2024-11-05T21:03:30Z* 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 2024-11-05T21:03:30Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-05T21:03:30Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2024-11-05T21:03:30Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2024-11-05T21:03:30Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2024-11-05T21:03:30Z* depth config: Depth_Keller, depth, sea_water_pressure 2024-11-05T21:03:30Z* LCM timeout=0.20 sec 2024-11-05T21:03:30Z* TRN settings: 2024-11-05T21:03:30Z* period=4.00 sec 2024-11-05T21:03:30Z* coherence=0.90 sec 2024-11-05T21:03:30Z* map = PortTiles cfg = LRAUV_specs.cfg part= particles.cfg logdir= lrauv 2024-11-05T21:03:30Z* maptype = 2 filtertype = 2 weighting = 4 2024-11-05T21:03:30Z* lowgrade_filter = 0 allow reinit = 1 2024-11-05T21:03:30Z* cmd_estimate = estimate cmd_reinit = reinit 2024-11-05T21:03:30Z* LcmTrn::initTrn() version v1.0.3b0-518-g924cc45 - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-05T21:03:30Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-05T21:03:30Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-05T21:03:30Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-05T21:03:30Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2024-11-05T21:03:30Z* TerrainMapOctree::numTiles_ = 9. 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2024-11-05T21:03:30Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2024-11-05T21:03:31Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.494858 seconds. 2024-11-05T21:03:31Z* session directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.07/ 2024-11-05T21:03:31Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.07/ 2024-11-05T21:03:31Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to lrauv-TRN.07 OK 2024-11-05T21:03:31Z* parseSensorSpecs parsing sensor of type 1. 2024-11-05T21:03:31Z* Sensor 0 is of type 1. 2024-11-05T21:03:31Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x558dd9cda0] 2024-11-05T21:03:31Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-05T21:03:31Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-05T21:03:31Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-05T21:03:31Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.07/ 2024-11-05T21:03:31Z- createFilter: Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-05T21:03:31Z- parseSensorSpecs parsing sensor of type 1. 2024-11-05T21:03:31Z- Sensor 0 is of type 1. 2024-11-05T21:03:31Z- Random noise generator initialized with 1730840611 2024-11-05T21:03:31Z- Vehicle name: LRAUV Number of sensors: 1 2024-11-05T21:03:31Z- Sensor #1: 2024-11-05T21:03:31Z- Sensor name: rdiDVL 2024-11-05T21:03:31Z- Sensor type: 1 2024-11-05T21:03:31Z- Number of beams per measurement: 4 2024-11-05T21:03:31Z- Sensor #1 to vehicle transformation information: 2024-11-05T21:03:31Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2024-11-05T21:03:31Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2024-11-05T21:03:31Z- 2024-11-05T21:03:31Z- setDistribToSave(0) 2024-11-05T21:03:31Z- setDistribToSave set to 0 2024-11-05T21:03:31Z- TerrainNav::TNavFilter initialized with type 2 2024-11-05T21:03:31Z- TerrainNav::initVariables finished. 2024-11-05T21:03:31Z- TerrainNav::Constructor finished. 2024-11-05T21:03:31Z- TerrainNav::modified weighting set to 4 2024-11-05T21:03:31Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-05T21:03:31Z- LcmTrn::run() v1.0.3b0-518-g924cc45 using bursty timeouts of 50 and 150 msec 2024-11-05T21:03:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840611.34 epoch sec; seqNo:6; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; 0.00 depth; utmZone: 10 2024-11-05T21:03:31Z- 1 msgs in 200 ms and 2 handle calls 2024-11-05T21:03:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:31Z- Waiting for fresh data: AHRS(-1.00), Dvl(-1.00), Nav(1730840611.34), Depth(-1.00) 2024-11-05T21:03:31Z- AHRS_M2 msg: 1730840611.71 epoch sec; seqNo:6 2024-11-05T21:03:31Z- AHRS_M2 msg: 0.30 phi; -0.05 theta; 1.49 psi 2024-11-05T21:03:31Z- handleDepth()- Depth_Keller msg: 1730840611.72 epoch sec; seqNo:6; depth -0.09 2024-11-05T21:03:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840611.72 epoch sec; seqNo:7; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:31Z- Waiting for fresh data: AHRS(1730840611.71), Dvl(-1.00), Nav(1730840611.72), Depth(1730840611.72) 2024-11-05T21:03:32Z- AHRS_M2 msg: 1730840612.11 epoch sec; seqNo:7 2024-11-05T21:03:32Z- AHRS_M2 msg: 0.27 phi; -0.04 theta; 1.48 psi 2024-11-05T21:03:32Z- handleDepth()- Depth_Keller msg: 1730840612.12 epoch sec; seqNo:7; depth -0.10 2024-11-05T21:03:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840612.13 epoch sec; seqNo:8; 4061664.33 north; 594826.29 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:32Z- Waiting for fresh data: AHRS(1730840612.11), Dvl(-1.00), Nav(1730840612.13), Depth(1730840612.12) 2024-11-05T21:03:32Z- AHRS_M2 msg: 1730840612.51 epoch sec; seqNo:8 2024-11-05T21:03:32Z- AHRS_M2 msg: 0.21 phi; -0.07 theta; 1.50 psi 2024-11-05T21:03:32Z- handleDepth()- Depth_Keller msg: 1730840612.53 epoch sec; seqNo:8; depth -0.09 2024-11-05T21:03:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840612.54 epoch sec; seqNo:9; 4061664.33 north; 594826.29 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:32Z- Waiting for fresh data: AHRS(1730840612.51), Dvl(-1.00), Nav(1730840612.54), Depth(1730840612.53) 2024-11-05T21:03:32Z- AHRS_M2 msg: 1730840612.92 epoch sec; seqNo:9 2024-11-05T21:03:32Z- AHRS_M2 msg: 0.18 phi; -0.08 theta; 1.51 psi 2024-11-05T21:03:32Z- handleDepth()- Depth_Keller msg: 1730840612.93 epoch sec; seqNo:9; depth -0.09 2024-11-05T21:03:32Z- handleDVL() - DVL msg epochMillisec: 1730840612.96 2024-11-05T21:03:32Z- handleDvl() - RDI_Pathfinder msg: 1730840612.96 sec; seqNo:3; #beams:4 2024-11-05T21:03:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 112.53 , 85.42 , 96.27 , 97.62 2024-11-05T21:03:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.03 , 0.11 2024-11-05T21:03:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840612.98 epoch sec; seqNo:10; 4061664.33 north; 594826.29 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:33Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:33Z- waiting for 1730840615.34, time is 1730840612.98 2024-11-05T21:03:33Z- AHRS_M2 msg: 1730840613.32 epoch sec; seqNo:10 2024-11-05T21:03:33Z- AHRS_M2 msg: 0.19 phi; -0.06 theta; 1.50 psi 2024-11-05T21:03:33Z- handleDepth()- Depth_Keller msg: 1730840613.33 epoch sec; seqNo:10; depth -0.11 2024-11-05T21:03:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840613.35 epoch sec; seqNo:11; 4061664.33 north; 594826.29 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:03:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:33Z- waiting for 1730840615.34, time is 1730840613.35 2024-11-05T21:03:33Z- AHRS_M2 msg: 1730840613.72 epoch sec; seqNo:11 2024-11-05T21:03:33Z- AHRS_M2 msg: 0.22 phi; -0.06 theta; 1.50 psi 2024-11-05T21:03:33Z- handleDepth()- Depth_Keller msg: 1730840613.74 epoch sec; seqNo:11; depth -0.12 2024-11-05T21:03:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840613.75 epoch sec; seqNo:12; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.12 depth; utmZone: 10 2024-11-05T21:03:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:33Z- waiting for 1730840615.34, time is 1730840613.75 2024-11-05T21:03:34Z- AHRS_M2 msg: 1730840614.13 epoch sec; seqNo:12 2024-11-05T21:03:34Z- AHRS_M2 msg: 0.30 phi; -0.04 theta; 1.49 psi 2024-11-05T21:03:34Z- handleDepth()- Depth_Keller msg: 1730840614.13 epoch sec; seqNo:12; depth -0.10 2024-11-05T21:03:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840614.15 epoch sec; seqNo:13; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:34Z- waiting for 1730840615.34, time is 1730840614.15 2024-11-05T21:03:34Z- AHRS_M2 msg: 1730840614.53 epoch sec; seqNo:13 2024-11-05T21:03:34Z- AHRS_M2 msg: 0.30 phi; -0.03 theta; 1.49 psi 2024-11-05T21:03:34Z- handleDepth()- Depth_Keller msg: 1730840614.54 epoch sec; seqNo:13; depth -0.09 2024-11-05T21:03:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840614.55 epoch sec; seqNo:14; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:34Z- waiting for 1730840615.34, time is 1730840614.55 2024-11-05T21:03:34Z- AHRS_M2 msg: 1730840614.94 epoch sec; seqNo:14 2024-11-05T21:03:34Z- AHRS_M2 msg: 0.24 phi; -0.04 theta; 1.49 psi 2024-11-05T21:03:34Z- handleDepth()- Depth_Keller msg: 1730840614.94 epoch sec; seqNo:14; depth -0.09 2024-11-05T21:03:34Z- handleDVL() - DVL msg epochMillisec: 1730840614.98 2024-11-05T21:03:34Z- handleDvl() - RDI_Pathfinder msg: 