10-11T01:27:41Z- handleDepth()-Depth_Keller msg: 1633915658137 epoch sec; seqNo:1965; depth 49.82 2021-10-11T01:27:41Z- handleDvl() - RDI_Pathfinder msg: 1633915658.16 epoch sec; seqNo:577 2021-10-11T01:27:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.79 , 36.10 , 26.16 , 25.75 2021-10-11T01:27:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.06 , -0.00 2021-10-11T01:27:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915658.17 epoch sec; seqNo:1965; 4061905.33 north; 594417.21 east 2021-10-11T01:27:41Z- AHRS_M2 msg: 1633915658.54 epoch sec; seqNo:1919 2021-10-11T01:27:41Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.82 psi 2021-10-11T01:27:41Z- handleDepth()-Depth_Keller msg: 1633915658560 epoch sec; seqNo:1966; depth 49.82 2021-10-11T01:27:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915658.59 epoch sec; seqNo:1966; 4061905.71 north; 594417.21 east 2021-10-11T01:27:42Z- AHRS_M2 msg: 1633915658.94 epoch sec; seqNo:1920 2021-10-11T01:27:42Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.82 psi 2021-10-11T01:27:42Z- handleDepth()-Depth_Keller msg: 1633915658941 epoch sec; seqNo:1967; depth 49.79 2021-10-11T01:27:42Z- handleDvl() - RDI_Pathfinder msg: 1633915658.97 epoch sec; seqNo:578 2021-10-11T01:27:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 36.38 , 30.00 , 25.75 2021-10-11T01:27:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.06 , 0.00 2021-10-11T01:27:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915658.99 epoch sec; seqNo:1967; 4061905.72 north; 594418.43 east 2021-10-11T01:27:42Z- AHRS_M2 msg: 1633915659.34 epoch sec; seqNo:1921 2021-10-11T01:27:42Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.82 psi 2021-10-11T01:27:42Z- handleDepth()-Depth_Keller msg: 1633915659347 epoch sec; seqNo:1968; depth 49.77 2021-10-11T01:27:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915659.37 epoch sec; seqNo:1968; 4061906.10 north; 594418.43 east 2021-10-11T01:27:43Z- AHRS_M2 msg: 1633915659.75 epoch sec; seqNo:1922 2021-10-11T01:27:43Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.82 psi 2021-10-11T01:27:43Z- handleDepth()-Depth_Keller msg: 1633915659751 epoch sec; seqNo:1969; depth 49.74 2021-10-11T01:27:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915659.77 epoch sec; seqNo:1969; 4061906.10 north; 594418.43 east 2021-10-11T01:27:43Z- AHRS_M2 msg: 1633915660.16 epoch sec; seqNo:1923 2021-10-11T01:27:43Z- AHRS_M2 msg: -0.18 phi; 0.07 theta; 0.83 psi 2021-10-11T01:27:43Z- handleDepth()-Depth_Keller msg: 1633915660161 epoch sec; seqNo:1970; depth 49.72 2021-10-11T01:27:43Z- handleDvl() - RDI_Pathfinder msg: 1633915660.19 epoch sec; seqNo:579 2021-10-11T01:27:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.38 , 36.78 , 32.00 , 25.89 2021-10-11T01:27:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.00 2021-10-11T01:27:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915660.21 epoch sec; seqNo:1970; 4061906.48 north; 594418.42 east 2021-10-11T01:27:43Z- AHRS_M2 msg: 1633915660.56 epoch sec; seqNo:1924 2021-10-11T01:27:43Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.83 psi 2021-10-11T01:27:43Z- handleDepth()-Depth_Keller msg: 1633915660567 epoch sec; seqNo:1971; depth 49.69 2021-10-11T01:27:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915660.58 epoch sec; seqNo:1971; 4061906.86 north; 594418.42 east 2021-10-11T01:27:44Z- AHRS_M2 msg: 1633915660.96 epoch sec; seqNo:1925 2021-10-11T01:27:44Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.83 psi 2021-10-11T01:27:44Z- handleDepth()-Depth_Keller msg: 1633915660965 epoch sec; seqNo:1972; depth 49.69 2021-10-11T01:27:44Z- handleDvl() - RDI_Pathfinder msg: 1633915660.99 epoch sec; seqNo:580 2021-10-11T01:27:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.38 , 36.92 , 32.00 , 25.61 2021-10-11T01:27:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.06 , 0.01 2021-10-11T01:27:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915661.02 epoch sec; seqNo:1972; 4061906.86 north; 594418.42 east 2021-10-11T01:27:44Z- AHRS_M2 msg: 1633915661.36 epoch sec; seqNo:1926 2021-10-11T01:27:44Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.84 psi 2021-10-11T01:27:44Z- handleDepth()-Depth_Keller msg: 1633915661366 epoch sec; seqNo:1973; depth 49.67 2021-10-11T01:27:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915661.40 epoch sec; seqNo:1973; 4061907.25 north; 594419.63 east 2021-10-11T01:27:45Z- AHRS_M2 msg: 1633915661.77 epoch sec; seqNo:1927 2021-10-11T01:27:45Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.84 psi 2021-10-11T01:27:45Z- LcmTrn::handleMessages() - handling 42 messages took 0.86 ms and 124 calls... 2021-10-11T01:27:45Z- waiting for 1633915659.57, time is 1633915661.77 2021-10-11T01:27:45Z- LcmTrn::updateTrn() >>>> pose time 1633915661.77, meas time 1633915660.99 <<<< 2021-10-11T01:27:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915660.99 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:45Z- TerrainNav::motionUpdate() - currEstimate = (4061907, 594419.63, 49.67) 2021-10-11T01:27:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:45Z- TerrainNav:: SubcloudNIS is 0.88, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:45Z- TNavBF::Projecting Measurements 2021-10-11T01:27:45Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:45Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:45Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:45Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:45Z- TNavFilter::4 good beams. 2021-10-11T01:27:45Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:45Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:45Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:45Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:45Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:45Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:45Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:45Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:45Z- TerrainMapOctree: (vehN, vehE ) = (4061906.85, 594419.27). 2021-10-11T01:27:45Z- TerrainMapOctree: Min Distance = 230.77. 2021-10-11T01:27:45Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:45Z- Forcing Subcloud Comparison 2021-10-11T01:27:45Z- Filter 0 deapthBias would have been set to Nan. indexP: 7585 indexM: 1 2021-10-11T01:27:45Z- Old Depth Bias: -19.59 DepthBiasCov: 0.43 K: 0.099 ExpectedMeasDiff: nan currMeas.covariance: 2.18 2021-10-11T01:27:45Z- Filter 0 deapthBias would have been set to Nan. indexP: 3716 indexM: 2 2021-10-11T01:27:45Z- Old Depth Bias: -27.29 DepthBiasCov: 0.39 K: 0.103 ExpectedMeasDiff: nan currMeas.covariance: 1.64 2021-10-11T01:27:45Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:45Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:45Z- Filter 0 partialDeltaRmsComputation: 0.870383 terrainVariance: 0.121067 1-SumSquareWeights: 0.909712 2021-10-11T01:27:45Z- Filter 0 meanExpectedMeasDiff: -0.865631 delta_rms_squared: 0.111970 alpha: 0.848450 2021-10-11T01:27:45Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:27:45Z- Filter 0 partialDeltaRmsComputation: 40.723036 terrainVariance: 0.034392 1-SumSquareWeights: 0.909712 2021-10-11T01:27:45Z- Filter 0 meanExpectedMeasDiff: 6.378765 delta_rms_squared: 0.025294 alpha: 0.558445 2021-10-11T01:27:45Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:27:45Z- Filter 0 partialDeltaRmsComputation: 2.374434 terrainVariance: 0.102125 1-SumSquareWeights: 0.909712 2021-10-11T01:27:45Z- Filter 0 meanExpectedMeasDiff: 1.507418 delta_rms_squared: 0.093028 alpha: 0.823053 2021-10-11T01:27:45Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:45Z- Filter 0 partialDeltaRmsComputation: 2.988026 terrainVariance: 0.026970 1-SumSquareWeights: 0.909712 2021-10-11T01:27:45Z- Filter 0 meanExpectedMeasDiff: -1.720772 delta_rms_squared: 0.017873 alpha: 0.471917 2021-10-11T01:27:45Z- Filter 0 SubcloudNIS: 0.890494 2021-10-11T01:27:45Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:45Z- TNavBF:: Filter 0 sumWeights = 0.037617 2021-10-11T01:27:45Z- Filter 0 NorthBias: 2.5 EastBias: -83.1 DepthBias: -44.5 NorthVariance: 1.2 EastVariance: 1.0 DepthVariance: 0.3 this->DepthBiasCov: 0.3 2021-10-11T01:27:45Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915660.99 sec. 2021-10-11T01:27:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:45Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:45Z- variances([0], [2], and psi_berg) = 1.194354 1.010314 0.000000 2021-10-11T01:27:45Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:45Z- LcmTrn::publishEstimates() - MLE : 4061910.74 594336.74 37.67 2021-10-11T01:27:45Z- LcmTrn::publishEstimates() - MMSE : 4061909.76 594336.50 5.21 2021-10-11T01:27:45Z- LcmTrn::publishEstimates() - COVAR: 1.19 1.01 0.36 0.00 2021-10-11T01:27:45Z- handleDepth()-Depth_Keller msg: 1633915661770 epoch sec; seqNo:1974; depth 49.64 2021-10-11T01:27:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915661.78 epoch sec; seqNo:1974; 4061907.25 north; 594419.63 east 2021-10-11T01:27:45Z- AHRS_M2 msg: 1633915662.17 epoch sec; seqNo:1928 2021-10-11T01:27:45Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.84 psi 2021-10-11T01:27:45Z- handleDepth()-Depth_Keller msg: 1633915662173 epoch sec; seqNo:1975; depth 49.64 2021-10-11T01:27:45Z- handleDvl() - RDI_Pathfinder msg: 1633915662.19 epoch sec; seqNo:581 2021-10-11T01:27:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.84 , 37.19 , 0.00 , 25.75 2021-10-11T01:27:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.07 , 0.01 2021-10-11T01:27:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915662.23 epoch sec; seqNo:1975; 4061907.63 north; 594419.63 east 2021-10-11T01:27:45Z- AHRS_M2 msg: 1633915662.57 epoch sec; seqNo:1929 2021-10-11T01:27:45Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.84 psi 2021-10-11T01:27:45Z- handleDepth()-Depth_Keller msg: 1633915662579 epoch sec; seqNo:1976; depth 49.59 2021-10-11T01:27:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915662.61 epoch sec; seqNo:1976; 4061908.01 north; 594419.63 east 2021-10-11T01:27:46Z- AHRS_M2 msg: 1633915662.98 epoch sec; seqNo:1930 2021-10-11T01:27:46Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.85 psi 2021-10-11T01:27:46Z- handleDepth()-Depth_Keller msg: 1633915662988 epoch sec; seqNo:1977; depth 49.60 2021-10-11T01:27:46Z- handleDvl() - RDI_Pathfinder msg: 1633915663.02 epoch sec; seqNo:582 2021-10-11T01:27:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.70 , 37.19 , 28.06 , 25.61 2021-10-11T01:27:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.01 2021-10-11T01:27:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915663.03 epoch sec; seqNo:1977; 4061908.01 north; 594419.63 east 2021-10-11T01:27:46Z- AHRS_M2 msg: 1633915663.38 epoch sec; seqNo:1931 2021-10-11T01:27:46Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.85 psi 2021-10-11T01:27:46Z- handleDepth()-Depth_Keller msg: 1633915663388 epoch sec; seqNo:1978; depth 49.57 2021-10-11T01:27:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915663.40 epoch sec; seqNo:1978; 4061908.39 north; 594419.62 east 2021-10-11T01:27:47Z- AHRS_M2 msg: 1633915663.79 epoch sec; seqNo:1932 2021-10-11T01:27:47Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.85 psi 2021-10-11T01:27:47Z- handleDepth()-Depth_Keller msg: 1633915663793 epoch sec; seqNo:1979; depth 49.55 2021-10-11T01:27:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915663.80 epoch sec; seqNo:1979; 4061908.40 north; 594420.84 east 2021-10-11T01:27:47Z- AHRS_M2 msg: 1633915664.19 epoch sec; seqNo:1933 2021-10-11T01:27:47Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.85 psi 2021-10-11T01:27:47Z- handleDepth()-Depth_Keller msg: 1633915664193 epoch sec; seqNo:1980; depth 49.55 2021-10-11T01:27:47Z- handleDvl() - RDI_Pathfinder msg: 1633915664.23 epoch sec; seqNo:583 2021-10-11T01:27:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.97 , 37.60 , 27.79 , 25.47 2021-10-11T01:27:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.02 2021-10-11T01:27:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915664.25 epoch sec; seqNo:1980; 4061908.78 north; 594420.84 east 2021-10-11T01:27:47Z- AHRS_M2 msg: 1633915664.60 epoch sec; seqNo:1934 2021-10-11T01:27:47Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.85 psi 2021-10-11T01:27:47Z- handleDepth()-Depth_Keller msg: 1633915664601 epoch sec; seqNo:1981; depth 49.52 2021-10-11T01:27:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915664.62 epoch sec; seqNo:1981; 4061908.78 north; 594420.84 east 2021-10-11T01:27:48Z- AHRS_M2 msg: 1633915665.00 epoch sec; seqNo:1935 2021-10-11T01:27:48Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.86 psi 2021-10-11T01:27:48Z- handleDepth()-Depth_Keller msg: 1633915665008 epoch sec; seqNo:1982; depth 49.50 2021-10-11T01:27:48Z- handleDvl() - RDI_Pathfinder msg: 1633915665.03 epoch sec; seqNo:584 2021-10-11T01:27:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.25 , 37.74 , 28.34 , 25.61 2021-10-11T01:27:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , 0.02 2021-10-11T01:27:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915665.06 epoch sec; seqNo:1982; 4061909.16 north; 594420.83 east 2021-10-11T01:27:48Z- AHRS_M2 msg: 1633915665.40 epoch sec; seqNo:1936 2021-10-11T01:27:48Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.86 psi 2021-10-11T01:27:48Z- handleDepth()-Depth_Keller msg: 1633915665413 epoch sec; seqNo:1983; depth 49.48 2021-10-11T01:27:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915665.43 epoch sec; seqNo:1983; 4061909.54 north; 594420.83 east 2021-10-11T01:27:49Z- AHRS_M2 msg: 1633915665.81 epoch sec; seqNo:1937 2021-10-11T01:27:49Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.86 psi 2021-10-11T01:27:49Z- handleDepth()-Depth_Keller msg: 1633915665816 epoch sec; seqNo:1984; depth 49.47 2021-10-11T01:27:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915665.84 epoch sec; seqNo:1984; 4061909.55 north; 594422.05 east 2021-10-11T01:27:49Z- AHRS_M2 msg: 1633915666.21 epoch sec; seqNo:1938 2021-10-11T01:27:49Z- AHRS_M2 msg: -0.18 phi; 0.06 theta; 0.86 psi 2021-10-11T01:27:49Z- handleDepth()-Depth_Keller msg: 1633915666216 epoch sec; seqNo:1985; depth 49.44 2021-10-11T01:27:49Z- handleDvl() - RDI_Pathfinder msg: 1633915666.24 epoch sec; seqNo:585 2021-10-11T01:27:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.38 , 38.01 , 27.93 , 25.89 2021-10-11T01:27:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.03 , 0.02 2021-10-11T01:27:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915666.27 epoch sec; seqNo:1985; 4061909.93 north; 594422.05 east 2021-10-11T01:27:50Z- handleDepth()-Depth_Keller msg: 1633915666655 epoch sec; seqNo:1986; depth 49.43 2021-10-11T01:27:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915666.67 epoch sec; seqNo:1986; 4061909.93 north; 594422.05 east 2021-10-11T01:27:50Z- LcmTrn::handleMessages() - handling 42 messages took 0.82 ms and 125 calls... 