2020-09-22T23:18:43Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2020-09-22T23:18:43Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2020-09-22T23:18:43Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle
2020-09-22T23:18:43Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag
2020-09-22T23:18:43Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude
2020-09-22T23:18:43Z* depth config: Depth_Keller, depth, sea_water_pressure
2020-09-22T23:18:43Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate
2020-09-22T23:18:43Z* LCM timeout=1.00 sec
2020-09-22T23:18:43Z* TRN settings:
2020-09-22T23:18:43Z* 	period=2.00 sec
2020-09-22T23:18:43Z* 	coherence=0.90 sec
2020-09-22T23:18:43Z* 	map = PortTiles
	cfg = mappingAUV_specs.cfg
	part= particles.cfg
	logdir= lrauv
2020-09-22T23:18:43Z* 	maptype = 2
	filtertype = 3
	weighting = 0
2020-09-22T23:18:43Z* 	lowgrade_filter = 1
	allow reinit = 1
2020-09-22T23:18:43Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2020-09-22T23:18:43Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles
2020-09-22T23:18:43Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2020-09-22T23:18:43Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg
2020-09-22T23:18:43Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv
2020-09-22T23:18:43Z* TerrainMapOctree::numTiles_ = 9.
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 .
2020-09-22T23:18:43Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv.
2020-09-22T23:18:44Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.753624 seconds.
2020-09-22T23:18:44Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN
2020-09-22T23:18:44Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN OK
2020-09-22T23:18:44Z* parseSensorSpecs parsing sensor of type 1.
2020-09-22T23:18:44Z* Sensor 0 is of type 1.
2020-09-22T23:18:44Z* parseSensorSpecs parsing sensor of type 2.
2020-09-22T23:18:44Z* Sensor 1 is of type 2.
2020-09-22T23:18:44Z* parseSensorSpecs parsing sensor of type 5.
2020-09-22T23:18:44Z* Sensor 2 is of type 5.
2020-09-22T23:18:44Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55679ec550]
2020-09-22T23:18:44Z- TNavConfig::setParticlesFile: value is now particles.cfg
2020-09-22T23:18:44Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles
2020-09-22T23:18:44Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2020-09-22T23:18:44Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg
2020-09-22T23:18:44Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN
2020-09-22T23:18:44Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg
2020-09-22T23:18:44Z- parseSensorSpecs parsing sensor of type 1.
2020-09-22T23:18:44Z- Sensor 0 is of type 1.
2020-09-22T23:18:44Z- parseSensorSpecs parsing sensor of type 2.
2020-09-22T23:18:44Z- Sensor 1 is of type 2.
2020-09-22T23:18:44Z- parseSensorSpecs parsing sensor of type 5.
2020-09-22T23:18:44Z- Sensor 2 is of type 5.
2020-09-22T23:18:44Z- Random noise maker initialized with 1600816724
2020-09-22T23:18:44Z- setDistribToSave(0)
2020-09-22T23:18:44Z- setDistribToSave set to 0
2020-09-22T23:18:44Z- Vehicle name: mappingAUV
Number of sensors: 3

2020-09-22T23:18:44Z- Sensor #1: 
2020-09-22T23:18:44Z- Sensor name:  rdiDVL
2020-09-22T23:18:44Z- Sensor type: 1
2020-09-22T23:18:44Z- Number of beams per measurement: 4
2020-09-22T23:18:44Z- Sensor #1 to vehicle transformation information: 
2020-09-22T23:18:44Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2020-09-22T23:18:44Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2020-09-22T23:18:44Z- 
2020-09-22T23:18:44Z- Sensor #2: 
2020-09-22T23:18:44Z- Sensor name:  resonSeabat8101
2020-09-22T23:18:44Z- Sensor type: 2
2020-09-22T23:18:44Z- Number of beams per measurement: 11
2020-09-22T23:18:44Z- Sensor #2 to vehicle transformation information: 
2020-09-22T23:18:44Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2020-09-22T23:18:44Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2020-09-22T23:18:44Z- 
2020-09-22T23:18:44Z- Sensor #3: 
2020-09-22T23:18:44Z- Sensor name:  imagenexdeltat
2020-09-22T23:18:44Z- Sensor type: 5
2020-09-22T23:18:44Z- Number of beams per measurement: 120
2020-09-22T23:18:44Z- Sensor #3 to vehicle transformation information: 
2020-09-22T23:18:44Z- Rotation angles (phi, theta, psi): 
 (0.000000 ,0.000000, 0.000000)
2020-09-22T23:18:44Z- Translation vector [dx, dy, dz]: 
 (0.000000 ,0.000000, 0.000000)
2020-09-22T23:18:44Z- 
2020-09-22T23:18:44Z- TNavBF::nParticles: 10000	numFilters: 2	PMF Grid Resolution: 1.0	PMF Grid Size: 100
2020-09-22T23:18:44Z- TerrainNav::TNavFilter initialized with type 3
2020-09-22T23:18:44Z- TerrainNav::initVariables finished.
2020-09-22T23:18:44Z- TerrainNav::Constructor finished.
2020-09-22T23:18:44Z- TNavBF::setModifiedWeighting umw: 4 
2020-09-22T23:18:44Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20
2020-09-22T23:18:44Z- TNavBF::numFilters: 1 
2020-09-22T23:18:44Z- TerrainNav::modified weighting set to 0
2020-09-22T23:18:44Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg
2020-09-22T23:18:44Z- LcmTrn::run()
2020-09-22T23:18:45Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:45Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:45Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:45Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:45Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:45Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:46Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:46Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:46Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:46Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:47Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:47Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:47Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:47Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:47Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:47Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:48Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:48Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:48Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:48Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:49Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:49Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:49Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:49Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:49Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:49Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:50Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:50Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:50Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:50Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:51Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:51Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:51Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:51Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:51Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:51Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:52Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:52Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:52Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:52Z- sync is 0.00, coherence is 0.90
2020-09-22T23:18:53Z- waiting for 2.00, time is 0.00
2020-09-22T23:18:53Z- sync is 0.00, coherence is 0.90