1730840614.98 sec; seqNo:4; #beams:4 2024-11-05T21:03:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 118.97 , 85.08 , 95.93 , 95.93 2024-11-05T21:03:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.46 , 0.07 , 0.25 2024-11-05T21:03:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840614.99 epoch sec; seqNo:15; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:35Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:35Z- waiting for 1730840615.34, time is 1730840614.99 2024-11-05T21:03:35Z- AHRS_M2 msg: 1730840615.35 epoch sec; seqNo:15 2024-11-05T21:03:35Z- AHRS_M2 msg: 0.25 phi; 0.02 theta; 1.44 psi 2024-11-05T21:03:35Z- handleDepth()- Depth_Keller msg: 1730840615.36 epoch sec; seqNo:15; depth -0.09 2024-11-05T21:03:35Z- handleDVL() - DVL msg epochMillisec: 1730840615.37 2024-11-05T21:03:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:35Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:35Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:35Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:35Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:35Z- handleDvl() - RDI_Pathfinder msg: 1730840615.37 sec; seqNo:5; #beams:0 2024-11-05T21:03:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.46 , 0.07 , 0.25 2024-11-05T21:03:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840615.38 epoch sec; seqNo:16; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:35Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840611.34 2024-11-05T21:03:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:35Z- waiting for 1730840615.34, time is 1730840615.38 2024-11-05T21:03:35Z- LcmTrn::updateTrn() >>>> pose time 1730840615.38, meas time 1730840615.37 <<<< 2024-11-05T21:03:35Z- LcmTrn::updateTrn() equating pose 1730840615.37 and meas times 1730840615.37 2024-11-05T21:03:35Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730840615.37 2024-11-05T21:03:35Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594827.51, -0.09) 2024-11-05T21:03:35Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:03:35Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-05T21:03:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:35Z- publishEstimatesDecoder() - at 1730840615.37 sec 2024-11-05T21:03:35Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:03:35Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:03:35Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:03:35Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:03:35Z- AHRS_M2 msg: 1730840615.75 epoch sec; seqNo:16 2024-11-05T21:03:35Z- AHRS_M2 msg: 0.32 phi; 0.04 theta; 1.50 psi 2024-11-05T21:03:35Z- handleDepth()- Depth_Keller msg: 1730840615.76 epoch sec; seqNo:16; depth -0.08 2024-11-05T21:03:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840615.77 epoch sec; seqNo:17; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:35Z- waiting for 1730840619.37, time is 1730840615.77 2024-11-05T21:03:36Z- AHRS_M2 msg: 1730840616.15 epoch sec; seqNo:17 2024-11-05T21:03:36Z- AHRS_M2 msg: 0.29 phi; -0.00 theta; 1.51 psi 2024-11-05T21:03:36Z- handleDepth()- Depth_Keller msg: 1730840616.16 epoch sec; seqNo:17; depth -0.08 2024-11-05T21:03:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840616.17 epoch sec; seqNo:18; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:36Z- waiting for 1730840619.37, time is 1730840616.17 2024-11-05T21:03:36Z- AHRS_M2 msg: 1730840616.55 epoch sec; seqNo:18 2024-11-05T21:03:36Z- AHRS_M2 msg: 0.22 phi; 0.04 theta; 1.48 psi 2024-11-05T21:03:36Z- handleDepth()- Depth_Keller msg: 1730840616.56 epoch sec; seqNo:18; depth -0.09 2024-11-05T21:03:36Z- handleDVL() - DVL msg epochMillisec: 1730840616.56 2024-11-05T21:03:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:36Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:36Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:36Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:36Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:36Z- handleDvl() - RDI_Pathfinder msg: 1730840616.56 sec; seqNo:6; #beams:0 2024-11-05T21:03:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.46 , 0.07 , 0.25 2024-11-05T21:03:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840616.58 epoch sec; seqNo:19; 4061664.34 north; 594827.51 