2021-10-11T01:27:50Z- waiting for 1633915664.77, time is 1633915666.67 2021-10-11T01:27:50Z- LcmTrn::updateTrn() >>>> pose time 1633915666.67, meas time 1633915666.24 <<<< 2021-10-11T01:27:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915666.24 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:50Z- TerrainNav::motionUpdate() - currEstimate = (4061910, 594422.05, 49.43) 2021-10-11T01:27:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:50Z- TerrainNav:: SubcloudNIS is 0.89, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:50Z- TNavBF::Projecting Measurements 2021-10-11T01:27:50Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:50Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:50Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:50Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:50Z- TNavFilter::4 good beams. 2021-10-11T01:27:50Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:50Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:50Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:50Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:50Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:50Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:50Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:50Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:50Z- TerrainMapOctree: (vehN, vehE ) = (4061909.69, 594421.83). 2021-10-11T01:27:50Z- TerrainMapOctree: Min Distance = 234.58. 2021-10-11T01:27:50Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:50Z- Forcing Subcloud Comparison 2021-10-11T01:27:50Z- Filter 0 deapthBias would have been set to Nan. indexP: 3514 indexM: 2 2021-10-11T01:27:50Z- Old Depth Bias: -26.93 DepthBiasCov: 0.39 K: 0.115 ExpectedMeasDiff: nan currMeas.covariance: 1.25 2021-10-11T01:27:50Z- Filter 0 deapthBias would have been set to Nan. indexP: 5499 indexM: 3 2021-10-11T01:27:50Z- Old Depth Bias: -20.42 DepthBiasCov: 0.34 K: 0.109 ExpectedMeasDiff: nan currMeas.covariance: 1.07 2021-10-11T01:27:50Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:50Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:50Z- Filter 0 partialDeltaRmsComputation: 0.835911 terrainVariance: 0.020423 1-SumSquareWeights: 0.913693 2021-10-11T01:27:50Z- Filter 0 meanExpectedMeasDiff: -0.903043 delta_rms_squared: 0.011286 alpha: 0.360746 2021-10-11T01:27:50Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:50Z- Filter 0 partialDeltaRmsComputation: 48.229124 terrainVariance: 0.121628 1-SumSquareWeights: 0.913693 2021-10-11T01:27:50Z- Filter 0 meanExpectedMeasDiff: 6.935957 delta_rms_squared: 0.112491 alpha: 0.849047 2021-10-11T01:27:50Z- Filter 0 beam number: 2 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:27:50Z- Filter 0 partialDeltaRmsComputation: 3.772046 terrainVariance: 0.274718 1-SumSquareWeights: 0.913693 2021-10-11T01:27:50Z- Filter 0 meanExpectedMeasDiff: -1.870114 delta_rms_squared: 0.265581 alpha: 0.929967 2021-10-11T01:27:50Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:27:50Z- Filter 0 partialDeltaRmsComputation: 3.767433 terrainVariance: 0.021855 1-SumSquareWeights: 0.913693 2021-10-11T01:27:50Z- Filter 0 meanExpectedMeasDiff: -1.935350 delta_rms_squared: 0.012718 alpha: 0.388714 2021-10-11T01:27:50Z- Filter 0 SubcloudNIS: 0.877478 2021-10-11T01:27:50Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:50Z- TNavBF:: Filter 0 sumWeights = 0.005057 2021-10-11T01:27:50Z- Filter 0 NorthBias: 3.3 EastBias: -82.8 DepthBias: -44.4 NorthVariance: 2.0 EastVariance: 0.9 DepthVariance: 0.3 this->DepthBiasCov: 0.3 2021-10-11T01:27:50Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915666.24 sec. 2021-10-11T01:27:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:50Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:50Z- variances([0], [2], and psi_berg) = 1.964861 0.925798 0.000000 2021-10-11T01:27:50Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:50Z- LcmTrn::publishEstimates() - MLE : 4061914.42 594339.15 37.42 2021-10-11T01:27:50Z- LcmTrn::publishEstimates() - MMSE : 4061913.22 594339.23 5.01 2021-10-11T01:27:50Z- LcmTrn::publishEstimates() - COVAR: 1.96 0.93 0.35 0.00 2021-10-11T01:27:50Z- AHRS_M2 msg: 1633915667.02 epoch sec; seqNo:1939 2021-10-11T01:27:50Z- AHRS_M2 msg: -0.18 phi; 0.05 theta; 0.87 psi 2021-10-11T01:27:50Z- handleDepth()-Depth_Keller msg: 1633915667023 epoch sec; seqNo:1987; depth 49.40 2021-10-11T01:27:50Z- handleDvl() - RDI_Pathfinder msg: 1633915667.05 epoch sec; seqNo:586 2021-10-11T01:27:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.25 , 37.87 , 27.25 , 26.16 2021-10-11T01:27:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.03 , 0.01 2021-10-11T01:27:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915667.10 epoch sec; seqNo:1987; 4061910.31 north; 594422.04 east 2021-10-11T01:27:50Z- AHRS_M2 msg: 1633915667.44 epoch sec; seqNo:1940 2021-10-11T01:27:50Z- AHRS_M2 msg: -0.18 phi; 0.05 theta; 0.87 psi 2021-10-11T01:27:50Z- handleDepth()-Depth_Keller msg: 1633915667452 epoch sec; seqNo:1988; depth 49.39 2021-10-11T01:27:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915667.47 epoch sec; seqNo:1988; 4061910.31 north; 594422.04 east 2021-10-11T01:27:51Z- AHRS_M2 msg: 1633915667.85 epoch sec; seqNo:1941 2021-10-11T01:27:51Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.87 psi 2021-10-11T01:27:51Z- handleDepth()-Depth_Keller msg: 1633915667856 epoch sec; seqNo:1989; depth 49.38 2021-10-11T01:27:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915667.87 epoch sec; seqNo:1989; 4061910.70 north; 594423.26 east 2021-10-11T01:27:51Z- AHRS_M2 msg: 1633915668.25 epoch sec; seqNo:1942 2021-10-11T01:27:51Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.88 psi 2021-10-11T01:27:51Z- handleDepth()-Depth_Keller msg: 1633915668259 epoch sec; seqNo:1990; depth 49.35 2021-10-11T01:27:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915668.29 epoch sec; seqNo:1990; 4061910.70 north; 594423.26 east 2021-10-11T01:27:52Z- AHRS_M2 msg: 1633915668.65 epoch sec; seqNo:1943 2021-10-11T01:27:52Z- AHRS_M2 msg: -0.19 phi; 0.05 theta; 0.88 psi 2021-10-11T01:27:52Z- handleDepth()-Depth_Keller msg: 1633915668658 epoch sec; seqNo:1991; depth 49.33 2021-10-11T01:27:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915668.68 epoch sec; seqNo:1991; 4061911.08 north; 594423.25 east 2021-10-11T01:27:52Z- AHRS_M2 msg: 1633915669.06 epoch sec; seqNo:1944 2021-10-11T01:27:52Z- AHRS_M2 msg: -0.19 phi; 0.04 theta; 0.88 psi 2021-10-11T01:27:52Z- handleDepth()-Depth_Keller msg: 1633915669067 epoch sec; seqNo:1992; depth 49.32 2021-10-11T01:27:52Z- handleDvl() - RDI_Pathfinder msg: 1633915669.10 epoch sec; seqNo:587 2021-10-11T01:27:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.97 , 38.41 , 26.97 , 26.56 2021-10-11T01:27:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.03 , -0.01 2021-10-11T01:27:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915669.12 epoch sec; seqNo:1992; 4061911.46 north; 594423.25 east 2021-10-11T01:27:52Z- AHRS_M2 msg: 1633915669.46 epoch sec; seqNo:1945 2021-10-11T01:27:52Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 0.89 psi 2021-10-11T01:27:52Z- handleDepth()-Depth_Keller msg: 1633915669468 epoch sec; seqNo:1993; depth 49.30 2021-10-11T01:27:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915669.49 epoch sec; seqNo:1993; 4061911.46 north; 594423.25 east 2021-10-11T01:27:53Z- AHRS_M2 msg: 1633915669.87 epoch sec; seqNo:1946 2021-10-11T01:27:53Z- AHRS_M2 msg: -0.20 phi; 0.04 theta; 0.89 psi 2021-10-11T01:27:53Z- handleDepth()-Depth_Keller msg: 1633915669882 epoch sec; seqNo:1994; depth 49.29 2021-10-11T01:27:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915669.89 epoch sec; seqNo:1994; 4061911.84 north; 594423.25 east 2021-10-11T01:27:53Z- AHRS_M2 msg: 1633915670.27 epoch sec; seqNo:1947 2021-10-11T01:27:53Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 0.89 psi 2021-10-11T01:27:53Z- handleDepth()-Depth_Keller msg: 1633915670280 epoch sec; seqNo:1995; depth 49.26 2021-10-11T01:27:53Z- handleDvl() - RDI_Pathfinder msg: 1633915670.31 epoch sec; seqNo:588 2021-10-11T01:27:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.43 , 38.82 , 8.00 , 26.56 2021-10-11T01:27:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.05 , -0.01 2021-10-11T01:27:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915670.32 epoch sec; seqNo:1995; 4061911.85 north; 594424.47 east 2021-10-11T01:27:54Z- AHRS_M2 msg: 1633915670.67 epoch sec; seqNo:1948 2021-10-11T01:27:54Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 0.89 psi 2021-10-11T01:27:54Z- handleDepth()-Depth_Keller msg: 1633915670678 epoch sec; seqNo:1996; depth 49.24 2021-10-11T01:27:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915670.69 epoch sec; seqNo:1996; 4061912.23 north; 594424.46 east 2021-10-11T01:27:54Z- AHRS_M2 msg: 1633915671.09 epoch sec; seqNo:1949 2021-10-11T01:27:54Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 0.90 psi 2021-10-11T01:27:54Z- handleDepth()-Depth_Keller msg: 1633915671091 epoch sec; seqNo:1997; depth 49.25 2021-10-11T01:27:54Z- handleDvl() - RDI_Pathfinder msg: 1633915671.11 epoch sec; seqNo:589 2021-10-11T01:27:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.29 , 38.96 , 28.47 , 26.84 2021-10-11T01:27:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , -0.01 2021-10-11T01:27:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915671.13 epoch sec; seqNo:1997; 4061912.23 north; 594424.46 east 2021-10-11T01:27:54Z- AHRS_M2 msg: 1633915671.48 epoch sec; seqNo:1950 2021-10-11T01:27:54Z- AHRS_M2 msg: -0.20 phi; 0.03 theta; 0.90 psi 2021-10-11T01:27:54Z- handleDepth()-Depth_Keller msg: 1633915671497 epoch sec; seqNo:1998; depth 49.22 2021-10-11T01:27:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915671.52 epoch sec; seqNo:1998; 4061912.61 north; 594424.46 east 2021-10-11T01:27:55Z- AHRS_M2 msg: 1633915671.88 epoch sec; seqNo:1951 2021-10-11T01:27:55Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.90 psi 2021-10-11T01:27:55Z- handleDepth()-Depth_Keller msg: 1633915671889 epoch sec; seqNo:1999; depth 49.21 2021-10-11T01:27:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915671.90 epoch sec; seqNo:1999; 4061912.61 north; 594424.46 east 2021-10-11T01:27:55Z- LcmTrn::handleMessages() - handling 43 messages took 0.74 ms and 128 calls... 2021-10-11T01:27:55Z- waiting for 1633915669.67, time is 1633915671.90 2021-10-11T01:27:55Z- LcmTrn::updateTrn() >>>> pose time 1633915671.90, meas time 1633915671.11 <<<< 2021-10-11T01:27:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915671.11 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:27:55Z- TerrainNav::motionUpdate() - currEstimate = (4061913, 594424.46, 49.21) 2021-10-11T01:27:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:27:55Z- TerrainNav:: SubcloudNIS is 0.88, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:27:55Z- TNavBF::Projecting Measurements 2021-10-11T01:27:55Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:27:55Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:27:55Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:27:55Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:27:55Z- TNavFilter::4 good beams. 2021-10-11T01:27:55Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:27:55Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:27:55Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:27:55Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:27:55Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:27:55Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:27:55Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:27:55Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:55Z- TerrainMapOctree: (vehN, vehE ) = (4061912.21, 594424.09). 2021-10-11T01:27:55Z- TerrainMapOctree: Min Distance = 237.95. 