2024-11-04T16:47:53Z* LcmTrn::LcmTrn() version v1.0.3b0-518-g924cc45 built Oct 31 2024 16:19:57 - config file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-04T16:47:53Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-04T16:47:53Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2024-11-04T16:47:53Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2024-11-04T16:47:53Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2024-11-04T16:47:53Z* depth config: Depth_Keller, depth, sea_water_pressure 2024-11-04T16:47:53Z* LCM timeout=0.20 sec 2024-11-04T16:47:53Z* TRN settings: 2024-11-04T16:47:53Z* period=4.00 sec 2024-11-04T16:47:53Z* coherence=0.90 sec 2024-11-04T16:47:53Z* map = PortTiles cfg = LRAUV_specs.cfg part= particles.cfg logdir= lrauv 2024-11-04T16:47:53Z* maptype = 2 filtertype = 2 weighting = 4 2024-11-04T16:47:53Z* lowgrade_filter = 0 allow reinit = 1 2024-11-04T16:47:53Z* cmd_estimate = estimate cmd_reinit = reinit 2024-11-04T16:47:53Z* LcmTrn::initTrn() version v1.0.3b0-518-g924cc45 - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-04T16:47:53Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-04T16:47:53Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-04T16:47:53Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-04T16:47:53Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2024-11-04T16:47:53Z* TerrainMapOctree::numTiles_ = 9. 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2024-11-04T16:47:53Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2024-11-04T16:47:53Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.486915 seconds. 2024-11-04T16:47:53Z* session directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.02/ 2024-11-04T16:47:53Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.02/ 2024-11-04T16:47:53Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to lrauv-TRN.02 OK 2024-11-04T16:47:53Z* parseSensorSpecs parsing sensor of type 1. 2024-11-04T16:47:53Z* Sensor 0 is of type 1. 2024-11-04T16:47:53Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55a1da3da0] 2024-11-04T16:47:53Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-04T16:47:53Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-04T16:47:53Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-04T16:47:53Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.02/ 2024-11-04T16:47:53Z- createFilter: Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-04T16:47:53Z- parseSensorSpecs parsing sensor of type 1. 2024-11-04T16:47:53Z- Sensor 0 is of type 1. 2024-11-04T16:47:53Z- Random noise generator initialized with 1730738873 2024-11-04T16:47:53Z- Vehicle name: LRAUV Number of sensors: 1 2024-11-04T16:47:53Z- Sensor #1: 2024-11-04T16:47:53Z- Sensor name: rdiDVL 2024-11-04T16:47:53Z- Sensor type: 1 2024-11-04T16:47:53Z- Number of beams per measurement: 4 2024-11-04T16:47:53Z- Sensor #1 to vehicle transformation information: 2024-11-04T16:47:53Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2024-11-04T16:47:53Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2024-11-04T16:47:53Z- 2024-11-04T16:47:53Z- setDistribToSave(0) 2024-11-04T16:47:53Z- setDistribToSave set to 0 2024-11-04T16:47:53Z- TerrainNav::TNavFilter initialized with type 2 2024-11-04T16:47:53Z- TerrainNav::initVariables finished. 2024-11-04T16:47:53Z- TerrainNav::Constructor finished. 2024-11-04T16:47:53Z- TerrainNav::modified weighting set to 4 2024-11-04T16:47:53Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-04T16:47:53Z- LcmTrn::run() v1.0.3b0-518-g924cc45 using bursty timeouts of 50 and 150 msec 2024-11-04T16:47:53Z- AHRS_M2 msg: 1730738873.78 epoch sec; seqNo:6 2024-11-04T16:47:53Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:53Z- handleDepth()- Depth_Keller msg: 1730738873.79 epoch sec; seqNo:6; depth -0.26 2024-11-04T16:47:53Z- handleDVL() - DVL msg epochMillisec: 1730738873.80 2024-11-04T16:47:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:47:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:47:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:47:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-04T16:47:53Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-04T16:47:53Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-04T16:47:53Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-04T16:47:53Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-04T16:47:53Z- handleDvl() - RDI_Pathfinder msg: 1730738873.80 sec; seqNo:2; #beams:0 