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:36Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:36Z- waiting for 1730840619.37, time is 1730840616.58 2024-11-05T21:03:36Z- AHRS_M2 msg: 1730840616.96 epoch sec; seqNo:19 2024-11-05T21:03:36Z- AHRS_M2 msg: 0.18 phi; 0.04 theta; 1.52 psi 2024-11-05T21:03:37Z- handleDepth()- Depth_Keller msg: 1730840617.09 epoch sec; seqNo:19; depth -0.10 2024-11-05T21:03:37Z- 2 msgs in 200 ms and 3 handle calls 2024-11-05T21:03:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:37Z- waiting for 1730840619.37, time is 1730840616.96 2024-11-05T21:03:37Z- handleDVL() - DVL msg epochMillisec: 1730840617.13 2024-11-05T21:03:37Z- handleDvl() - RDI_Pathfinder msg: 1730840617.13 sec; seqNo:7; #beams:4 2024-11-05T21:03:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 118.90 , 79.83 , 103.99 , 93.15 2024-11-05T21:03:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , 0.39 , -0.19 2024-11-05T21:03:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840617.19 epoch sec; seqNo:20; 4061664.36 north; 594828.73 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:37Z- 2 msgs in 200 ms and 3 handle calls 2024-11-05T21:03:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:37Z- waiting for 1730840619.37, time is 1730840617.19 2024-11-05T21:03:37Z- AHRS_M2 msg: 1730840617.37 epoch sec; seqNo:20 2024-11-05T21:03:37Z- AHRS_M2 msg: 0.18 phi; -0.01 theta; 1.56 psi 2024-11-05T21:03:37Z- 1 msgs in 200 ms and 2 handle calls 2024-11-05T21:03:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:37Z- waiting for 1730840619.37, time is 1730840617.37 2024-11-05T21:03:37Z- handleDepth()- Depth_Keller msg: 1730840617.56 epoch sec; seqNo:20; depth -0.11 2024-11-05T21:03:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840617.59 epoch sec; seqNo:21; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:03:37Z- 2 msgs in 200 ms and 3 handle calls 2024-11-05T21:03:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:37Z- waiting for 1730840619.37, time is 1730840617.59 2024-11-05T21:03:37Z- AHRS_M2 msg: 1730840617.77 epoch sec; seqNo:21 2024-11-05T21:03:37Z- AHRS_M2 msg: 0.23 phi; -0.01 theta; 1.53 psi 2024-11-05T21:03:37Z- handleDepth()- Depth_Keller msg: 1730840617.83 epoch sec; seqNo:21; depth -0.07 2024-11-05T21:03:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840617.86 epoch sec; seqNo:22; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:37Z- waiting for 1730840619.37, time is 1730840617.86 2024-11-05T21:03:38Z- AHRS_M2 msg: 1730840618.17 epoch sec; seqNo:22 2024-11-05T21:03:38Z- AHRS_M2 msg: 0.30 phi; 0.03 theta; 1.54 psi 2024-11-05T21:03:38Z- handleDepth()- Depth_Keller msg: 1730840618.20 epoch sec; seqNo:22; depth -0.07 2024-11-05T21:03:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840618.24 epoch sec; seqNo:23; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:38Z- waiting for 1730840619.37, time is 1730840618.24 2024-11-05T21:03:38Z- AHRS_M2 msg: 1730840618.57 epoch sec; seqNo:23 2024-11-05T21:03:38Z- AHRS_M2 msg: 0.31 phi; -0.02 theta; 1.56 psi 2024-11-05T21:03:38Z- handleDepth()- Depth_Keller msg: 1730840618.60 epoch sec; seqNo:23; depth -0.06 2024-11-05T21:03:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840618.61 epoch sec; seqNo:24; 4061663.60 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:03:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:38Z- waiting for 1730840619.37, time is 1730840618.61 2024-11-05T21:03:38Z- AHRS_M2 msg: 1730840618.98 epoch sec; seqNo:24 2024-11-05T21:03:38Z- AHRS_M2 msg: 0.25 phi; -0.08 theta; 1.56 psi 2024-11-05T21:03:38Z- handleDepth()- Depth_Keller msg: 1730840618.98 epoch sec; seqNo:24; depth -0.06 2024-11-05T21:03:39Z- handleDVL() - DVL msg epochMillisec: 1730840619.03 2024-11-05T21:03:39Z- handleDvl() - RDI_Pathfinder msg: 1730840619.03 sec; seqNo:8; #beams:4 2024-11-05T21:03:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 113.48 , 85.02 , 101.28 , 90.44 2024-11-05T21:03:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.00 , -0.20 , -0.06 2024-11-05T21:03:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840619.06 epoch sec; seqNo:25; 4061663.60 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:03:39Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:39Z- waiting for 1730840619.37, time is 1730840619.06 2024-11-05T21:03:39Z- AHRS_M2 msg: 1730840619.38 epoch