2021-10-11T01:27:55Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:27:55Z- Forcing Subcloud Comparison 2021-10-11T01:27:55Z- Filter 0 deapthBias would have been set to Nan. indexP: 3612 indexM: 2 2021-10-11T01:27:55Z- Old Depth Bias: -27.58 DepthBiasCov: 0.37 K: 0.110 ExpectedMeasDiff: nan currMeas.covariance: 1.30 2021-10-11T01:27:55Z- Filter 0 deapthBias would have been set to Nan. indexP: 5198 indexM: 3 2021-10-11T01:27:55Z- Old Depth Bias: -20.95 DepthBiasCov: 0.33 K: 0.103 ExpectedMeasDiff: nan currMeas.covariance: 1.15 2021-10-11T01:27:55Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:27:55Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:55Z- Filter 0 partialDeltaRmsComputation: 1.262604 terrainVariance: 0.118264 1-SumSquareWeights: 0.927815 2021-10-11T01:27:55Z- Filter 0 meanExpectedMeasDiff: -1.069738 delta_rms_squared: 0.108985 alpha: 0.844944 2021-10-11T01:27:55Z- Filter 0 beam number: 1 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:27:55Z- Filter 0 partialDeltaRmsComputation: 33.050907 terrainVariance: 0.200320 1-SumSquareWeights: 0.927815 2021-10-11T01:27:55Z- Filter 0 meanExpectedMeasDiff: 5.731543 delta_rms_squared: 0.191042 alpha: 0.905232 2021-10-11T01:27:55Z- Filter 0 beam number: 2 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:27:55Z- Filter 0 partialDeltaRmsComputation: 0.880993 terrainVariance: 0.792066 1-SumSquareWeights: 0.927815 2021-10-11T01:27:55Z- Filter 0 meanExpectedMeasDiff: -0.298205 delta_rms_squared: 0.782788 alpha: 0.975087 2021-10-11T01:27:55Z- Filter 0 beam number: 3 num in subcloud: 9998 num not in subcloud: 2 2021-10-11T01:27:55Z- Filter 0 partialDeltaRmsComputation: 2.886124 terrainVariance: 0.052342 1-SumSquareWeights: 0.927815 2021-10-11T01:27:55Z- Filter 0 meanExpectedMeasDiff: -1.683384 delta_rms_squared: 0.043064 alpha: 0.682863 2021-10-11T01:27:55Z- Filter 0 SubcloudNIS: 0.742856 2021-10-11T01:27:55Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:27:55Z- TNavBF:: Filter 0 sumWeights = 0.022708 2021-10-11T01:27:55Z- Filter 0 NorthBias: 4.0 EastBias: -82.7 DepthBias: -44.3 NorthVariance: 2.2 EastVariance: 0.6 DepthVariance: 0.3 this->DepthBiasCov: 0.3 2021-10-11T01:27:55Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915671.11 sec. 2021-10-11T01:27:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:27:55Z- TNavBF::mmse selected from filter -1 2021-10-11T01:27:55Z- variances([0], [2], and psi_berg) = 2.168281 0.650036 0.000000 2021-10-11T01:27:55Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:27:55Z- LcmTrn::publishEstimates() - MLE : 4061917.09 594341.56 37.21 2021-10-11T01:27:55Z- LcmTrn::publishEstimates() - MMSE : 4061916.59 594341.77 4.95 2021-10-11T01:27:55Z- LcmTrn::publishEstimates() - COVAR: 2.17 0.65 0.37 0.00 2021-10-11T01:27:55Z- AHRS_M2 msg: 1633915672.29 epoch sec; seqNo:1952 2021-10-11T01:27:55Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.90 psi 2021-10-11T01:27:55Z- handleDepth()-Depth_Keller msg: 1633915672294 epoch sec; seqNo:2000; depth 49.20 2021-10-11T01:27:55Z- handleDvl() - RDI_Pathfinder msg: 1633915672.32 epoch sec; seqNo:590 2021-10-11T01:27:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.57 , 38.69 , 28.34 , 26.97 2021-10-11T01:27:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.07 , 0.00 2021-10-11T01:27:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915672.35 epoch sec; seqNo:2000; 4061913.00 north; 594425.67 east 2021-10-11T01:27:56Z- AHRS_M2 msg: 1633915672.69 epoch sec; seqNo:1953 2021-10-11T01:27:56Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.90 psi 2021-10-11T01:27:56Z- handleDepth()-Depth_Keller msg: 1633915672700 epoch sec; seqNo:2001; depth 49.18 2021-10-11T01:27:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915672.72 epoch sec; seqNo:2001; 4061913.38 north; 594425.67 east 2021-10-11T01:27:56Z- AHRS_M2 msg: 1633915673.10 epoch sec; seqNo:1954 2021-10-11T01:27:56Z- AHRS_M2 msg: -0.20 phi; 0.02 theta; 0.90 psi 2021-10-11T01:27:56Z- handleDepth()-Depth_Keller msg: 1633915673104 epoch sec; seqNo:2002; depth 49.19 2021-10-11T01:27:56Z- handleDvl() - RDI_Pathfinder msg: 1633915673.13 epoch sec; seqNo:591 2021-10-11T01:27:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.43 , 38.96 , 28.06 , 27.24 2021-10-11T01:27:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.01 2021-10-11T01:27:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915673.15 epoch sec; seqNo:2002; 4061913.38 north; 594425.67 east 2021-10-11T01:27:56Z- AHRS_M2 msg: 1633915673.50 epoch sec; seqNo:1955 2021-10-11T01:27:56Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.91 psi 2021-10-11T01:27:56Z- handleDepth()-Depth_Keller msg: 1633915673516 epoch sec; seqNo:2003; depth 49.17 2021-10-11T01:27:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915673.53 epoch sec; seqNo:2003; 4061913.76 north; 594425.67 east 2021-10-11T01:27:57Z- AHRS_M2 msg: 1633915673.90 epoch sec; seqNo:1956 2021-10-11T01:27:57Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.91 psi 2021-10-11T01:27:57Z- handleDepth()-Depth_Keller msg: 1633915673910 epoch sec; seqNo:2004; depth 49.18 2021-10-11T01:27:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915673.93 epoch sec; seqNo:2004; 4061913.76 north; 594425.67 east 2021-10-11T01:27:57Z- AHRS_M2 msg: 1633915674.31 epoch sec; seqNo:1957 2021-10-11T01:27:57Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.91 psi 2021-10-11T01:27:57Z- handleDepth()-Depth_Keller msg: 1633915674313 epoch sec; seqNo:2005; depth 49.18 2021-10-11T01:27:57Z- handleDvl() - RDI_Pathfinder msg: 1633915674.34 epoch sec; seqNo:592 2021-10-11T01:27:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.43 , 38.96 , 27.92 , 27.52 2021-10-11T01:27:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.04 , 0.03 2021-10-11T01:27:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915674.37 epoch sec; seqNo:2005; 4061914.15 north; 594426.88 east 2021-10-11T01:27:58Z- AHRS_M2 msg: 1633915674.72 epoch sec; seqNo:1958 2021-10-11T01:27:58Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.91 psi 2021-10-11T01:27:58Z- handleDepth()-Depth_Keller msg: 1633915674728 epoch sec; seqNo:2006; depth 49.16 2021-10-11T01:27:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915674.74 epoch sec; seqNo:2006; 4061914.15 north; 594426.88 east 2021-10-11T01:27:58Z- AHRS_M2 msg: 1633915675.12 epoch sec; seqNo:1959 2021-10-11T01:27:58Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.91 psi 2021-10-11T01:27:58Z- handleDepth()-Depth_Keller msg: 1633915675124 epoch sec; seqNo:2007; depth 49.17 2021-10-11T01:27:58Z- handleDvl() - RDI_Pathfinder msg: 1633915675.14 epoch sec; seqNo:593 2021-10-11T01:27:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.29 , 39.10 , 28.33 , 27.65 2021-10-11T01:27:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.03 , 0.04 2021-10-11T01:27:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915675.16 epoch sec; seqNo:2007; 4061914.53 north; 594426.88 east 2021-10-11T01:27:58Z- AHRS_M2 msg: 1633915675.52 epoch sec; seqNo:1960 2021-10-11T01:27:58Z- AHRS_M2 msg: -0.21 phi; 0.01 theta; 0.91 psi 2021-10-11T01:27:58Z- handleDepth()-Depth_Keller msg: 1633915675528 epoch sec; seqNo:2008; depth 49.17 2021-10-11T01:27:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915675.56 epoch sec; seqNo:2008; 4061914.53 north; 594426.88 east 2021-10-11T01:27:59Z- AHRS_M2 msg: 1633915675.92 epoch sec; seqNo:1961 2021-10-11T01:27:59Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.92 psi 2021-10-11T01:27:59Z- handleDepth()-Depth_Keller msg: 1633915675930 epoch sec; seqNo:2009; depth 49.15 2021-10-11T01:27:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915675.95 epoch sec; seqNo:2009; 4061914.91 north; 594426.87 east 2021-10-11T01:27:59Z- AHRS_M2 msg: 1633915676.33 epoch sec; seqNo:1962 2021-10-11T01:27:59Z- AHRS_M2 msg: -0.21 phi; 0.00 theta; 0.92 psi 2021-10-11T01:27:59Z- handleDepth()-Depth_Keller msg: 1633915676342 epoch sec; seqNo:2010; depth 49.17 2021-10-11T01:27:59Z- handleDvl() - RDI_Pathfinder msg: 1633915676.37 epoch sec; seqNo:594 2021-10-11T01:27:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.29 , 39.10 , 28.20 , 27.52 2021-10-11T01:27:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.02 , 0.03 2021-10-11T01:27:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915676.40 epoch sec; seqNo:2010; 4061914.92 north; 594428.09 east 2021-10-11T01:28:00Z- AHRS_M2 msg: 1633915676.74 epoch sec; seqNo:1963 2021-10-11T01:28:00Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.93 psi 2021-10-11T01:28:00Z- handleDepth()-Depth_Keller msg: 1633915676752 epoch sec; seqNo:2011; depth 49.15 2021-10-11T01:28:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915676.77 epoch sec; seqNo:2011; 4061915.30 north; 594428.09 east 2021-10-11T01:28:00Z- AHRS_M2 msg: 1633915677.14 epoch sec; seqNo:1964 2021-10-11T01:28:00Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.93 psi 2021-10-11T01:28:00Z- handleDepth()-Depth_Keller msg: 1633915677147 epoch sec; seqNo:2012; depth 49.15 2021-10-11T01:28:00Z- handleDvl() - RDI_Pathfinder msg: 1633915677.18 epoch sec; seqNo:595 2021-10-11T01:28:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.02 , 39.23 , 27.92 , 27.52 2021-10-11T01:28:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.00 , 0.01 2021-10-11T01:28:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915677.19 epoch sec; seqNo:2012; 4061915.30 north; 594428.09 east 2021-10-11T01:28:00Z- LcmTrn::handleMessages() - handling 45 messages took 0.80 ms and 129 calls... 2021-10-11T01:28:00Z- waiting for 1633915674.90, time is 1633915677.19 2021-10-11T01:28:00Z- LcmTrn::updateTrn() equating pose 1633915677.19 and meas times 1633915677.19 2021-10-11T01:28:00Z- LcmTrn::updateTrn() >>>> pose time 1633915677.19, meas time 1633915677.19 <<<< 2021-10-11T01:28:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915677.19 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:00Z- TerrainNav::motionUpdate() - currEstimate = (4061915, 594428.09, 49.15) 2021-10-11T01:28:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:00Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:00Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915677.19 sec.; No relevant navigation data available 2021-10-11T01:28:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:00Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:00Z- variances([0], [2], and psi_berg) = 2.206061 0.687817 0.000000 2021-10-11T01:28:00Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:00Z- LcmTrn::publishEstimates() - MLE : 4061919.79 594345.19 37.15 2021-10-11T01:28:00Z- LcmTrn::publishEstimates() - MMSE : 4061919.28 594345.40 4.89 2021-10-11T01:28:00Z- LcmTrn::publishEstimates() - COVAR: 2.21 0.69 0.60 0.00 2021-10-11T01:28:00Z- AHRS_M2 msg: 1633915677.55 epoch sec; seqNo:1965 2021-10-11T01:28:00Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.93 psi 2021-10-11T01:28:00Z- handleDepth()-Depth_Keller msg: 1633915677553 epoch sec; seqNo:2013; depth 49.16 2021-10-11T01:28:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:28:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:28:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:28:00Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:28:00Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:28:00Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:28:00Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:28:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:28:00Z- handleDvl() - RDI_Pathfinder msg: 1633915677.56 epoch sec; seqNo:596 2021-10-11T01:28:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:28:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.00 , 0.01 2021-10-11T01:28:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915677.57 epoch sec; seqNo:2013; 4061915.68 north; 594428.08 east 2021-10-11T01:28:01Z- AHRS_M2 msg: 1633915677.97 epoch sec; seqNo:1966 2021-10-11T01:28:01Z- AHRS_M2 msg: -0.20 phi; -0.00 theta; 0.94 psi 2021-10-11T01:28:01Z- handleDepth()-Depth_Keller msg: 1633915677976 epoch sec; seqNo:2014; depth 49.16 2021-10-11T01:28:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915678.03 epoch sec; seqNo:2014; 4061915.68 north; 594428.08 east 2021-10-11T01:28:01Z- AHRS_M2 msg: 1633915678.35 epoch sec; seqNo:1967 2021-10-11T01:28:01Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.94 psi 2021-10-11T01:28:01Z- handleDepth()-Depth_Keller msg: 1633915678354 epoch sec; seqNo:2015; depth 49.16 2021-10-11T01:28:01Z- handleDvl() - RDI_Pathfinder msg: 1633915678.38 epoch sec; seqNo:597 2021-10-11T01:28:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.16 , 39.10 , 27.79 , 27.24 2021-10-11T01:28:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.00 , 0.00 2021-10-11T01:28:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915678.40 epoch sec; seqNo:2015; 4061916.07 north; 594429.30 east 2021-10-11T01:28:02Z- AHRS_M2 msg: 1633915678.75 epoch sec; seqNo:1968 2021-10-11T01:28:02Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.94 psi 2021-10-11T01:28:02Z- handleDepth()-Depth_Keller msg: 1633915678760 epoch sec; seqNo:2016; depth 49.16 2021-10-11T01:28:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915678.78 epoch sec; seqNo:2016; 4061916.07 north; 594429.30 east 2021-10-11T01:28:02Z- AHRS_M2 msg: 1633915679.16 epoch sec; seqNo:1969 2021-10-11T01:28:02Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.95 psi 2021-10-11T01:28:02Z- handleDepth()-Depth_Keller msg: 1633915679169 epoch sec; seqNo:2017; depth 49.15 2021-10-11T01:28:02Z- handleDvl() - RDI_Pathfinder msg: 1633915679.19 epoch sec; seqNo:598 2021-10-11T01:28:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.89 , 39.24 , 27.38 , 27.52 2021-10-11T01:28:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.02 , -0.01 2021-10-11T01:28:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915679.23 epoch sec; seqNo:2017; 4061916.45 north; 594429.30 east 2021-10-11T01:28:02Z- AHRS_M2 msg: 1633915679.56 epoch sec; seqNo:1970 2021-10-11T01:28:02Z- AHRS_M2 msg: -0.20 phi; -0.01 theta; 0.95 psi 2021-10-11T01:28:02Z- handleDepth()-Depth_Keller msg: 1633915679564 epoch