2024-11-04T16:47:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:47:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , 0.00 , 0.00 2024-11-04T16:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738873.82 epoch sec; seqNo:6; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:47:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:47:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:53Z- waiting for 1730738877.82, time is 1730738873.82 2024-11-04T16:47:54Z- AHRS_M2 msg: 1730738874.19 epoch sec; seqNo:7 2024-11-04T16:47:54Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:54Z- handleDepth()- Depth_Keller msg: 1730738874.19 epoch sec; seqNo:7; depth -0.27 2024-11-04T16:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738874.23 epoch sec; seqNo:7; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:54Z- waiting for 1730738877.82, time is 1730738874.23 2024-11-04T16:47:54Z- AHRS_M2 msg: 1730738874.59 epoch sec; seqNo:8 2024-11-04T16:47:54Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:54Z- handleDepth()- Depth_Keller msg: 1730738874.60 epoch sec; seqNo:8; depth -0.27 2024-11-04T16:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738874.61 epoch sec; seqNo:8; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:54Z- waiting for 1730738877.82, time is 1730738874.61 2024-11-04T16:47:54Z- AHRS_M2 msg: 1730738874.99 epoch sec; seqNo:9 2024-11-04T16:47:54Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:55Z- 1 msgs in 200 ms and 2 handle calls 2024-11-04T16:47:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:55Z- waiting for 1730738877.82, time is 1730738874.99 2024-11-04T16:47:55Z- handleDepth()- Depth_Keller msg: 1730738875.17 epoch sec; seqNo:9; depth -0.27 2024-11-04T16:47:55Z- handleDVL() - DVL msg epochMillisec: 1730738875.18 2024-11-04T16:47:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:47:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:47:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:47:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-04T16:47:55Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-04T16:47:55Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-04T16:47:55Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-04T16:47:55Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-04T16:47:55Z- handleDvl() - RDI_Pathfinder msg: 1730738875.18 sec; seqNo:3; #beams:0 2024-11-04T16:47:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:47:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.00 , 0.00 , 0.00 2024-11-04T16:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738875.19 epoch sec; seqNo:9; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:55Z- waiting for 1730738877.82, time is 1730738875.19 2024-11-04T16:47:55Z- AHRS_M2 msg: 1730738875.40 epoch sec; seqNo:10 2024-11-04T16:47:55Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:55Z- 1 msgs in 200 ms and 2 handle calls 2024-11-04T16:47:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:55Z- waiting for 1730738877.82, time is 1730738875.40 2024-11-04T16:47:55Z- handleDepth()- Depth_Keller msg: 1730738875.67 epoch sec; seqNo:10; depth -0.27 2024-11-04T16:47:55Z- handleDVL() - DVL msg epochMillisec: 1730738875.74 2024-11-04T16:47:55Z- handleDvl() - RDI_Pathfinder msg: 1730738875.74 sec; seqNo:4; #beams:4 2024-11-04T16:47:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:47:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738875.76 epoch sec; seqNo:10; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:55Z- waiting for 1730738877.82, time is 1730738875.76 2024-11-04T16:47:55Z- AHRS_M2 msg: 1730738875.84 epoch sec; seqNo:11 2024-11-04T16:47:55Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:55Z- handleDepth()- Depth_Keller msg: 1730738875.87 epoch sec; seqNo:11; depth -0.27 2024-11-04T16:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738875.90 epoch sec; seqNo:11; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:55Z- waiting for 1730738877.82, time is 1730738875.90 2024-11-04T16:47:56Z- AHRS_M2 msg: 1730738876.23 epoch sec; seqNo:12 2024-11-04T16:47:56Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:56Z- handleDepth()- Depth_Keller msg: 1730738876.26 epoch sec; seqNo:12; depth -0.26 2024-11-04T16:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738876.31 epoch sec; seqNo:12; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:47:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:56Z- waiting for 1730738877.82, time is 1730738876.31 2024-11-04T16:47:56Z- AHRS_M2 msg: 1730738876.63 epoch