sec; seqNo:25 2024-11-05T21:03:39Z- AHRS_M2 msg: 0.20 phi; -0.05 theta; 1.57 psi 2024-11-05T21:03:39Z- handleDepth()- Depth_Keller msg: 1730840619.39 epoch sec; seqNo:25; depth -0.10 2024-11-05T21:03:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840619.43 epoch sec; seqNo:26; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840615.37 2024-11-05T21:03:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:39Z- waiting for 1730840619.37, time is 1730840619.43 2024-11-05T21:03:39Z- LcmTrn::updateTrn() >>>> pose time 1730840619.43, meas time 1730840619.03 <<<< 2024-11-05T21:03:39Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840619.43 2024-11-05T21:03:39Z- TerrainNav::Measurement type 1 from time = 1730840619.03 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:03:39Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594828.74, -0.10) 2024-11-05T21:03:39Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:03:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:39Z- publishEstimatesDecoder() - at 1730840619.43 sec 2024-11-05T21:03:39Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:03:39Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:03:39Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:03:39Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:03:39Z- AHRS_M2 msg: 1730840619.79 epoch sec; seqNo:26 2024-11-05T21:03:39Z- AHRS_M2 msg: 0.19 phi; -0.01 theta; 1.57 psi 2024-11-05T21:03:39Z- handleDepth()- Depth_Keller msg: 1730840619.79 epoch sec; seqNo:26; depth -0.11 2024-11-05T21:03:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840619.81 epoch sec; seqNo:27; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:03:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:39Z- waiting for 1730840623.43, time is 1730840619.81 2024-11-05T21:03:40Z- AHRS_M2 msg: 1730840620.19 epoch sec; seqNo:27 2024-11-05T21:03:40Z- AHRS_M2 msg: 0.21 phi; -0.05 theta; 1.56 psi 2024-11-05T21:03:40Z- handleDepth()- Depth_Keller msg: 1730840620.20 epoch sec; seqNo:27; depth -0.09 2024-11-05T21:03:40Z- handleDVL() - DVL msg epochMillisec: 1730840620.20 2024-11-05T21:03:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:40Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:40Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:40Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:40Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:40Z- handleDvl() - RDI_Pathfinder msg: 1730840620.20 sec; seqNo:9; #beams:0 2024-11-05T21:03:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:40Z- handleDvl() - RDI_Pathfinder msg: velocities -0.00 , -0.20 , -0.06 2024-11-05T21:03:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840620.23 epoch sec; seqNo:28; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:40Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:40Z- waiting for 1730840623.43, time is 1730840620.23 2024-11-05T21:03:40Z- AHRS_M2 msg: 1730840620.59 epoch sec; seqNo:28 2024-11-05T21:03:40Z- AHRS_M2 msg: 0.24 phi; -0.10 theta; 1.57 psi 2024-11-05T21:03:40Z- handleDepth()- Depth_Keller msg: 1730840620.60 epoch sec; seqNo:28; depth -0.07 2024-11-05T21:03:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840620.62 epoch sec; seqNo:29; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:40Z- waiting for 1730840623.43, time is 1730840620.62 2024-11-05T21:03:41Z- AHRS_M2 msg: 1730840621.00 epoch sec; seqNo:29 2024-11-05T21:03:41Z- AHRS_M2 msg: 0.26 phi; -0.09 theta; 1.57 psi 2024-11-05T21:03:41Z- handleDepth()- Depth_Keller msg: 1730840621.01 epoch sec; seqNo:29; depth -0.09 2024-11-05T21:03:41Z- handleDVL() - DVL msg epochMillisec: 1730840621.05 2024-11-05T21:03:41Z- handleDvl() - RDI_Pathfinder msg: 1730840621.05 sec; seqNo:10; #beams:4 2024-11-05T21:03:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.48 , 86.44 , 95.93 , 91.86 2024-11-05T21:03:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.20 , -0.10 2024-11-05T21:03:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840621.08 epoch sec; seqNo:30; 4061663.98 north; 594828.74 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:41Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:41Z- waiting for 1730840623.43, time is 1730840621.08 2024-11-05T21:03:41Z- AHRS_M2 msg: 1730840621.40 epoch sec; seqNo:30 2024-11-05T21:03:41Z- AHRS_M2 msg: 0.27 