sec; seqNo:2018; depth 49.16 2021-10-11T01:28:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915679.60 epoch sec; seqNo:2018; 4061916.45 north; 594429.30 east 2021-10-11T01:28:03Z- AHRS_M2 msg: 1633915679.96 epoch sec; seqNo:1971 2021-10-11T01:28:03Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.95 psi 2021-10-11T01:28:03Z- handleDepth()-Depth_Keller msg: 1633915679970 epoch sec; seqNo:2019; depth 49.16 2021-10-11T01:28:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915679.98 epoch sec; seqNo:2019; 4061916.83 north; 594429.29 east 2021-10-11T01:28:03Z- AHRS_M2 msg: 1633915680.37 epoch sec; seqNo:1972 2021-10-11T01:28:03Z- AHRS_M2 msg: -0.21 phi; -0.01 theta; 0.95 psi 2021-10-11T01:28:03Z- handleDepth()-Depth_Keller msg: 1633915680374 epoch sec; seqNo:2020; depth 49.17 2021-10-11T01:28:03Z- handleDvl() - RDI_Pathfinder msg: 1633915680.40 epoch sec; seqNo:599 2021-10-11T01:28:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.89 , 38.96 , 27.25 , 27.79 2021-10-11T01:28:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.01 2021-10-11T01:28:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915680.43 epoch sec; seqNo:2020; 4061916.84 north; 594430.51 east 2021-10-11T01:28:04Z- AHRS_M2 msg: 1633915680.78 epoch sec; seqNo:1973 2021-10-11T01:28:04Z- AHRS_M2 msg: -0.21 phi; -0.02 theta; 0.96 psi 2021-10-11T01:28:04Z- handleDepth()-Depth_Keller msg: 1633915680780 epoch sec; seqNo:2021; depth 49.17 2021-10-11T01:28:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915680.80 epoch sec; seqNo:2021; 4061917.22 north; 594430.51 east 2021-10-11T01:28:04Z- AHRS_M2 msg: 1633915681.19 epoch sec; seqNo:1974 2021-10-11T01:28:04Z- AHRS_M2 msg: -0.21 phi; -0.02 theta; 0.96 psi 2021-10-11T01:28:04Z- handleDepth()-Depth_Keller msg: 1633915681196 epoch sec; seqNo:2022; depth 49.17 2021-10-11T01:28:04Z- handleDvl() - RDI_Pathfinder msg: 1633915681.22 epoch sec; seqNo:600 2021-10-11T01:28:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.88 , 39.50 , 26.70 , 28.20 2021-10-11T01:28:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , -0.01 2021-10-11T01:28:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915681.24 epoch sec; seqNo:2022; 4061917.22 north; 594430.51 east 2021-10-11T01:28:04Z- AHRS_M2 msg: 1633915681.58 epoch sec; seqNo:1975 2021-10-11T01:28:04Z- AHRS_M2 msg: -0.21 phi; -0.02 theta; 0.96 psi 2021-10-11T01:28:04Z- handleDepth()-Depth_Keller msg: 1633915681588 epoch sec; seqNo:2023; depth 49.17 2021-10-11T01:28:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915681.61 epoch sec; seqNo:2023; 4061917.60 north; 594430.50 east 2021-10-11T01:28:05Z- AHRS_M2 msg: 1633915681.99 epoch sec; seqNo:1976 2021-10-11T01:28:05Z- AHRS_M2 msg: -0.21 phi; -0.02 theta; 0.96 psi 2021-10-11T01:28:05Z- handleDepth()-Depth_Keller msg: 1633915681990 epoch sec; seqNo:2024; depth 49.17 2021-10-11T01:28:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915682.01 epoch sec; seqNo:2024; 4061917.60 north; 594430.50 east 2021-10-11T01:28:05Z- AHRS_M2 msg: 1633915682.39 epoch sec; seqNo:1977 2021-10-11T01:28:05Z- AHRS_M2 msg: -0.21 phi; -0.02 theta; 0.96 psi 2021-10-11T01:28:05Z- handleDepth()-Depth_Keller msg: 1633915682394 epoch sec; seqNo:2025; depth 49.18 2021-10-11T01:28:05Z- handleDvl() - RDI_Pathfinder msg: 1633915682.42 epoch sec; seqNo:601 2021-10-11T01:28:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 39.50 , 27.65 , 28.47 2021-10-11T01:28:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.01 2021-10-11T01:28:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915682.44 epoch sec; seqNo:2025; 4061917.99 north; 594431.72 east 2021-10-11T01:28:05Z- LcmTrn::handleMessages() - handling 45 messages took 0.94 ms and 126 calls... 2021-10-11T01:28:05Z- waiting for 1633915680.19, time is 1633915682.44 2021-10-11T01:28:05Z- LcmTrn::updateTrn() equating pose 1633915682.44 and meas times 1633915682.44 2021-10-11T01:28:05Z- LcmTrn::updateTrn() >>>> pose time 1633915682.44, meas time 1633915682.44 <<<< 2021-10-11T01:28:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915682.44 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:05Z- TerrainNav::motionUpdate() - currEstimate = (4061918, 594431.72, 49.18) 2021-10-11T01:28:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:05Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:05Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915682.44 sec.; No relevant navigation data available 2021-10-11T01:28:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:05Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:05Z- variances([0], [2], and psi_berg) = 2.243841 0.725597 0.000000 2021-10-11T01:28:05Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:05Z- LcmTrn::publishEstimates() - MLE : 4061922.48 594348.82 37.17 2021-10-11T01:28:05Z- LcmTrn::publishEstimates() - MMSE : 4061921.98 594349.03 4.91 2021-10-11T01:28:05Z- LcmTrn::publishEstimates() - COVAR: 2.24 0.73 0.84 0.00 2021-10-11T01:28:06Z- AHRS_M2 msg: 1633915682.80 epoch sec; seqNo:1978 2021-10-11T01:28:06Z- AHRS_M2 msg: -0.21 phi; -0.02 theta; 0.96 psi 2021-10-11T01:28:06Z- handleDepth()-Depth_Keller msg: 1633915682805 epoch sec; seqNo:2026; depth 49.18 2021-10-11T01:28:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915682.82 epoch sec; seqNo:2026; 4061917.99 north; 594431.72 east 2021-10-11T01:28:06Z- AHRS_M2 msg: 1633915683.22 epoch sec; seqNo:1979 2021-10-11T01:28:06Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:06Z- handleDepth()-Depth_Keller msg: 1633915683225 epoch sec; seqNo:2027; depth 49.18 2021-10-11T01:28:06Z- handleDvl() - RDI_Pathfinder msg: 1633915683.25 epoch sec; seqNo:602 2021-10-11T01:28:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.61 , 39.64 , 27.65 , 28.61 2021-10-11T01:28:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , 0.02 2021-10-11T01:28:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915683.28 epoch sec; seqNo:2027; 4061918.37 north; 594431.72 east 2021-10-11T01:28:06Z- AHRS_M2 msg: 1633915683.60 epoch sec; seqNo:1980 2021-10-11T01:28:06Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:06Z- handleDepth()-Depth_Keller msg: 1633915683605 epoch sec; seqNo:2028; depth 49.19 2021-10-11T01:28:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915683.62 epoch sec; seqNo:2028; 4061918.37 north; 594431.72 east 2021-10-11T01:28:07Z- AHRS_M2 msg: 1633915684.01 epoch sec; seqNo:1981 2021-10-11T01:28:07Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:07Z- handleDepth()-Depth_Keller msg: 1633915684016 epoch sec; seqNo:2029; depth 49.20 2021-10-11T01:28:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915684.03 epoch sec; seqNo:2029; 4061918.75 north; 594431.71 east 2021-10-11T01:28:07Z- AHRS_M2 msg: 1633915684.41 epoch sec; seqNo:1982 2021-10-11T01:28:07Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:07Z- handleDepth()-Depth_Keller msg: 1633915684418 epoch sec; seqNo:2030; depth 49.20 2021-10-11T01:28:07Z- handleDvl() - RDI_Pathfinder msg: 1633915684.44 epoch sec; seqNo:603 2021-10-11T01:28:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.61 , 39.91 , 27.65 , 28.61 2021-10-11T01:28:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.05 , 0.02 2021-10-11T01:28:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915684.45 epoch sec; seqNo:2030; 4061918.77 north; 594432.93 east 2021-10-11T01:28:08Z- AHRS_M2 msg: 1633915684.81 epoch sec; seqNo:1983 2021-10-11T01:28:08Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:08Z- handleDepth()-Depth_Keller msg: 1633915684829 epoch sec; seqNo:2031; depth 49.21 2021-10-11T01:28:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915684.85 epoch sec; seqNo:2031; 4061919.14 north; 594432.93 east 2021-10-11T01:28:08Z- AHRS_M2 msg: 1633915685.25 epoch sec; seqNo:1984 2021-10-11T01:28:08Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:08Z- handleDepth()-Depth_Keller msg: 1633915685251 epoch sec; seqNo:2032; depth 49.23 2021-10-11T01:28:08Z- handleDvl() - RDI_Pathfinder msg: 1633915685.27 epoch sec; seqNo:604 2021-10-11T01:28:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.34 , 39.50 , 27.38 , 28.47 2021-10-11T01:28:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.05 , 0.02 2021-10-11T01:28:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915685.29 epoch sec; seqNo:2032; 4061919.14 north; 594432.93 east 2021-10-11T01:28:08Z- AHRS_M2 msg: 1633915685.62 epoch sec; seqNo:1985 2021-10-11T01:28:08Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:08Z- handleDepth()-Depth_Keller msg: 1633915685625 epoch sec; seqNo:2033; depth 49.24 2021-10-11T01:28:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915685.65 epoch sec; seqNo:2033; 4061919.52 north; 594432.92 east 2021-10-11T01:28:09Z- AHRS_M2 msg: 1633915686.03 epoch sec; seqNo:1986 2021-10-11T01:28:09Z- AHRS_M2 msg: -0.22 phi; -0.03 theta; 0.96 psi 2021-10-11T01:28:09Z- handleDepth()-Depth_Keller msg: 1633915686036 epoch sec; seqNo:2034; depth 49.23 2021-10-11T01:28:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915686.05 epoch sec; seqNo:2034; 4061919.52 north; 594432.92 east 2021-10-11T01:28:09Z- AHRS_M2 msg: 1633915686.43 epoch sec; seqNo:1987 2021-10-11T01:28:09Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.96 psi 2021-10-11T01:28:09Z- handleDepth()-Depth_Keller msg: 1633915686437 epoch sec; seqNo:2035; depth 49.26 2021-10-11T01:28:09Z- handleDvl() - RDI_Pathfinder msg: 1633915686.47 epoch sec; seqNo:605 2021-10-11T01:28:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.34 , 38.96 , 27.24 , 29.29 2021-10-11T01:28:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , 0.02 2021-10-11T01:28:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915686.49 epoch sec; seqNo:2035; 4061919.92 north; 594434.14 east 2021-10-11T01:28:10Z- AHRS_M2 msg: 1633915686.83 epoch sec; seqNo:1988 2021-10-11T01:28:10Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:10Z- handleDepth()-Depth_Keller msg: 1633915686844 epoch sec; seqNo:2036; depth 49.26 2021-10-11T01:28:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915686.87 epoch sec; seqNo:2036; 4061919.92 north; 594434.14 east 2021-10-11T01:28:10Z- AHRS_M2 msg: 1633915687.27 epoch sec; seqNo:1989 2021-10-11T01:28:10Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:10Z- handleDepth()-Depth_Keller msg: 1633915687283 epoch sec; seqNo:2037; depth 49.27 2021-10-11T01:28:10Z- handleDvl() - RDI_Pathfinder msg: 1633915687.30 epoch sec; seqNo:606 2021-10-11T01:28:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.47 , 39.10 , 26.70 , 29.15 2021-10-11T01:28:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.02 , -0.00 2021-10-11T01:28:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915687.32 epoch sec; seqNo:2037; 4061920.29 north; 594434.14 east 2021-10-11T01:28:10Z- LcmTrn::handleMessages() - handling 41 messages took 0.82 ms and 124 calls... 2021-10-11T01:28:10Z- waiting for 1633915685.44, time is 1633915687.32 2021-10-11T01:28:10Z- LcmTrn::updateTrn() equating pose 1633915687.32 and meas times 1633915687.32 2021-10-11T01:28:10Z- LcmTrn::updateTrn() >>>> pose time 1633915687.32, meas time 1633915687.32 <<<< 2021-10-11T01:28:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915687.32 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:10Z- TerrainNav::motionUpdate() - currEstimate = (4061920, 594434.14, 49.27) 2021-10-11T01:28:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:10Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:10Z- TNavBF::Projecting Measurements 2021-10-11T01:28:10Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:28:10Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:28:10Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:28:10Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:28:10Z- TNavFilter::4 good beams. 2021-10-11T01:28:10Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:28:10Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:28:10Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:28:10Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:28:10Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:28:10Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:28:10Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:28:10Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:10Z- TerrainMapOctree: (vehN, vehE ) = (4061920.29, 594434.14). 2021-10-11T01:28:10Z- TerrainMapOctree: Min Distance = 250.81. 