sec; seqNo:13 2024-11-04T16:47:56Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:56Z- handleDepth()- Depth_Keller msg: 1730738876.64 epoch sec; seqNo:13; depth -0.26 2024-11-04T16:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738876.68 epoch sec; seqNo:13; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:47:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:56Z- waiting for 1730738877.82, time is 1730738876.68 2024-11-04T16:47:57Z- AHRS_M2 msg: 1730738877.04 epoch sec; seqNo:14 2024-11-04T16:47:57Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:57Z- handleDepth()- Depth_Keller msg: 1730738877.06 epoch sec; seqNo:14; depth -0.26 2024-11-04T16:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738877.11 epoch sec; seqNo:14; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:47:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:57Z- waiting for 1730738877.82, time is 1730738877.11 2024-11-04T16:47:57Z- AHRS_M2 msg: 1730738877.44 epoch sec; seqNo:15 2024-11-04T16:47:57Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:57Z- handleDepth()- Depth_Keller msg: 1730738877.45 epoch sec; seqNo:15; depth -0.26 2024-11-04T16:47:57Z- handleDVL() - DVL msg epochMillisec: 1730738877.50 2024-11-04T16:47:57Z- handleDvl() - RDI_Pathfinder msg: 1730738877.50 sec; seqNo:5; #beams:4 2024-11-04T16:47:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:47:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738877.53 epoch sec; seqNo:15; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:47:57Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:47:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:57Z- waiting for 1730738877.82, time is 1730738877.53 2024-11-04T16:47:57Z- AHRS_M2 msg: 1730738877.85 epoch sec; seqNo:16 2024-11-04T16:47:57Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:57Z- handleDepth()- Depth_Keller msg: 1730738877.87 epoch sec; seqNo:16; depth -0.26 2024-11-04T16:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738877.90 epoch sec; seqNo:16; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:47:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738873.82 2024-11-04T16:47:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:57Z- waiting for 1730738877.82, time is 1730738877.90 2024-11-04T16:47:57Z- LcmTrn::updateTrn() >>>> pose time 1730738877.90, meas time 1730738877.50 <<<< 2024-11-04T16:47:57Z- LcmTrn::updateTrn() measUpdate first last update time: 1730738877.90 2024-11-04T16:47:57Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-04T16:47:57Z- TerrainNav::motionUpdate() - currEstimate = (4073153, 589209.35, -0.26) 2024-11-04T16:47:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-04T16:47:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-04T16:47:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-04T16:47:57Z- publishEstimatesDecoder() - at 1730738877.90 sec 2024-11-04T16:47:57Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-04T16:47:57Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-04T16:47:57Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-04T16:47:57Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-04T16:47:58Z- AHRS_M2 msg: 1730738878.26 epoch sec; seqNo:17 2024-11-04T16:47:58Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:58Z- handleDepth()- Depth_Keller msg: 1730738878.26 epoch sec; seqNo:17; depth -0.27 2024-11-04T16:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738878.30 epoch sec; seqNo:17; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:47:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:58Z- waiting for 1730738881.90, time is 1730738878.30 2024-11-04T16:47:58Z- AHRS_M2 msg: 1730738878.65 epoch sec; seqNo:18 2024-11-04T16:47:58Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:58Z- handleDepth()- Depth_Keller msg: 1730738878.66 epoch sec; seqNo:18; depth -0.27 2024-11-04T16:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738878.68 epoch sec; seqNo:18; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:47:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:58Z- waiting for 1730738881.90, time is 1730738878.68 2024-11-04T16:47:59Z- AHRS_M2 msg: 1730738879.06 epoch sec; seqNo:19 2024-11-04T16:47:59Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:59Z- handleDepth()- Depth_Keller msg: 1730738879.07 epoch sec; seqNo:19; depth -0.26 2024-11-04T16:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738879.11 epoch