phi; -0.05 theta; 1.56 psi 2024-11-05T21:03:41Z- handleDepth()- Depth_Keller msg: 1730840621.42 epoch sec; seqNo:30; depth -0.09 2024-11-05T21:03:41Z- handleDVL() - DVL msg epochMillisec: 1730840621.42 2024-11-05T21:03:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:41Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:41Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:41Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:41Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:41Z- handleDvl() - RDI_Pathfinder msg: 1730840621.42 sec; seqNo:11; #beams:0 2024-11-05T21:03:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:41Z- handleDvl() - RDI_Pathfinder msg: velocities -0.14 , -0.20 , -0.10 2024-11-05T21:03:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840621.44 epoch sec; seqNo:31; 4061664.36 north; 594828.73 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:41Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:41Z- waiting for 1730840623.43, time is 1730840621.44 2024-11-05T21:03:41Z- AHRS_M2 msg: 1730840621.81 epoch sec; seqNo:31 2024-11-05T21:03:41Z- AHRS_M2 msg: 0.31 phi; -0.00 theta; 1.54 psi 2024-11-05T21:03:41Z- handleDepth()- Depth_Keller msg: 1730840621.81 epoch sec; seqNo:31; depth -0.07 2024-11-05T21:03:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840621.82 epoch sec; seqNo:32; 4061664.36 north; 594828.73 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:41Z- waiting for 1730840623.43, time is 1730840621.82 2024-11-05T21:03:42Z- AHRS_M2 msg: 1730840622.21 epoch sec; seqNo:32 2024-11-05T21:03:42Z- AHRS_M2 msg: 0.31 phi; 0.01 theta; 1.55 psi 2024-11-05T21:03:42Z- handleDepth()- Depth_Keller msg: 1730840622.22 epoch sec; seqNo:32; depth -0.09 2024-11-05T21:03:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840622.23 epoch sec; seqNo:33; 4061664.36 north; 594828.73 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:42Z- waiting for 1730840623.43, time is 1730840622.23 2024-11-05T21:03:42Z- AHRS_M2 msg: 1730840622.62 epoch sec; seqNo:33 2024-11-05T21:03:42Z- AHRS_M2 msg: 0.28 phi; -0.02 theta; 1.55 psi 2024-11-05T21:03:42Z- handleDepth()- Depth_Keller msg: 1730840622.62 epoch sec; seqNo:33; depth -0.07 2024-11-05T21:03:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840622.63 epoch sec; seqNo:34; 4061664.36 north; 594828.73 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:42Z- waiting for 1730840623.43, time is 1730840622.63 2024-11-05T21:03:43Z- AHRS_M2 msg: 1730840623.02 epoch sec; seqNo:34 2024-11-05T21:03:43Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 1.54 psi 2024-11-05T21:03:43Z- handleDepth()- Depth_Keller msg: 1730840623.04 epoch sec; seqNo:34; depth -0.10 2024-11-05T21:03:43Z- handleDVL() - DVL msg epochMillisec: 1730840623.06 2024-11-05T21:03:43Z- handleDvl() - RDI_Pathfinder msg: 1730840623.06 sec; seqNo:12; #beams:4 2024-11-05T21:03:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 120.46 , 85.22 , 96.06 , 93.35 2024-11-05T21:03:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , 0.21 , 0.38 2024-11-05T21:03:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840623.07 epoch sec; seqNo:35; 4061664.36 north; 594828.73 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:43Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:43Z- waiting for 1730840623.43, time is 1730840623.07 2024-11-05T21:03:43Z- AHRS_M2 msg: 1730840623.42 epoch sec; seqNo:35 2024-11-05T21:03:43Z- AHRS_M2 msg: 0.22 phi; 0.01 theta; 1.55 psi 2024-11-05T21:03:43Z- handleDepth()- Depth_Keller msg: 1730840623.43 epoch sec; seqNo:35; depth -0.13 2024-11-05T21:03:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840623.47 epoch sec; seqNo:36; 4061664.36 north; 594828.73 east; 36.70 lat; -121.94 lon; -0.13 depth; utmZone: 10 2024-11-05T21:03:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840619.43 2024-11-05T21:03:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:43Z- waiting for 1730840623.43, time is 1730840623.47 2024-11-05T21:03:43Z- LcmTrn::updateTrn() >>>> pose time 1730840623.47, meas time 1730840623.06 <<<< 2024-11-05T21:03:43Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840623.47 2024-11-05T21:03:43Z- TerrainNav::Measurement type 1 from time = 1730840623.06 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:03:43Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594828.73, -0.13) 