2021-10-11T01:28:10Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:28:11Z- Forcing Subcloud Comparison 2021-10-11T01:28:11Z- Filter 0 deapthBias would have been set to Nan. indexP: 7772 indexM: 1 2021-10-11T01:28:11Z- Old Depth Bias: -22.06 DepthBiasCov: 0.71 K: 0.145 ExpectedMeasDiff: nan currMeas.covariance: 2.45 2021-10-11T01:28:11Z- Filter 0 deapthBias would have been set to Nan. indexP: 3205 indexM: 2 2021-10-11T01:28:11Z- Old Depth Bias: -28.16 DepthBiasCov: 0.61 K: 0.175 ExpectedMeasDiff: nan currMeas.covariance: 1.14 2021-10-11T01:28:11Z- Filter 0 deapthBias would have been set to Nan. indexP: 4590 indexM: 3 2021-10-11T01:28:11Z- Old Depth Bias: -22.38 DepthBiasCov: 0.50 K: 0.140 ExpectedMeasDiff: nan currMeas.covariance: 1.36 2021-10-11T01:28:11Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:28:11Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:28:11Z- Filter 0 partialDeltaRmsComputation: 0.111106 terrainVariance: 0.077647 1-SumSquareWeights: 0.909444 2021-10-11T01:28:11Z- Filter 0 meanExpectedMeasDiff: 0.182918 delta_rms_squared: 0.068552 alpha: 0.774144 2021-10-11T01:28:11Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:28:11Z- Filter 0 partialDeltaRmsComputation: 6.310221 terrainVariance: 0.069439 1-SumSquareWeights: 0.909444 2021-10-11T01:28:11Z- Filter 0 meanExpectedMeasDiff: 2.498156 delta_rms_squared: 0.060345 alpha: 0.751073 2021-10-11T01:28:11Z- Filter 0 beam number: 2 num in subcloud: 9997 num not in subcloud: 3 2021-10-11T01:28:11Z- Filter 0 partialDeltaRmsComputation: 2.125684 terrainVariance: 0.116115 1-SumSquareWeights: 0.909444 2021-10-11T01:28:11Z- Filter 0 meanExpectedMeasDiff: 1.417593 delta_rms_squared: 0.107021 alpha: 0.842545 2021-10-11T01:28:11Z- Filter 0 beam number: 3 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:28:11Z- Filter 0 partialDeltaRmsComputation: 1.899803 terrainVariance: 0.049223 1-SumSquareWeights: 0.909444 2021-10-11T01:28:11Z- Filter 0 meanExpectedMeasDiff: -1.360360 delta_rms_squared: 0.040128 alpha: 0.667379 2021-10-11T01:28:11Z- Filter 0 SubcloudNIS: 0.639126 2021-10-11T01:28:11Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:28:11Z- TNavBF:: Filter 0 sumWeights = 0.383057 2021-10-11T01:28:11Z- Filter 0 NorthBias: 4.1 EastBias: -82.7 DepthBias: -43.6 NorthVariance: 2.1 EastVariance: 0.6 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:28:11Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915687.32 sec. 2021-10-11T01:28:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:11Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:11Z- variances([0], [2], and psi_berg) = 2.101281 0.618738 0.000000 2021-10-11T01:28:11Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:11Z- LcmTrn::publishEstimates() - MLE : 4061924.78 594351.24 37.27 2021-10-11T01:28:11Z- LcmTrn::publishEstimates() - MMSE : 4061924.42 594351.42 5.67 2021-10-11T01:28:11Z- LcmTrn::publishEstimates() - COVAR: 2.10 0.62 0.47 0.00 2021-10-11T01:28:11Z- AHRS_M2 msg: 1633915687.64 epoch sec; seqNo:1990 2021-10-11T01:28:11Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:11Z- handleDepth()-Depth_Keller msg: 1633915687653 epoch sec; seqNo:2038; depth 49.28 2021-10-11T01:28:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915687.67 epoch sec; seqNo:2038; 4061920.29 north; 594434.14 east 2021-10-11T01:28:11Z- AHRS_M2 msg: 1633915688.05 epoch sec; seqNo:1991 2021-10-11T01:28:11Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:11Z- handleDepth()-Depth_Keller msg: 1633915688067 epoch sec; seqNo:2039; depth 49.28 2021-10-11T01:28:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915688.08 epoch sec; seqNo:2039; 4061920.67 north; 594434.13 east 2021-10-11T01:28:11Z- AHRS_M2 msg: 1633915688.45 epoch sec; seqNo:1992 2021-10-11T01:28:11Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:11Z- handleDepth()-Depth_Keller msg: 1633915688460 epoch sec; seqNo:2040; depth 49.29 2021-10-11T01:28:11Z- handleDvl() - RDI_Pathfinder msg: 1633915688.49 epoch sec; seqNo:607 2021-10-11T01:28:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.47 , 38.82 , 26.43 , 29.15 2021-10-11T01:28:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.03 , -0.00 2021-10-11T01:28:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915688.50 epoch sec; seqNo:2040; 4061920.69 north; 594435.35 east 2021-10-11T01:28:12Z- AHRS_M2 msg: 1633915688.85 epoch sec; seqNo:1993 2021-10-11T01:28:12Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:12Z- handleDepth()-Depth_Keller msg: 1633915688858 epoch sec; seqNo:2041; depth 49.32 2021-10-11T01:28:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915688.87 epoch sec; seqNo:2041; 4061921.07 north; 594435.35 east 2021-10-11T01:28:12Z- AHRS_M2 msg: 1633915689.31 epoch sec; seqNo:1994 2021-10-11T01:28:12Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:12Z- handleDepth()-Depth_Keller msg: 1633915689314 epoch sec; seqNo:2042; depth 49.32 2021-10-11T01:28:12Z- handleDvl() - RDI_Pathfinder msg: 1633915689.34 epoch sec; seqNo:608 2021-10-11T01:28:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.61 , 38.82 , 26.16 , 29.29 2021-10-11T01:28:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.02 , -0.01 2021-10-11T01:28:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915689.35 epoch sec; seqNo:2042; 4061921.07 north; 594435.35 east 2021-10-11T01:28:13Z- AHRS_M2 msg: 1633915689.67 epoch sec; seqNo:1995 2021-10-11T01:28:13Z- AHRS_M2 msg: -0.22 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:13Z- handleDepth()-Depth_Keller msg: 1633915689681 epoch sec; seqNo:2043; depth 49.34 2021-10-11T01:28:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:28:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:28:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2021-10-11T01:28:13Z- handleDVL() - Beam1Range item not found in dvl msg 2021-10-11T01:28:13Z- handleDVL() - Beam2Range item not found in dvl msg 2021-10-11T01:28:13Z- handleDVL() - Beam3Range item not found in dvl msg 2021-10-11T01:28:13Z- handleDVL() - Beam4Range item not found in dvl msg 2021-10-11T01:28:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2021-10-11T01:28:13Z- handleDvl() - RDI_Pathfinder msg: 1633915689.68 epoch sec; seqNo:609 2021-10-11T01:28:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2021-10-11T01:28:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.02 , -0.01 2021-10-11T01:28:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915689.70 epoch sec; seqNo:2043; 4061921.44 north; 594435.34 east 2021-10-11T01:28:13Z- AHRS_M2 msg: 1633915690.07 epoch sec; seqNo:1996 2021-10-11T01:28:13Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:13Z- handleDepth()-Depth_Keller msg: 1633915690074 epoch sec; seqNo:2044; depth 49.34 2021-10-11T01:28:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915690.10 epoch sec; seqNo:2044; 4061921.44 north; 594435.34 east 2021-10-11T01:28:13Z- AHRS_M2 msg: 1633915690.47 epoch sec; seqNo:1997 2021-10-11T01:28:13Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:13Z- handleDepth()-Depth_Keller msg: 1633915690474 epoch sec; seqNo:2045; depth 49.35 2021-10-11T01:28:13Z- handleDvl() - RDI_Pathfinder msg: 1633915690.50 epoch sec; seqNo:610 2021-10-11T01:28:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.34 , 39.37 , 25.75 , 29.97 2021-10-11T01:28:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.03 , -0.01 2021-10-11T01:28:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915690.52 epoch sec; seqNo:2045; 4061921.84 north; 594436.56 east 2021-10-11T01:28:14Z- AHRS_M2 msg: 1633915690.88 epoch sec; seqNo:1998 2021-10-11T01:28:14Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:14Z- handleDepth()-Depth_Keller msg: 1633915690888 epoch sec; seqNo:2046; depth 49.36 2021-10-11T01:28:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915690.90 epoch sec; seqNo:2046; 4061921.84 north; 594436.56 east 2021-10-11T01:28:14Z- AHRS_M2 msg: 1633915691.33 epoch sec; seqNo:1999 2021-10-11T01:28:14Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.98 psi 2021-10-11T01:28:14Z- handleDepth()-Depth_Keller msg: 1633915691341 epoch sec; seqNo:2047; depth 49.38 2021-10-11T01:28:14Z- handleDvl() - RDI_Pathfinder msg: 1633915691.37 epoch sec; seqNo:611 2021-10-11T01:28:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.66 , 22.61 , 25.61 , 30.38 2021-10-11T01:28:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , 0.00 2021-10-11T01:28:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915691.39 epoch sec; seqNo:2047; 4061922.22 north; 594436.56 east 2021-10-11T01:28:15Z- AHRS_M2 msg: 1633915691.68 epoch sec; seqNo:2000 2021-10-11T01:28:15Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.98 psi 2021-10-11T01:28:15Z- handleDepth()-Depth_Keller msg: 1633915691687 epoch sec; seqNo:2048; depth 49.40 2021-10-11T01:28:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915691.70 epoch sec; seqNo:2048; 4061922.22 north; 594436.56 east 2021-10-11T01:28:15Z- AHRS_M2 msg: 1633915692.09 epoch sec; seqNo:2001 2021-10-11T01:28:15Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.98 psi 2021-10-11T01:28:15Z- handleDepth()-Depth_Keller msg: 1633915692095 epoch sec; seqNo:2049; depth 49.40 2021-10-11T01:28:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915692.11 epoch sec; seqNo:2049; 4061922.59 north; 594436.55 east 2021-10-11T01:28:15Z- AHRS_M2 msg: 1633915692.49 epoch sec; seqNo:2002 2021-10-11T01:28:15Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.98 psi 2021-10-11T01:28:15Z- handleDepth()-Depth_Keller msg: 1633915692494 epoch sec; seqNo:2050; depth 49.44 2021-10-11T01:28:15Z- handleDvl() - RDI_Pathfinder msg: 1633915692.53 epoch sec; seqNo:612 2021-10-11T01:28:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 24.79 , 23.36 , 25.75 , 30.87 2021-10-11T01:28:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.09 , 0.01 2021-10-11T01:28:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915692.54 epoch sec; seqNo:2050; 4061922.61 north; 594437.77 east 2021-10-11T01:28:16Z- LcmTrn::handleMessages() - handling 45 messages took 0.83 ms and 128 calls... 2021-10-11T01:28:16Z- waiting for 1633915690.32, time is 1633915692.54 2021-10-11T01:28:16Z- LcmTrn::updateTrn() equating pose 1633915692.54 and meas times 1633915692.54 2021-10-11T01:28:16Z- LcmTrn::updateTrn() >>>> pose time 1633915692.54, meas time 1633915692.54 <<<< 2021-10-11T01:28:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915692.54 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:16Z- TerrainNav::motionUpdate() - currEstimate = (4061923, 594437.77, 49.44) 2021-10-11T01:28:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:16Z- TerrainNav:: SubcloudNIS is 0.64, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:16Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915692.54 sec.; No relevant navigation data available 2021-10-11T01:28:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:16Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:16Z- variances([0], [2], and psi_berg) = 2.138168 0.655625 0.000000 2021-10-11T01:28:16Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:16Z- LcmTrn::publishEstimates() - MLE : 4061927.09 594354.87 37.43 2021-10-11T01:28:16Z- LcmTrn::publishEstimates() - MMSE : 4061926.74 594355.05 5.83 2021-10-11T01:28:16Z- LcmTrn::publishEstimates() - COVAR: 2.14 0.66 0.69 0.00 2021-10-11T01:28:16Z- AHRS_M2 msg: 1633915692.89 epoch sec; seqNo:2003 2021-10-11T01:28:16Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.98 psi 2021-10-11T01:28:16Z- handleDepth()-Depth_Keller msg: 1633915692901 epoch sec; seqNo:2051; depth 49.44 2021-10-11T01:28:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915692.94 epoch sec; seqNo:2051; 4061922.99 north; 594437.77 east 2021-10-11T01:28:16Z- AHRS_M2 msg: 1633915693.32 epoch sec; seqNo:2004 2021-10-11T01:28:16Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:16Z- handleDepth()-Depth_Keller msg: 1633915693343 epoch sec; seqNo:2052; depth 49.45 2021-10-11T01:28:16Z- handleDvl() - RDI_Pathfinder msg: 1633915693.39 epoch sec; seqNo:613 2021-10-11T01:28:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.03 , 38.74 , 31.00 , 31.23 2021-10-11T01:28:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.06 , 0.02 2021-10-11T01:28:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915693.42 epoch sec; seqNo:2052; 4061922.99 north; 594437.77 east 2021-10-11T01:28:17Z- handleDepth()-Depth_Keller msg: 1633915693724 epoch sec; seqNo:2053; depth 49.48 2021-10-11T01:28:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915693.74 epoch sec; seqNo:2053; 4061923.37 north; 594437.76 east 2021-10-11T01:28:17Z- AHRS_M2 msg: 1633915694.11 epoch sec; seqNo:2005 2021-10-11T01:28:17Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:17Z- handleDepth()-Depth_Keller msg: 1633915694116 epoch sec; seqNo:2054; depth 49.50 2021-10-11T01:28:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915694.13 epoch sec; seqNo:2054; 4061923.37 north; 594437.76 east 2021-10-11T01:28:17Z- AHRS_M2 msg: 1633915694.51 epoch sec; seqNo:2006 2021-10-11T01:28:17Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:17Z- handleDepth()-Depth_Keller msg: 1633915694522 epoch sec; seqNo:2055; depth 49.52 2021-10-11T01:28:17Z- handleDvl() - RDI_Pathfinder msg: 1633915694.54 epoch sec; seqNo:614 2021-10-11T01:28:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.59 , 23.29 , 32.00 , 30.96 2021-10-11T01:28:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.02 , 0.01 2021-10-11T01:28:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915694.57 epoch sec; seqNo:2055; 4061923.76 north; 594438.98 east 2021-10-11T01:28:18Z- AHRS_M2 msg: 1633915694.91 epoch sec; seqNo:2007 2021-10-11T01:28:18Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:18Z- handleDepth()-Depth_Keller msg: 1633915694924 epoch sec; seqNo:2056; depth 49.54 2021-10-11T01:28:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915694.95 epoch sec; seqNo:2056; 4061923.76 north; 594438.98 east 2021-10-11T01:28:18Z- AHRS_M2 msg: 1633915695.33 epoch sec; seqNo:2008 2021-10-11T01:28:18Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:18Z- handleDepth()-Depth_Keller msg: 1633915695355 epoch sec; seqNo:2057; depth 49.54 2021-10-11T01:28:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915695.40 epoch sec; seqNo:2057; 4061924.14 north; 594438.98 east 2021-10-11T01:28:19Z- AHRS_M2 msg: 1633915695.72 epoch sec; seqNo:2009 2021-10-11T01:28:19Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:19Z- handleDepth()-Depth_Keller msg: 1633915695726 epoch sec; seqNo:2058; depth 49.57 2021-10-11T01:28:19Z- handleDvl() - RDI_Pathfinder msg: 1633915695.76 epoch sec; seqNo:615 2021-10-11T01:28:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.51 , 23.01 , 30.87 , 31.35 2021-10-11T01:28:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.07 , 0.04 2021-10-11T01:28:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915695.77 epoch