sec; seqNo:19; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:47:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:47:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:59Z- waiting for 1730738881.90, time is 1730738879.11 2024-11-04T16:47:59Z- AHRS_M2 msg: 1730738879.46 epoch sec; seqNo:20 2024-11-04T16:47:59Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:59Z- handleDepth()- Depth_Keller msg: 1730738879.47 epoch sec; seqNo:20; depth -0.27 2024-11-04T16:47:59Z- handleDVL() - DVL msg epochMillisec: 1730738879.49 2024-11-04T16:47:59Z- handleDvl() - RDI_Pathfinder msg: 1730738879.49 sec; seqNo:6; #beams:4 2024-11-04T16:47:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:47:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738879.53 epoch sec; seqNo:20; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:47:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:47:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:59Z- waiting for 1730738881.90, time is 1730738879.53 2024-11-04T16:47:59Z- AHRS_M2 msg: 1730738879.87 epoch sec; seqNo:21 2024-11-04T16:47:59Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:47:59Z- handleDepth()- Depth_Keller msg: 1730738879.88 epoch sec; seqNo:21; depth -0.27 2024-11-04T16:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738879.89 epoch sec; seqNo:21; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:47:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:47:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:47:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:47:59Z- waiting for 1730738881.90, time is 1730738879.89 2024-11-04T16:48:00Z- AHRS_M2 msg: 1730738880.27 epoch sec; seqNo:22 2024-11-04T16:48:00Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:00Z- handleDepth()- Depth_Keller msg: 1730738880.28 epoch sec; seqNo:22; depth -0.27 2024-11-04T16:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738880.30 epoch sec; seqNo:22; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:48:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:00Z- waiting for 1730738881.90, time is 1730738880.30 2024-11-04T16:48:00Z- AHRS_M2 msg: 1730738880.67 epoch sec; seqNo:23 2024-11-04T16:48:00Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:00Z- handleDepth()- Depth_Keller msg: 1730738880.68 epoch sec; seqNo:23; depth -0.27 2024-11-04T16:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738880.69 epoch sec; seqNo:23; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:48:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:00Z- waiting for 1730738881.90, time is 1730738880.69 2024-11-04T16:48:01Z- AHRS_M2 msg: 1730738881.08 epoch sec; seqNo:24 2024-11-04T16:48:01Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:01Z- handleDepth()- Depth_Keller msg: 1730738881.09 epoch sec; seqNo:24; depth -0.26 2024-11-04T16:48:01Z- handleDVL() - DVL msg epochMillisec: 1730738881.09 2024-11-04T16:48:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-04T16:48:01Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-04T16:48:01Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-04T16:48:01Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-04T16:48:01Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-04T16:48:01Z- handleDvl() - RDI_Pathfinder msg: 1730738881.09 sec; seqNo:7; #beams:0 2024-11-04T16:48:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738881.10 epoch sec; seqNo:24; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:01Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:48:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:48:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:01Z- waiting for 1730738881.90, time is 1730738881.10 2024-11-04T16:48:01Z- AHRS_M2 msg: 1730738881.48 epoch sec; seqNo:25 2024-11-04T16:48:01Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:01Z- handleDepth()- Depth_Keller msg: 1730738881.49 epoch sec; seqNo:25; depth -0.26 2024-11-04T16:48:01Z- handleDVL() - DVL msg epochMillisec: 1730738881.51 2024-11-04T16:48:01Z- handleDvl() - RDI_Pathfinder msg: 1730738881.51 sec; seqNo:8; #beams:4 2024-11-04T16:48:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738881.52 epoch sec; seqNo:25; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:01Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:48:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:48:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:01Z- waiting for 1730738881.90, time is 1730738881.52 2024-11-04T16:48:01Z- AHRS_M2 msg: 1730738881.88 epoch sec; seqNo:26 2024-11-04T16:48:01Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:01Z- handleDepth()- Depth_Keller