2024-11-05T21:03:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:03:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:43Z- publishEstimatesDecoder() - at 1730840623.47 sec 2024-11-05T21:03:43Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:03:43Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:03:43Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:03:43Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:03:43Z- AHRS_M2 msg: 1730840623.83 epoch sec; seqNo:36 2024-11-05T21:03:43Z- AHRS_M2 msg: 0.21 phi; 0.06 theta; 1.56 psi 2024-11-05T21:03:43Z- handleDepth()- Depth_Keller msg: 1730840623.84 epoch sec; seqNo:36; depth -0.12 2024-11-05T21:03:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840623.85 epoch sec; seqNo:37; 4061664.37 north; 594829.95 east; 36.70 lat; -121.94 lon; -0.12 depth; utmZone: 10 2024-11-05T21:03:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:43Z- waiting for 1730840627.47, time is 1730840623.85 2024-11-05T21:03:44Z- AHRS_M2 msg: 1730840624.23 epoch sec; seqNo:37 2024-11-05T21:03:44Z- AHRS_M2 msg: 0.22 phi; 0.04 theta; 1.54 psi 2024-11-05T21:03:44Z- handleDepth()- Depth_Keller msg: 1730840624.24 epoch sec; seqNo:37; depth -0.09 2024-11-05T21:03:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840624.26 epoch sec; seqNo:38; 4061664.37 north; 594829.95 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:44Z- waiting for 1730840627.47, time is 1730840624.26 2024-11-05T21:03:44Z- AHRS_M2 msg: 1730840624.63 epoch sec; seqNo:38 2024-11-05T21:03:44Z- AHRS_M2 msg: 0.22 phi; 0.01 theta; 1.53 psi 2024-11-05T21:03:44Z- handleDepth()- Depth_Keller msg: 1730840624.65 epoch sec; seqNo:38; depth -0.08 2024-11-05T21:03:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840624.66 epoch sec; seqNo:39; 4061664.37 north; 594829.95 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:44Z- waiting for 1730840627.47, time is 1730840624.66 2024-11-05T21:03:45Z- AHRS_M2 msg: 1730840625.04 epoch sec; seqNo:39 2024-11-05T21:03:45Z- AHRS_M2 msg: 0.19 phi; -0.04 theta; 1.58 psi 2024-11-05T21:03:45Z- handleDepth()- Depth_Keller msg: 1730840625.05 epoch sec; seqNo:39; depth -0.09 2024-11-05T21:03:45Z- handleDVL() - DVL msg epochMillisec: 1730840625.07 2024-11-05T21:03:45Z- handleDvl() - RDI_Pathfinder msg: 1730840625.07 sec; seqNo:13; #beams:4 2024-11-05T21:03:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.41 , 89.08 , 103.99 , 87.72 2024-11-05T21:03:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.13 , -0.61 2024-11-05T21:03:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840625.09 epoch sec; seqNo:40; 4061663.99 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:45Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:45Z- waiting for 1730840627.47, time is 1730840625.09 2024-11-05T21:03:45Z- AHRS_M2 msg: 1730840625.44 epoch sec; seqNo:40 2024-11-05T21:03:45Z- AHRS_M2 msg: 0.21 phi; -0.07 theta; 1.58 psi 2024-11-05T21:03:45Z- handleDepth()- Depth_Keller msg: 1730840625.46 epoch sec; seqNo:40; depth -0.09 2024-11-05T21:03:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840625.47 epoch sec; seqNo:41; 4061663.99 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:45Z- waiting for 1730840627.47, time is 1730840625.47 2024-11-05T21:03:45Z- AHRS_M2 msg: 1730840625.85 epoch sec; seqNo:41 2024-11-05T21:03:45Z- AHRS_M2 msg: 0.28 phi; -0.06 theta; 1.54 psi 2024-11-05T21:03:45Z- handleDepth()- Depth_Keller msg: 1730840625.86 epoch sec; seqNo:41; depth -0.07 2024-11-05T21:03:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840625.87 epoch sec; seqNo:42; 4061663.99 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:46Z- waiting for 1730840627.47, time is 1730840625.87 2024-11-05T21:03:46Z- AHRS_M2 msg: 1730840626.28 epoch sec; seqNo:42 2024-11-05T21:03:46Z- AHRS_M2 msg: 0.32 phi; -0.04 theta; 1.52 psi 2024-11-05T21:03:46Z- handleDepth()- Depth_Keller msg: 1730840626.30 epoch sec; seqNo:42; depth -0.07 2024-11-05T21:03:46Z- handleDVL() - DVL msg epochMillisec: 1730840626.30 2024-11-05T21:03:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:46Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:46Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:46Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:46Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:46Z- handleDvl() - RDI_Pathfinder