sec; seqNo:2058; 4061924.14 north; 594438.98 east 2021-10-11T01:28:19Z- AHRS_M2 msg: 1633915696.12 epoch sec; seqNo:2010 2021-10-11T01:28:19Z- AHRS_M2 msg: -0.22 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:19Z- handleDepth()-Depth_Keller msg: 1633915696129 epoch sec; seqNo:2059; depth 49.60 2021-10-11T01:28:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915696.15 epoch sec; seqNo:2059; 4061924.14 north; 594438.98 east 2021-10-11T01:28:19Z- AHRS_M2 msg: 1633915696.53 epoch sec; seqNo:2011 2021-10-11T01:28:19Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:19Z- handleDepth()-Depth_Keller msg: 1633915696537 epoch sec; seqNo:2060; depth 49.61 2021-10-11T01:28:19Z- handleDvl() - RDI_Pathfinder msg: 1633915696.56 epoch sec; seqNo:616 2021-10-11T01:28:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.57 , 38.15 , 30.24 , 29.15 2021-10-11T01:28:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.03 , 0.03 2021-10-11T01:28:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915696.58 epoch sec; seqNo:2060; 4061924.53 north; 594440.19 east 2021-10-11T01:28:20Z- AHRS_M2 msg: 1633915696.94 epoch sec; seqNo:2012 2021-10-11T01:28:20Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:20Z- handleDepth()-Depth_Keller msg: 1633915696945 epoch sec; seqNo:2061; depth 49.64 2021-10-11T01:28:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915696.98 epoch sec; seqNo:2061; 4061924.53 north; 594440.19 east 2021-10-11T01:28:20Z- AHRS_M2 msg: 1633915697.34 epoch sec; seqNo:2013 2021-10-11T01:28:20Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:20Z- handleDepth()-Depth_Keller msg: 1633915697346 epoch sec; seqNo:2062; depth 49.66 2021-10-11T01:28:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915697.42 epoch sec; seqNo:2062; 4061924.91 north; 594440.19 east 2021-10-11T01:28:21Z- AHRS_M2 msg: 1633915697.75 epoch sec; seqNo:2014 2021-10-11T01:28:21Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:21Z- handleDepth()-Depth_Keller msg: 1633915697754 epoch sec; seqNo:2063; depth 49.68 2021-10-11T01:28:21Z- handleDvl() - RDI_Pathfinder msg: 1633915697.78 epoch sec; seqNo:617 2021-10-11T01:28:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.06 , 38.47 , 29.89 , 28.81 2021-10-11T01:28:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.02 , 0.02 2021-10-11T01:28:21Z- LcmTrn::handleMessages() - handling 42 messages took 0.93 ms and 123 calls... 2021-10-11T01:28:21Z- waiting for 1633915695.54, time is 1633915697.78 2021-10-11T01:28:21Z- LcmTrn::updateTrn() equating pose 1633915697.78 and meas times 1633915697.78 2021-10-11T01:28:21Z- LcmTrn::updateTrn() >>>> pose time 1633915697.78, meas time 1633915697.78 <<<< 2021-10-11T01:28:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915697.78 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:21Z- TerrainNav::motionUpdate() - currEstimate = (4061925, 594440.19, 49.68) 2021-10-11T01:28:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:21Z- TerrainNav:: SubcloudNIS is 0.64, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:21Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915697.78 sec.; No relevant navigation data available 2021-10-11T01:28:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:21Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:21Z- variances([0], [2], and psi_berg) = 2.170619 0.688076 0.000000 2021-10-11T01:28:21Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:21Z- LcmTrn::publishEstimates() - MLE : 4061929.39 594357.29 37.68 2021-10-11T01:28:21Z- LcmTrn::publishEstimates() - MMSE : 4061929.04 594357.47 6.08 2021-10-11T01:28:21Z- LcmTrn::publishEstimates() - COVAR: 2.17 0.69 0.86 0.00 2021-10-11T01:28:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915697.81 epoch sec; seqNo:2063; 4061924.91 north; 594440.19 east 2021-10-11T01:28:21Z- AHRS_M2 msg: 1633915698.14 epoch sec; seqNo:2015 2021-10-11T01:28:21Z- AHRS_M2 msg: -0.22 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:21Z- handleDepth()-Depth_Keller msg: 1633915698151 epoch sec; seqNo:2064; depth 49.69 2021-10-11T01:28:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915698.17 epoch sec; seqNo:2064; 4061925.29 north; 594440.18 east 2021-10-11T01:28:21Z- AHRS_M2 msg: 1633915698.55 epoch sec; seqNo:2016 2021-10-11T01:28:21Z- AHRS_M2 msg: -0.22 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:21Z- handleDepth()-Depth_Keller msg: 1633915698560 epoch sec; seqNo:2065; depth 49.71 2021-10-11T01:28:21Z- handleDvl() - RDI_Pathfinder msg: 1633915698.59 epoch sec; seqNo:618 2021-10-11T01:28:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.29 , 38.42 , 29.83 , 28.88 2021-10-11T01:28:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.01 , 0.02 2021-10-11T01:28:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915698.61 epoch sec; seqNo:2065; 4061925.30 north; 594441.40 east 2021-10-11T01:28:22Z- AHRS_M2 msg: 1633915698.95 epoch sec; seqNo:2017 2021-10-11T01:28:22Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:22Z- handleDepth()-Depth_Keller msg: 1633915698969 epoch sec; seqNo:2066; depth 49.73 2021-10-11T01:28:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915698.98 epoch sec; seqNo:2066; 4061925.68 north; 594441.40 east 2021-10-11T01:28:22Z- AHRS_M2 msg: 1633915699.36 epoch sec; seqNo:2018 2021-10-11T01:28:22Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:22Z- handleDepth()-Depth_Keller msg: 1633915699369 epoch sec; seqNo:2067; depth 49.74 2021-10-11T01:28:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915699.43 epoch sec; seqNo:2067; 4061925.68 north; 594441.40 east 2021-10-11T01:28:23Z- AHRS_M2 msg: 1633915699.76 epoch sec; seqNo:2019 2021-10-11T01:28:23Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:23Z- handleDepth()-Depth_Keller msg: 1633915699767 epoch sec; seqNo:2068; depth 49.76 2021-10-11T01:28:23Z- handleDvl() - RDI_Pathfinder msg: 1633915699.79 epoch sec; seqNo:619 2021-10-11T01:28:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.47 , 38.55 , 30.51 , 28.20 2021-10-11T01:28:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.01 , 0.01 2021-10-11T01:28:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915699.82 epoch sec; seqNo:2068; 4061926.06 north; 594441.40 east 2021-10-11T01:28:23Z- AHRS_M2 msg: 1633915700.16 epoch sec; seqNo:2020 2021-10-11T01:28:23Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:23Z- handleDepth()-Depth_Keller msg: 1633915700170 epoch sec; seqNo:2069; depth 49.79 2021-10-11T01:28:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915700.19 epoch sec; seqNo:2069; 4061926.06 north; 594441.40 east 2021-10-11T01:28:23Z- AHRS_M2 msg: 1633915700.57 epoch sec; seqNo:2021 2021-10-11T01:28:23Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:23Z- handleDepth()-Depth_Keller msg: 1633915700576 epoch sec; seqNo:2070; depth 49.80 2021-10-11T01:28:23Z- handleDvl() - RDI_Pathfinder msg: 1633915700.60 epoch sec; seqNo:620 2021-10-11T01:28:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.07 , 4.00 , 31.33 , 25.75 2021-10-11T01:28:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.01 , 0.01 2021-10-11T01:28:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915700.62 epoch sec; seqNo:2070; 4061926.45 north; 594442.61 east 2021-10-11T01:28:24Z- AHRS_M2 msg: 1633915700.97 epoch sec; seqNo:2022 2021-10-11T01:28:24Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:24Z- handleDepth()-Depth_Keller msg: 1633915700979 epoch sec; seqNo:2071; depth 49.84 2021-10-11T01:28:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915701.00 epoch sec; seqNo:2071; 4061926.45 north; 594442.61 east 2021-10-11T01:28:24Z- AHRS_M2 msg: 1633915701.38 epoch sec; seqNo:2023 2021-10-11T01:28:24Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:24Z- handleDepth()-Depth_Keller msg: 1633915701386 epoch sec; seqNo:2072; depth 49.85 2021-10-11T01:28:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915701.40 epoch sec; seqNo:2072; 4061926.83 north; 594442.61 east 2021-10-11T01:28:25Z- AHRS_M2 msg: 1633915701.78 epoch sec; seqNo:2024 2021-10-11T01:28:25Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:25Z- handleDepth()-Depth_Keller msg: 1633915701792 epoch sec; seqNo:2073; depth 49.85 2021-10-11T01:28:25Z- handleDvl() - RDI_Pathfinder msg: 1633915701.82 epoch sec; seqNo:621 2021-10-11T01:28:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 25.75 , 34.19 , 5.00 , 24.93 2021-10-11T01:28:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.04 , 0.00 2021-10-11T01:28:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915701.84 epoch sec; seqNo:2073; 4061926.83 north; 594442.61 east 2021-10-11T01:28:25Z- AHRS_M2 msg: 1633915702.18 epoch sec; seqNo:2025 2021-10-11T01:28:25Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:25Z- handleDepth()-Depth_Keller msg: 1633915702196 epoch sec; seqNo:2074; depth 49.87 2021-10-11T01:28:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915702.23 epoch sec; seqNo:2074; 4061927.21 north; 594442.60 east 2021-10-11T01:28:25Z- AHRS_M2 msg: 1633915702.59 epoch sec; seqNo:2026 2021-10-11T01:28:25Z- AHRS_M2 msg: -0.21 phi; -0.06 theta; 0.97 psi 2021-10-11T01:28:25Z- handleDepth()-Depth_Keller msg: 1633915702599 epoch sec; seqNo:2075; depth 49.89 2021-10-11T01:28:25Z- handleDvl() - RDI_Pathfinder msg: 1633915702.62 epoch sec; seqNo:622 2021-10-11T01:28:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.29 , 6.00 , 33.78 , 24.93 2021-10-11T01:28:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.02 , -0.01 2021-10-11T01:28:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915702.65 epoch sec; seqNo:2075; 4061927.22 north; 594443.82 east 2021-10-11T01:28:26Z- LcmTrn::handleMessages() - handling 42 messages took 0.82 ms and 125 calls... 2021-10-11T01:28:26Z- waiting for 1633915700.78, time is 1633915702.65 2021-10-11T01:28:26Z- LcmTrn::updateTrn() equating pose 1633915702.65 and meas times 1633915702.65 2021-10-11T01:28:26Z- LcmTrn::updateTrn() >>>> pose time 1633915702.65, meas time 1633915702.65 <<<< 2021-10-11T01:28:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915702.65 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:26Z- TerrainNav::motionUpdate() - currEstimate = (4061927, 594443.82, 49.89) 2021-10-11T01:28:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:26Z- TerrainNav:: SubcloudNIS is 0.64, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:26Z- TNavBF::Projecting Measurements 2021-10-11T01:28:26Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:28:26Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:28:26Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:28:26Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:28:26Z- TNavFilter::4 good beams. 2021-10-11T01:28:26Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:28:26Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:28:26Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:28:26Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:28:26Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:28:26Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:28:26Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:28:26Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:26Z- TerrainMapOctree: (vehN, vehE ) = (4061927.22, 594443.82). 2021-10-11T01:28:26Z- TerrainMapOctree: Min Distance = 262.63. 2021-10-11T01:28:26Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:28:26Z- Forcing Subcloud Comparison 2021-10-11T01:28:26Z- Filter 0 deapthBias would have been set to Nan. indexP: 6168 indexM: 1 2021-10-11T01:28:26Z- Old Depth Bias: -20.68 DepthBiasCov: 0.76 K: 0.298 ExpectedMeasDiff: nan currMeas.covariance: 0.06 2021-10-11T01:28:26Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:28:26Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:28:26Z- Filter 0 partialDeltaRmsComputation: 44.693745 terrainVariance: 0.155449 1-SumSquareWeights: 0.915246 2021-10-11T01:28:26Z- Filter 0 meanExpectedMeasDiff: 6.673702 delta_rms_squared: 0.146296 alpha: 0.879733 2021-10-11T01:28:26Z- Filter 0 beam number: 1 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:28:26Z- Filter 0 partialDeltaRmsComputation: 510.652837 terrainVariance: 0.146415 1-SumSquareWeights: 0.915246 2021-10-11T01:28:26Z- Filter 0 meanExpectedMeasDiff: -22.594389 delta_rms_squared: 0.137262 alpha: 0.872824 2021-10-11T01:28:26Z- Filter 0 beam number: 2 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:28:26Z- Filter 0 partialDeltaRmsComputation: 292.719828 terrainVariance: 0.057437 1-SumSquareWeights: 0.915246 2021-10-11T01:28:26Z- Filter 0 meanExpectedMeasDiff: 17.107378 delta_rms_squared: 0.048284 alpha: 0.707106 2021-10-11T01:28:26Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:28:26Z- Filter 0 partialDeltaRmsComputation: 0.151597 terrainVariance: 0.090865 1-SumSquareWeights: 0.915246 2021-10-11T01:28:26Z- Filter 0 meanExpectedMeasDiff: 0.246438 delta_rms_squared: 0.081713 alpha: 0.803368 2021-10-11T01:28:26Z- Filter 0 SubcloudNIS: 0.735522 2021-10-11T01:28:26Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:28:26Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-11T01:28:26Z- Filter 0 NorthBias: 0.8 EastBias: -77.4 DepthBias: -46.2 NorthVariance: 1.1 EastVariance: 0.3 DepthVariance: 0.5 this->DepthBiasCov: 0.4 2021-10-11T01:28:26Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915702.65 sec. 2021-10-11T01:28:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:26Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:26Z- variances([0], [2], and psi_berg) = 1.139610 0.266593 0.000000 2021-10-11T01:28:26Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:26Z- LcmTrn::publishEstimates() - MLE : 4061928.71 594365.92 