msg: 1730738881.90 epoch sec; seqNo:26; depth -0.26 2024-11-04T16:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738881.92 epoch sec; seqNo:26; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738877.90 2024-11-04T16:48:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:02Z- waiting for 1730738881.90, time is 1730738881.92 2024-11-04T16:48:02Z- LcmTrn::updateTrn() >>>> pose time 1730738881.92, meas time 1730738881.51 <<<< 2024-11-04T16:48:02Z- LcmTrn::updateTrn() measUpdate first last update time: 1730738881.92 2024-11-04T16:48:02Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-04T16:48:02Z- TerrainNav::motionUpdate() - currEstimate = (4073153, 589209.35, -0.26) 2024-11-04T16:48:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-04T16:48:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-04T16:48:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-04T16:48:02Z- publishEstimatesDecoder() - at 1730738881.92 sec 2024-11-04T16:48:02Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-04T16:48:02Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-04T16:48:02Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-04T16:48:02Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-04T16:48:02Z- AHRS_M2 msg: 1730738882.29 epoch sec; seqNo:27 2024-11-04T16:48:02Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:02Z- handleDepth()- Depth_Keller msg: 1730738882.30 epoch sec; seqNo:27; depth -0.27 2024-11-04T16:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738882.34 epoch sec; seqNo:27; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:02Z- waiting for 1730738885.92, time is 1730738882.34 2024-11-04T16:48:02Z- AHRS_M2 msg: 1730738882.69 epoch sec; seqNo:28 2024-11-04T16:48:02Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:02Z- handleDepth()- Depth_Keller msg: 1730738882.70 epoch sec; seqNo:28; depth -0.26 2024-11-04T16:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738882.74 epoch sec; seqNo:28; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:02Z- waiting for 1730738885.92, time is 1730738882.74 2024-11-04T16:48:03Z- AHRS_M2 msg: 1730738883.10 epoch sec; seqNo:29 2024-11-04T16:48:03Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:03Z- handleDepth()- Depth_Keller msg: 1730738883.11 epoch sec; seqNo:29; depth -0.26 2024-11-04T16:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738883.16 epoch sec; seqNo:29; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:03Z- waiting for 1730738885.92, time is 1730738883.16 2024-11-04T16:48:03Z- AHRS_M2 msg: 1730738883.50 epoch sec; seqNo:30 2024-11-04T16:48:03Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:03Z- handleDepth()- Depth_Keller msg: 1730738883.51 epoch sec; seqNo:30; depth -0.27 2024-11-04T16:48:03Z- handleDVL() - DVL msg epochMillisec: 1730738883.54 2024-11-04T16:48:03Z- handleDvl() - RDI_Pathfinder msg: 1730738883.54 sec; seqNo:9; #beams:4 2024-11-04T16:48:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738883.56 epoch sec; seqNo:30; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:03Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:48:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:03Z- waiting for 1730738885.92, time is 1730738883.56 2024-11-04T16:48:03Z- AHRS_M2 msg: 1730738883.91 epoch sec; seqNo:31 2024-11-04T16:48:03Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:03Z- handleDepth()- Depth_Keller msg: 1730738883.91 epoch sec; seqNo:31; depth -0.26 2024-11-04T16:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738883.93 epoch sec; seqNo:31; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:04Z- waiting for 1730738885.92, time is 1730738883.93 2024-11-04T16:48:04Z- AHRS_M2 msg: 1730738884.32 epoch sec; seqNo:32 2024-11-04T16:48:04Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:04Z- handleDepth()- Depth_Keller msg: 1730738884.33 epoch sec; seqNo:32; depth -0.27 2024-11-04T16:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738884.36 epoch sec; seqNo:32; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:04Z- waiting for 1730738885.92, time is 1730738884.36 2024-11-04T16:48:04Z- AHRS_M2 msg: 1730738884.72 epoch sec; seqNo:33 2024-11-04T16:48:04Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:04Z- handleDepth()- Depth_Keller msg: 1730738884.72 epoch sec; seqNo:33; depth -0.26 2024-11-04T16:48:04Z- handleDVL() - DVL msg epochMillisec: 1730738884.73 