37.88 2021-10-11T01:28:26Z- LcmTrn::publishEstimates() - MMSE : 4061928.04 594366.42 3.66 2021-10-11T01:28:26Z- LcmTrn::publishEstimates() - COVAR: 1.14 0.27 0.51 0.00 2021-10-11T01:28:26Z- AHRS_M2 msg: 1633915702.99 epoch sec; seqNo:2027 2021-10-11T01:28:26Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:26Z- handleDepth()-Depth_Keller msg: 1633915703013 epoch sec; seqNo:2076; depth 49.90 2021-10-11T01:28:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915703.04 epoch sec; seqNo:2076; 4061927.60 north; 594443.82 east 2021-10-11T01:28:26Z- AHRS_M2 msg: 1633915703.40 epoch sec; seqNo:2028 2021-10-11T01:28:26Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:26Z- handleDepth()-Depth_Keller msg: 1633915703402 epoch sec; seqNo:2077; depth 49.91 2021-10-11T01:28:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915703.42 epoch sec; seqNo:2077; 4061927.60 north; 594443.82 east 2021-10-11T01:28:27Z- AHRS_M2 msg: 1633915703.80 epoch sec; seqNo:2029 2021-10-11T01:28:27Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:27Z- handleDepth()-Depth_Keller msg: 1633915703807 epoch sec; seqNo:2078; depth 49.93 2021-10-11T01:28:27Z- handleDvl() - RDI_Pathfinder msg: 1633915703.83 epoch sec; seqNo:623 2021-10-11T01:28:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.29 , 7.00 , 34.06 , 25.48 2021-10-11T01:28:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.04 , -0.01 2021-10-11T01:28:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915703.87 epoch sec; seqNo:2078; 4061927.98 north; 594443.81 east 2021-10-11T01:28:27Z- AHRS_M2 msg: 1633915704.21 epoch sec; seqNo:2030 2021-10-11T01:28:27Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:27Z- handleDepth()-Depth_Keller msg: 1633915704212 epoch sec; seqNo:2079; depth 49.94 2021-10-11T01:28:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915704.23 epoch sec; seqNo:2079; 4061927.99 north; 594445.04 east 2021-10-11T01:28:27Z- AHRS_M2 msg: 1633915704.61 epoch sec; seqNo:2031 2021-10-11T01:28:27Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:27Z- handleDepth()-Depth_Keller msg: 1633915704613 epoch sec; seqNo:2080; depth 49.95 2021-10-11T01:28:28Z- handleDvl() - RDI_Pathfinder msg: 1633915704.64 epoch sec; seqNo:624 2021-10-11T01:28:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 26.43 , 20.03 , 34.60 , 25.48 2021-10-11T01:28:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.07 , -0.03 2021-10-11T01:28:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915704.66 epoch sec; seqNo:2080; 4061928.37 north; 594445.03 east 2021-10-11T01:28:28Z- AHRS_M2 msg: 1633915705.01 epoch sec; seqNo:2032 2021-10-11T01:28:28Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:28Z- handleDepth()-Depth_Keller msg: 1633915705019 epoch sec; seqNo:2081; depth 49.96 2021-10-11T01:28:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915705.04 epoch sec; seqNo:2081; 4061928.37 north; 594445.03 east 2021-10-11T01:28:28Z- AHRS_M2 msg: 1633915705.42 epoch sec; seqNo:2033 2021-10-11T01:28:28Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:28Z- handleDepth()-Depth_Keller msg: 1633915705425 epoch sec; seqNo:2082; depth 49.99 2021-10-11T01:28:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915705.44 epoch sec; seqNo:2082; 4061928.37 north; 594445.03 east 2021-10-11T01:28:29Z- AHRS_M2 msg: 1633915705.82 epoch sec; seqNo:2034 2021-10-11T01:28:29Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:29Z- handleDepth()-Depth_Keller msg: 1633915705832 epoch sec; seqNo:2083; depth 49.99 2021-10-11T01:28:29Z- handleDvl() - RDI_Pathfinder msg: 1633915705.86 epoch sec; seqNo:625 2021-10-11T01:28:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.18 , 21.69 , 34.57 , 25.75 2021-10-11T01:28:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.01 , -0.01 2021-10-11T01:28:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915705.88 epoch sec; seqNo:2083; 4061928.75 north; 594445.03 east 2021-10-11T01:28:29Z- handleDepth()-Depth_Keller msg: 1633915706247 epoch sec; seqNo:2084; depth 50.01 2021-10-11T01:28:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915706.26 epoch sec; seqNo:2084; 4061928.76 north; 594446.25 east 2021-10-11T01:28:29Z- AHRS_M2 msg: 1633915706.63 epoch sec; seqNo:2035 2021-10-11T01:28:30Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:30Z- handleDepth()-Depth_Keller msg: 1633915706642 epoch sec; seqNo:2085; depth 50.01 2021-10-11T01:28:30Z- handleDvl() - RDI_Pathfinder msg: 1633915706.67 epoch sec; seqNo:626 2021-10-11T01:28:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.56 , 10.00 , 34.60 , 25.75 2021-10-11T01:28:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.07 , 0.00 2021-10-11T01:28:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915706.68 epoch sec; seqNo:2085; 4061929.14 north; 594446.24 east 2021-10-11T01:28:30Z- AHRS_M2 msg: 1633915707.04 epoch sec; seqNo:2036 2021-10-11T01:28:30Z- AHRS_M2 msg: -0.20 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:30Z- handleDepth()-Depth_Keller msg: 1633915707042 epoch sec; seqNo:2086; depth 50.03 2021-10-11T01:28:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915707.08 epoch sec; seqNo:2086; 4061929.14 north; 594446.24 east 2021-10-11T01:28:30Z- AHRS_M2 msg: 1633915707.44 epoch sec; seqNo:2037 2021-10-11T01:28:30Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:30Z- handleDepth()-Depth_Keller msg: 1633915707446 epoch sec; seqNo:2087; depth 50.04 2021-10-11T01:28:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915707.46 epoch sec; seqNo:2087; 4061929.52 north; 594446.24 east 2021-10-11T01:28:31Z- AHRS_M2 msg: 1633915707.84 epoch sec; seqNo:2038 2021-10-11T01:28:31Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:31Z- handleDepth()-Depth_Keller msg: 1633915707852 epoch sec; seqNo:2088; depth 50.05 2021-10-11T01:28:31Z- handleDvl() - RDI_Pathfinder msg: 1633915707.87 epoch sec; seqNo:627 2021-10-11T01:28:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.52 , 11.00 , 35.01 , 26.16 2021-10-11T01:28:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.04 , 0.02 2021-10-11T01:28:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915707.89 epoch sec; seqNo:2088; 4061929.52 north; 594446.24 east 2021-10-11T01:28:31Z- LcmTrn::handleMessages() - handling 43 messages took 0.74 ms and 128 calls... 2021-10-11T01:28:31Z- waiting for 1633915705.65, time is 1633915707.89 2021-10-11T01:28:31Z- LcmTrn::updateTrn() equating pose 1633915707.89 and meas times 1633915707.89 2021-10-11T01:28:31Z- LcmTrn::updateTrn() >>>> pose time 1633915707.89, meas time 1633915707.89 <<<< 2021-10-11T01:28:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915707.89 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:31Z- TerrainNav::motionUpdate() - currEstimate = (4061930, 594446.24, 50.05) 2021-10-11T01:28:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:31Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:31Z- TerrainNav::Measurement type 1 not incorporated from time = 1633915707.89 sec.; No relevant navigation data available 2021-10-11T01:28:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:31Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:31Z- variances([0], [2], and psi_berg) = 1.172061 0.299045 0.000000 2021-10-11T01:28:31Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:31Z- LcmTrn::publishEstimates() - MLE : 4061931.01 594368.34 38.05 2021-10-11T01:28:31Z- LcmTrn::publishEstimates() - MMSE : 4061930.34 594368.84 3.81 2021-10-11T01:28:31Z- LcmTrn::publishEstimates() - COVAR: 1.17 0.30 0.70 0.00 2021-10-11T01:28:31Z- AHRS_M2 msg: 1633915708.24 epoch sec; seqNo:2039 2021-10-11T01:28:31Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:31Z- handleDepth()-Depth_Keller msg: 1633915708250 epoch sec; seqNo:2089; depth 50.08 2021-10-11T01:28:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915708.27 epoch sec; seqNo:2089; 4061929.91 north; 594447.45 east 2021-10-11T01:28:32Z- AHRS_M2 msg: 1633915708.65 epoch sec; seqNo:2040 2021-10-11T01:28:32Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:32Z- handleDepth()-Depth_Keller msg: 1633915708660 epoch sec; seqNo:2090; depth 50.08 2021-10-11T01:28:32Z- handleDvl() - RDI_Pathfinder msg: 1633915708.69 epoch sec; seqNo:628 2021-10-11T01:28:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.24 , 12.00 , 34.88 , 26.29 2021-10-11T01:28:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.04 , 0.02 2021-10-11T01:28:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915708.71 epoch sec; seqNo:2090; 4061929.91 north; 594447.45 east 2021-10-11T01:28:32Z- AHRS_M2 msg: 1633915709.06 epoch sec; seqNo:2041 2021-10-11T01:28:32Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:32Z- handleDepth()-Depth_Keller msg: 1633915709069 epoch sec; seqNo:2091; depth 50.09 2021-10-11T01:28:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915709.09 epoch sec; seqNo:2091; 4061930.29 north; 594447.45 east 2021-10-11T01:28:32Z- AHRS_M2 msg: 1633915709.46 epoch sec; seqNo:2042 2021-10-11T01:28:32Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:32Z- handleDepth()-Depth_Keller msg: 1633915709461 epoch sec; seqNo:2092; depth 50.10 2021-10-11T01:28:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915709.49 epoch sec; seqNo:2092; 4061930.29 north; 594447.45 east 2021-10-11T01:28:33Z- AHRS_M2 msg: 1633915709.86 epoch sec; seqNo:2043 2021-10-11T01:28:33Z- AHRS_M2 msg: -0.19 phi; -0.05 theta; 0.97 psi 2021-10-11T01:28:33Z- handleDepth()-Depth_Keller msg: 1633915709868 epoch sec; seqNo:2093; depth 50.12 2021-10-11T01:28:33Z- handleDvl() - RDI_Pathfinder msg: 1633915709.90 epoch sec; seqNo:629 2021-10-11T01:28:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.70 , 13.00 , 35.28 , 26.29 2021-10-11T01:28:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.02 , 0.01 2021-10-11T01:28:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915709.92 epoch sec; seqNo:2093; 4061930.67 north; 594447.45 east 2021-10-11T01:28:33Z- AHRS_M2 msg: 1633915710.27 epoch sec; seqNo:2044 2021-10-11T01:28:33Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 0.97 psi 2021-10-11T01:28:33Z- handleDepth()-Depth_Keller msg: 1633915710272 epoch sec; seqNo:2094; depth 50.12 2021-10-11T01:28:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915710.29 epoch sec; seqNo:2094; 4061930.69 north; 594448.67 east 2021-10-11T01:28:34Z- AHRS_M2 msg: 1633915710.67 epoch sec; seqNo:2045 2021-10-11T01:28:34Z- AHRS_M2 msg: -0.19 phi; -0.04 theta; 0.98 psi 2021-10-11T01:28:34Z- handleDepth()-Depth_Keller msg: 1633915710681 epoch sec; seqNo:2095; depth 50.15 2021-10-11T01:28:34Z- handleDvl() - RDI_Pathfinder msg: 1633915710.71 epoch sec; seqNo:630 2021-10-11T01:28:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.83 , 35.55 , 35.28 , 26.02 2021-10-11T01:28:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.03 , 0.00 2021-10-11T01:28:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915710.73 epoch sec; seqNo:2095; 4061931.06 north; 594448.66 east 2021-10-11T01:28:34Z- AHRS_M2 msg: 1633915711.08 epoch sec; seqNo:2046 2021-10-11T01:28:34Z- AHRS_M2 msg: -0.18 phi; -0.04 theta; 0.98 psi 2021-10-11T01:28:34Z- handleDepth()-Depth_Keller msg: 1633915711092 epoch sec; seqNo:2096; depth 50.18 2021-10-11T01:28:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915711.12 epoch sec; seqNo:2096; 4061931.06 north; 594448.66 east 2021-10-11T01:28:34Z- AHRS_M2 msg: 1633915711.48 epoch sec; seqNo:2047 2021-10-11T01:28:34Z- AHRS_M2 msg: -0.18 phi; -0.04 theta; 0.98 psi 2021-10-11T01:28:34Z- handleDepth()-Depth_Keller msg: 1633915711489 epoch sec; seqNo:2097; depth 50.18 2021-10-11T01:28:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915711.50 epoch sec; seqNo:2097; 4061931.06 north; 594448.66 east 2021-10-11T01:28:35Z- AHRS_M2 msg: 1633915711.88 epoch sec; seqNo:2048 2021-10-11T01:28:35Z- AHRS_M2 msg: -0.18 phi; -0.04 theta; 0.98 psi 2021-10-11T01:28:35Z- handleDepth()-Depth_Keller msg: 1633915711885 epoch sec; seqNo:2098; depth 50.19 2021-10-11T01:28:35Z- handleDvl() - RDI_Pathfinder msg: 1633915711.91 epoch sec; seqNo:631 2021-10-11T01:28:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.04 , 35.40 , 35.71 , 25.59 2021-10-11T01:28:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.04 , 0.00 2021-10-11T01:28:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915711.93 epoch sec; seqNo:2098; 4061931.44 north; 594448.66 east 2021-10-11T01:28:35Z- AHRS_M2 msg: 1633915712.29 epoch sec; seqNo:2049 2021-10-11T01:28:35Z- AHRS_M2 msg: -0.18 phi; -0.04 theta; 0.98 psi 2021-10-11T01:28:35Z- handleDepth()-Depth_Keller msg: 1633915712296 epoch sec; seqNo:2099; depth 50.21 2021-10-11T01:28:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915712.32 epoch sec; seqNo:2099; 4061931.44 north; 594448.66 east 2021-10-11T01:28:36Z- AHRS_M2 msg: 1633915712.69 epoch sec; seqNo:2050 2021-10-11T01:28:36Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.98 psi 2021-10-11T01:28:36Z- handleDepth()-Depth_Keller msg: 1633915712694 epoch sec; seqNo:2100; depth 50.23 2021-10-11T01:28:36Z- handleDvl() - RDI_Pathfinder msg: 1633915712.74 epoch sec; seqNo:632 2021-10-11T01:28:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.19 , 35.25 , 35.71 , 25.75 2021-10-11T01:28:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.05 , 0.01 2021-10-11T01:28:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915712.75 epoch sec; seqNo:2100; 4061931.84 north; 594449.87 east 2021-10-11T01:28:36Z- AHRS_M2 msg: 1633915713.10 epoch sec; seqNo:2051 2021-10-11T01:28:36Z- AHRS_M2 msg: -0.18 phi; -0.03 theta; 0.98 psi 2021-10-11T01:28:36Z- LcmTrn::handleMessages() - handling 42 messages took 0.85 ms and 125 calls... 2021-10-11T01:28:36Z- waiting for 1633915710.89, time is 1633915713.10 2021-10-11T01:28:36Z- LcmTrn::updateTrn() >>>> pose time 1633915713.10, meas time 1633915712.74 <<<< 2021-10-11T01:28:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915712.74 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:36Z- TerrainNav::motionUpdate() - currEstimate = (4061932, 594449.87, 50.23) 2021-10-11T01:28:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:36Z- TerrainNav:: SubcloudNIS is 0.74, in allowable region under 1.40. Keep on Trucking. 2021-10-11T01:28:36Z- TNavBF::Projecting Measurements 2021-10-11T01:28:36Z- TNavFilter:: ping # 0 currMeas.measStatus[0] = 1 2021-10-11T01:28:36Z- TNavFilter:: ping # 0 currMeas.measStatus[1] = 1 2021-10-11T01:28:36Z- TNavFilter:: ping # 0 currMeas.measStatus[2] = 1 2021-10-11T01:28:36Z- TNavFilter:: ping # 0 currMeas.measStatus[3] = 1 2021-10-11T01:28:36Z- TNavFilter::4 good beams. 2021-10-11T01:28:36Z- TNavBF::Measurements Projected, beam correspondences: 2021-10-11T01:28:36Z- TNavBF:: beamIndex[0] = 0 2021-10-11T01:28:36Z- TNavBF:: beamIndex[1] = 1 2021-10-11T01:28:36Z- TNavBF:: beamIndex[2] = 2 2021-10-11T01:28:36Z- TNavBF:: beamIndex[3] = 3 2021-10-11T01:28:36Z- TNavBF:: *** beamsVF.Ncols() = 4 *** 2021-10-11T01:28:36Z- TNavBF:: *** currMeas.numMeas = 4 *** 2021-10-11T01:28:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:36Z- TerrainMapOctree: (vehN, vehE ) = (4061931.67, 594449.62). 2021-10-11T01:28:36Z- TerrainMapOctree: Min Distance = 269.92. 2021-10-11T01:28:36Z- TerrainMapOctree: Using tile 4. 2021-10-11T01:28:36Z- Forcing Subcloud Comparison 2021-10-11T01:28:36Z- Filter 0 deapthBias would have been set to Nan. indexP: 6258 indexM: 1 2021-10-11T01:28:36Z- Old Depth Bias: -25.06 DepthBiasCov: 0.62 K: 0.143 ExpectedMeasDiff: nan currMeas.covariance: 1.99 2021-10-11T01:28:36Z- Filter 0 deapthBias would have been set to Nan. indexP: 7450 indexM: 2 2021-10-11T01:28:36Z- Old Depth Bias: -25.13 DepthBiasCov: 0.53 K: 0.124 ExpectedMeasDiff: nan currMeas.covariance: 2.04 2021-10-11T01:28:36Z- Filter 0 Weighting particles with subcloud comparison 2021-10-11T01:28:36Z- Filter 0 beam number: 0 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:28:36Z- Filter 0 partialDeltaRmsComputation: 34.796560 terrainVariance: 0.045621 1-SumSquareWeights: 0.775408 2021-10-11T01:28:36Z- Filter 0 meanExpectedMeasDiff: 5.894993 delta_rms_squared: 0.037867 alpha: 0.654382 2021-10-11T01:28:36Z- Filter 0 beam number: 1 num in subcloud: 9995 num not in subcloud: 5 2021-10-11T01:28:36Z- Filter 0 partialDeltaRmsComputation: 30.202266 terrainVariance: 0.426277 1-SumSquareWeights: 0.775408 2021-10-11T01:28:36Z- Filter 0 meanExpectedMeasDiff: 5.456738 delta_rms_squared: 0.418523 alpha: 0.954392 2021-10-11T01:28:36Z- Filter 0 beam number: 2 num in subcloud: 9999 num not in subcloud: 1 2021-10-11T01:28:36Z- Filter 0 partialDeltaRmsComputation: 234.278026 terrainVariance: 0.092884 1-SumSquareWeights: 0.775408 2021-10-11T01:28:36Z- Filter 0 meanExpectedMeasDiff: 15.303109 delta_rms_squared: 0.085130 alpha: 0.809759 2021-10-11T01:28:36Z- Filter 0 beam number: 3 num in subcloud: 10000 num not in subcloud: 0 2021-10-11T01:28:36Z- Filter 0 partialDeltaRmsComputation: 14.975624 terrainVariance: 0.171629 1-SumSquareWeights: 0.775408 2021-10-11T01:28:36Z- Filter 0 meanExpectedMeasDiff: -3.847596 delta_rms_squared: 0.163875 alpha: 0.891231 2021-10-11T01:28:36Z- Filter 0 SubcloudNIS: 2.792247 2021-10-11T01:28:36Z- TNavBF:: Filter 0 sumSquaredError = 0.000000 2021-10-11T01:28:36Z- TNavBF:: Filter 0 sumWeights = 0.000000 2021-10-11T01:28:36Z- Filter 0 NorthBias: 1.7 EastBias: -77.9 DepthBias: -42.0 NorthVariance: 0.3 EastVariance: 0.0 DepthVariance: 0.4 this->DepthBiasCov: 0.4 2021-10-11T01:28:36Z- TerrainNav::motionUpdate - Measurement type 1 successfully incorporated from time = 1633915712.74 sec. 2021-10-11T01:28:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2021-10-11T01:28:36Z- TNavBF::mmse selected from filter -1 2021-10-11T01:28:36Z- variances([0], [2], and psi_berg) = 0.324469 0.049678 0.000000 2021-10-11T01:28:36Z- LcmTrn::publishEstimates() - reinits:1 filterstate:0 2021-10-11T01:28:36Z- LcmTrn::publishEstimates() - MLE : 4061933.32 594371.98 38.23 2021-10-11T01:28:36Z- LcmTrn::publishEstimates() - MMSE : 4061933.57 594372.01 8.24 2021-10-11T01:28:36Z- LcmTrn::publishEstimates() - COVAR: 0.32 0.05 0.45 0.00 2021-10-11T01:28:36Z- handleDepth()-Depth_Keller msg: 1633915713109 epoch sec; seqNo:2101; depth 50.24 2021-10-11T01:28:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915713.13 epoch sec; seqNo:2101; 4061931.84 north; 594449.87 east 2021-10-11T01:28:36Z- AHRS_M2 msg: 1633915713.50 epoch sec; seqNo:2052 2021-10-11T01:28:36Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.98 psi 2021-10-11T01:28:36Z- handleDepth()-Depth_Keller msg: 1633915713504 epoch sec; seqNo:2102; depth 50.26 2021-10-11T01:28:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915713.53 epoch sec; seqNo:2102; 4061932.21 north; 594449.87 east 2021-10-11T01:28:37Z- AHRS_M2 msg: 1633915713.90 epoch sec; seqNo:2053 2021-10-11T01:28:37Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.98 psi 2021-10-11T01:28:37Z- handleDepth()-Depth_Keller msg: 1633915713912 epoch sec; seqNo:2103; depth 50.27 2021-10-11T01:28:37Z- handleDvl() - RDI_Pathfinder msg: 1633915713.93 epoch sec; seqNo:633 2021-10-11T01:28:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.50 , 35.10 , 35.56 , 26.21 2021-10-11T01:28:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.04 , 0.01 2021-10-11T01:28:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915713.96 epoch sec; seqNo:2103; 4061932.21 north; 594449.87 east 2021-10-11T01:28:37Z- AHRS_M2 msg: 1633915714.31 epoch sec; seqNo:2054 2021-10-11T01:28:37Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.98 psi 2021-10-11T01:28:37Z- handleDepth()-Depth_Keller msg: 1633915714311 epoch sec; seqNo:2104; depth 50.28 2021-10-11T01:28:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915714.33 epoch sec; seqNo:2104; 4061932.59 north; 594449.87 east 2021-10-11T01:28:38Z- AHRS_M2 msg: 1633915714.71 epoch sec; seqNo:2055 2021-10-11T01:28:38Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.98 psi 2021-10-11T01:28:38Z- handleDepth()-Depth_Keller msg: 1633915714726 epoch sec; seqNo:2105; depth 50.27 2021-10-11T01:28:38Z- handleDvl() - RDI_Pathfinder msg: 1633915714.75 epoch sec; seqNo:634 2021-10-11T01:28:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.35 , 35.40 , 35.40 , 26.67 2021-10-11T01:28:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.03 , 0.03 2021-10-11T01:28:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915714.76 epoch sec; seqNo:2105; 4061932.61 north; 594451.09 east 2021-10-11T01:28:38Z- AHRS_M2 msg: 1633915715.11 epoch sec; seqNo:2056 2021-10-11T01:28:38Z- AHRS_M2 msg: -0.19 phi; -0.03 theta; 0.98 psi 2021-10-11T01:28:38Z- handleDepth()-Depth_Keller msg: 1633915715124 epoch sec; seqNo:2106; depth 50.31 2021-10-11T01:28:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915715.14 epoch sec; seqNo:2106; 4061932.99 north; 594451.08 east 2021-10-11T01:28:38Z- AHRS_M2 msg: 1633915715.52 epoch sec; seqNo:2057 2021-10-11T01:28:38Z- AHRS_M2 msg: -0.19 phi; -0.02 theta; 0.98 psi 2021-10-11T01:28:38Z- handleDepth()-Depth_Keller msg: 1633915715525 epoch sec; seqNo:2107; depth 50.31 2021-10-11T01:28:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915715.54 epoch sec; seqNo:2107; 4061932.99 north; 594451.08 east 2021-10-11T01:28:39Z- AHRS_M2 msg: 1633915715.92 epoch sec; seqNo:2058 2021-10-11T01:28:39Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.98 psi 2021-10-11T01:28:39Z- handleDepth()-Depth_Keller msg: 1633915715928 epoch sec; seqNo:2108; depth 50.33 2021-10-11T01:28:39Z- handleDvl() - RDI_Pathfinder msg: 1633915715.96 epoch sec; seqNo:635 2021-10-11T01:28:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.65 , 35.40 , 35.10 , 27.28 2021-10-11T01:28:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.02 , 0.03 2021-10-11T01:28:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915715.97 epoch sec; seqNo:2108; 4061933.36 north; 594451.08 east 2021-10-11T01:28:39Z- AHRS_M2 msg: 1633915716.33 epoch sec; seqNo:2059 2021-10-11T01:28:39Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.98 psi 2021-10-11T01:28:39Z- handleDepth()-Depth_Keller msg: 1633915716329 epoch sec; seqNo:2109; depth 50.33 2021-10-11T01:28:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915716.35 epoch sec; seqNo:2109; 4061933.36 north; 594451.08 east 2021-10-11T01:28:40Z- AHRS_M2 msg: 1633915716.73 epoch sec; seqNo:2060 2021-10-11T01:28:40Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.98 psi 2021-10-11T01:28:40Z- handleDepth()-Depth_Keller msg: 1633915716737 epoch sec; seqNo:2110; depth 50.34 2021-10-11T01:28:40Z- handleDvl() - RDI_Pathfinder msg: 1633915716.76 epoch sec; seqNo:636 2021-10-11T01:28:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.81 , 35.25 , 34.94 , 26.97 2021-10-11T01:28:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.01 , 0.03 2021-10-11T01:28:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915716.80 epoch sec; seqNo:2110; 4061933.76 north; 594452.29 east 2021-10-11T01:28:40Z- AHRS_M2 msg: 1633915717.14 epoch sec; seqNo:2061 2021-10-11T01:28:40Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.98 psi 2021-10-11T01:28:40Z- handleDepth()-Depth_Keller msg: 1633915717140 epoch sec; seqNo:2111; depth 50.35 2021-10-11T01:28:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915717.17 epoch sec; seqNo:2111; 4061933.76 north; 594452.29 east 2021-10-11T01:28:40Z- AHRS_M2 msg: 1633915717.54 epoch sec; seqNo:2062 2021-10-11T01:28:40Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.98 psi 2021-10-11T01:28:40Z- handleDepth()-Depth_Keller msg: 1633915717549 epoch sec; seqNo:2112; depth 50.36 2021-10-11T01:28:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915717.57 epoch sec; seqNo:2112; 4061933.76 north; 594452.29 east 2021-10-11T01:28:41Z- AHRS_M2 msg: 1633915717.94 epoch sec; seqNo:2063 2021-10-11T01:28:41Z- AHRS_M2 msg: -0.18 phi; -0.02 theta; 0.99 psi 2021-10-11T01:28:41Z- handleDepth()-Depth_Keller msg: 1633915717952 epoch sec; seqNo:2113; depth 50.36 2021-10-11T01:28:41Z- handleDvl() - RDI_Pathfinder msg: 1633915717.97 epoch sec; seqNo:637 2021-10-11T01:28:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.96 , 35.25 , 36.17 , 26.67 2021-10-11T01:28:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , 0.01 , 0.02 2021-10-11T01:28:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1633915718.03 epoch sec; seqNo:2113; 4061934.14 north; 594452.29 east 2021-10-11T01:28:41Z- LcmTrn::handleMessages() - handling 43 messages took 0.80 ms and 127 calls... 2021-10-11T01:28:41Z- waiting for 1633915716.10, time is 1633915718.03 2021-10-11T01:28:41Z- LcmTrn::updateTrn() equating pose 1633915718.03 and meas times 1633915718.03 2021-10-11T01:28:41Z- LcmTrn::updateTrn() >>>> pose time 1633915718.03, meas time 1633915718.03 <<<< 2021-10-11T01:28:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1633915718.03 sec, ping # 0; waiting for more recent INS data... 2021-10-11T01:28:41Z- TerrainNav::motionUpdate() - currEstimate = (4061934, 594452.29, 50.36) 2021-10-11T01:28:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2021-10-11T01:28:41Z- TerrainNav:: SubcloudNIS of 2.79 exceeds the maximum allowed of 1.40. Re-initializing the filter. 2021-10-11T01:28:41Z- reinitFilter: getDistribToSave == 0 2021-10-11T01:28:41Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2021-10-11T01:28:41Z- parseSensorSpecs parsing sensor of type 1. 2021-10-11T01:28:41Z- Sensor 0 is of type 1. 2021-10-11T01:28:41Z- parseSensorSpecs parsing sensor of type 2. 2021-10-11T01:28:41Z- Sensor 1 is of type 2. 2021-10-11T01:28:41Z- parseSensorSpecs parsing sensor of type 5. 2021-10-11T01:28:41Z- Sensor 2 is of type 5. 2021-10-11T01:28:41Z- Random noise maker initialized with 1633915721 2021-10-11T01:28:41Z- setDistribToSave(0) 2021-10-11T01:28:41Z- setDistribToSave set to 0 2021-10-11T01:28:41Z- Vehicle name: mappingAUV Number of sensors: 3 2021-10-11T01:28:41Z- Sensor #1: 2021-10-11T01:28:41Z- Sensor name: rdiDVL 2021-10-11T01:28:41Z- Sensor type: 1 2021-10-11T01:28:41Z- Number of beams per measurement: 4 2021-10-11T01:28:41Z- Sensor #1 to vehicle transformation information: 2021-10-11T01:28:41Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:28:41Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:28:41Z- 2021-10-11T01:28:41Z- Sensor #2: 2021-10-11T01:28:41Z- Sensor name: resonSeabat8101 2021-10-11T01:28:41Z- Sensor type: 2 2021-10-11T01:28:41Z- Number of beams per measurement: 11 2021-10-11T01:28:41Z- Sensor #2 to vehicle transformation information: 2021-10-11T01:28:41Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:28:41Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:28:41Z- 2021-10-11T01:28:41Z- Sensor #3: 2021-10-11T01:28:41Z- Sensor name: imagenexdeltat 2021-10-11T01:28:41Z- Sensor type: 5 2021-10-11T01:28:41Z- Number of beams per measurement: 120 2021-10-11T01:28:41Z- Sensor #3 to vehicle transformation information: 2021-10-11T01:28:41Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2021-10-11T01:28:41Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2021-10-11T01:28:41Z- 2021-10-11T01:28:41Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2021-10-11T01:28:41Z- TerrainNav::TNavFilter initialized with type 3 2021-10-11T01:28:41Z- TNavBF::setModifiedWeighting umw: 4 2021-10-11T01:28:41Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2021-10-11T01:28:41Z- TNavBF::numFilters: 1