2024-11-04T16:48:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-04T16:48:04Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-04T16:48:04Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-04T16:48:04Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-04T16:48:04Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-04T16:48:04Z- handleDvl() - RDI_Pathfinder msg: 1730738884.73 sec; seqNo:10; #beams:0 2024-11-04T16:48:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:04Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738884.74 epoch sec; seqNo:33; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:04Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:48:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:04Z- waiting for 1730738885.92, time is 1730738884.74 2024-11-04T16:48:05Z- AHRS_M2 msg: 1730738885.12 epoch sec; seqNo:34 2024-11-04T16:48:05Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:05Z- handleDepth()- Depth_Keller msg: 1730738885.14 epoch sec; seqNo:34; depth -0.27 2024-11-04T16:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738885.15 epoch sec; seqNo:34; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:05Z- waiting for 1730738885.92, time is 1730738885.15 2024-11-04T16:48:05Z- AHRS_M2 msg: 1730738885.52 epoch sec; seqNo:35 2024-11-04T16:48:05Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:05Z- handleDepth()- Depth_Keller msg: 1730738885.53 epoch sec; seqNo:35; depth -0.27 2024-11-04T16:48:05Z- handleDVL() - DVL msg epochMillisec: 1730738885.57 2024-11-04T16:48:05Z- handleDvl() - RDI_Pathfinder msg: 1730738885.57 sec; seqNo:11; #beams:4 2024-11-04T16:48:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738885.61 epoch sec; seqNo:35; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:05Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:48:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:05Z- waiting for 1730738885.92, time is 1730738885.61 2024-11-04T16:48:05Z- AHRS_M2 msg: 1730738885.93 epoch sec; seqNo:36 2024-11-04T16:48:05Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:05Z- handleDepth()- Depth_Keller msg: 1730738885.93 epoch sec; seqNo:36; depth -0.26 2024-11-04T16:48:05Z- handleDVL() - DVL msg epochMillisec: 1730738885.93 2024-11-04T16:48:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-04T16:48:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-04T16:48:05Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-04T16:48:05Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-04T16:48:05Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-04T16:48:05Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-04T16:48:05Z- handleDvl() - RDI_Pathfinder msg: 1730738885.93 sec; seqNo:12; #beams:0 2024-11-04T16:48:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738885.97 epoch sec; seqNo:36; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:06Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:48:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738881.92 2024-11-04T16:48:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:06Z- waiting for 1730738885.92, time is 1730738885.97 2024-11-04T16:48:06Z- LcmTrn::updateTrn() >>>> pose time 1730738885.97, meas time 1730738885.93 <<<< 2024-11-04T16:48:06Z- LcmTrn::updateTrn() equating pose 1730738885.93 and meas times 1730738885.93 2024-11-04T16:48:06Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730738885.93 2024-11-04T16:48:06Z- TerrainNav::motionUpdate() - currEstimate = (4073153, 589209.35, -0.26) 2024-11-04T16:48:06Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-04T16:48:06Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-04T16:48:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-04T16:48:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-04T16:48:06Z- publishEstimatesDecoder() - at 1730738885.93 sec 2024-11-04T16:48:06Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-04T16:48:06Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-04T16:48:06Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-04T16:48:06Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-04T16:48:06Z- AHRS_M2 msg: 1730738886.33 epoch sec; seqNo:37 2024-11-04T16:48:06Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:06Z- 1 msgs in 200 ms and 2 handle calls 2024-11-04T16:48:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:06Z- waiting for 1730738889.93, time is 1730738886.33 2024-11-04T16:48:06Z- handleDepth()- Depth_Keller msg: 1730738886.66 epoch sec; seqNo:37; depth -0.26 2024-11-04T16:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738886.68 epoch sec; seqNo:37; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:06Z- 2 msgs in 200 ms and 3 handle calls 2024-11-04T16:48:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:06Z- waiting for 1730738889.93, time is 1730738886.68 2024-11-04T16:48:06Z- AHRS_M2 msg: 1730738886.83 epoch sec; seqNo:38 2024-11-04T16:48:06Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:06Z- handleDepth()- Depth_Keller msg: 1730738886.86 epoch sec; seqNo:38; depth -0.26 2024-11-04T16:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738886.88 epoch sec; seqNo:38; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:06Z- waiting for 1730738889.93, time is 1730738886.88 2024-11-04T16:48:07Z- AHRS_M2 msg: 1730738887.19 epoch sec; seqNo:39 2024-11-04T16:48:07Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:07Z- handleDepth()- Depth_Keller msg: 1730738887.23 epoch sec; seqNo:39; depth -0.26 2024-11-04T16:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738887.25 epoch sec; seqNo:39; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:07Z- waiting for 1730738889.93, time is 1730738887.25 2024-11-04T16:48:07Z- AHRS_M2 msg: 1730738887.60 epoch sec; seqNo:40 2024-11-04T16:48:07Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:07Z- handleDepth()- Depth_Keller msg: 1730738887.61 epoch sec; seqNo:40; depth -0.26 2024-11-04T16:48:07Z- handleDVL() - DVL msg epochMillisec: 1730738887.65 2024-11-04T16:48:07Z- handleDvl() - RDI_Pathfinder msg: 1730738887.65 sec; seqNo:13; #beams:4 2024-11-04T16:48:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738887.67 epoch sec; seqNo:40; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:07Z- 4 msgs in 200 ms and 5 handle calls 2024-11-04T16:48:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:07Z- waiting for 1730738889.93, time is 1730738887.67 2024-11-04T16:48:07Z- AHRS_M2 msg: 1730738888.00 epoch sec; seqNo:41 2024-11-04T16:48:07Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:07Z- handleDepth()- Depth_Keller msg: 1730738888.01 epoch sec; seqNo:41; depth -0.26 2024-11-04T16:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738888.06 epoch sec; seqNo:41; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:08Z- waiting for 1730738889.93, time is 1730738888.06 2024-11-04T16:48:08Z- AHRS_M2 msg: 1730738888.40 epoch sec; seqNo:42 2024-11-04T16:48:08Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:08Z- handleDepth()- Depth_Keller msg: 1730738888.43 epoch sec; seqNo:42; depth -0.26 2024-11-04T16:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738888.47 epoch sec; seqNo:42; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:08Z- waiting for 1730738889.93, time is 1730738888.47 2024-11-04T16:48:08Z- AHRS_M2 msg: 1730738888.81 epoch sec; seqNo:43 2024-11-04T16:48:08Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:08Z- handleDepth()- Depth_Keller msg: 1730738888.83 epoch sec; seqNo:43; depth -0.26 2024-11-04T16:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738888.84 epoch sec; seqNo:43; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.26 depth; utmZone: 10 2024-11-04T16:48:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:08Z- waiting for 1730738889.93, time is 1730738888.84 2024-11-04T16:48:09Z- AHRS_M2 msg: 1730738889.21 epoch sec; seqNo:44 2024-11-04T16:48:09Z- AHRS_M2 msg: -0.02 phi; -0.02 theta; 4.88 psi 2024-11-04T16:48:09Z- handleDepth()- Depth_Keller msg: 1730738889.22 epoch sec; seqNo:44; depth -0.27 2024-11-04T16:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738889.27 epoch sec; seqNo:44; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:09Z- waiting for 1730738889.93, time is 1730738889.27 2024-11-04T16:48:09Z- handleDepth()- Depth_Keller msg: 1730738889.63 epoch sec; seqNo:45; depth -0.27 2024-11-04T16:48:09Z- handleDVL() - DVL msg epochMillisec: 1730738889.67 2024-11-04T16:48:09Z- handleDvl() - RDI_Pathfinder msg: 1730738889.67 sec; seqNo:14; #beams:4 2024-11-04T16:48:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-04T16:48:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-04T16:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730738889.71 epoch sec; seqNo:45; 4073152.52 north; 589209.35 east; 36.80 lat; -122.00 lon; -0.27 depth; utmZone: 10 2024-11-04T16:48:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-04T16:48:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730738885.93 2024-11-04T16:48:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-04T16:48:09Z- waiting for 1730738889.93, time is 1730738889.71