msg: 1730840626.30 sec; seqNo:14; #beams:0 2024-11-05T21:03:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.13 , -0.61 2024-11-05T21:03:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840626.31 epoch sec; seqNo:43; 4061663.61 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:46Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:46Z- waiting for 1730840627.47, time is 1730840626.31 2024-11-05T21:03:46Z- AHRS_M2 msg: 1730840626.66 epoch sec; seqNo:43 2024-11-05T21:03:46Z- AHRS_M2 msg: 0.31 phi; -0.05 theta; 1.52 psi 2024-11-05T21:03:46Z- handleDepth()- Depth_Keller msg: 1730840626.66 epoch sec; seqNo:43; depth -0.08 2024-11-05T21:03:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840626.68 epoch sec; seqNo:44; 4061663.61 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:46Z- waiting for 1730840627.47, time is 1730840626.68 2024-11-05T21:03:47Z- AHRS_M2 msg: 1730840627.06 epoch sec; seqNo:44 2024-11-05T21:03:47Z- AHRS_M2 msg: 0.25 phi; -0.07 theta; 1.50 psi 2024-11-05T21:03:47Z- handleDepth()- Depth_Keller msg: 1730840627.07 epoch sec; seqNo:44; depth -0.08 2024-11-05T21:03:47Z- handleDVL() - DVL msg epochMillisec: 1730840627.11 2024-11-05T21:03:47Z- handleDvl() - RDI_Pathfinder msg: 1730840627.11 sec; seqNo:15; #beams:4 2024-11-05T21:03:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 120.33 , 83.73 , 95.93 , 94.57 2024-11-05T21:03:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.17 , 0.16 2024-11-05T21:03:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840627.14 epoch sec; seqNo:45; 4061663.61 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:47Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:47Z- waiting for 1730840627.47, time is 1730840627.14 2024-11-05T21:03:47Z- AHRS_M2 msg: 1730840627.46 epoch sec; seqNo:45 2024-11-05T21:03:47Z- AHRS_M2 msg: 0.21 phi; -0.10 theta; 1.49 psi 2024-11-05T21:03:47Z- handleDepth()- Depth_Keller msg: 1730840627.47 epoch sec; seqNo:45; depth -0.09 2024-11-05T21:03:47Z- handleDVL() - DVL msg epochMillisec: 1730840627.47 2024-11-05T21:03:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:47Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:47Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:47Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:47Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:47Z- handleDvl() - RDI_Pathfinder msg: 1730840627.47 sec; seqNo:16; #beams:0 2024-11-05T21:03:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.17 , 0.16 2024-11-05T21:03:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840627.51 epoch sec; seqNo:46; 4061663.61 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:47Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840623.47 2024-11-05T21:03:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:47Z- waiting for 1730840627.47, time is 1730840627.51 2024-11-05T21:03:47Z- LcmTrn::updateTrn() >>>> pose time 1730840627.51, meas time 1730840627.47 <<<< 2024-11-05T21:03:47Z- LcmTrn::updateTrn() equating pose 1730840627.47 and meas times 1730840627.47 2024-11-05T21:03:47Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730840627.47 2024-11-05T21:03:47Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594829.96, -0.09) 2024-11-05T21:03:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:03:47Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-05T21:03:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:47Z- publishEstimatesDecoder() - at 1730840627.47 sec 2024-11-05T21:03:47Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:03:47Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:03:47Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:03:47Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:03:47Z- AHRS_M2 msg: 1730840627.87 epoch sec; seqNo:46 2024-11-05T21:03:47Z- AHRS_M2 msg: 0.22 phi; -0.08 theta; 1.46 psi 2024-11-05T21:03:47Z- handleDepth()- Depth_Keller msg: 1730840627.88 epoch sec; seqNo:46; depth -0.12 2024-11-05T21:03:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840627.90 epoch sec; seqNo:47; 4061663.99 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.12 depth; utmZone: 10 2024-11-05T21:03:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:48Z- waiting for 1730840631.47, time is 1730840627.90 2024-11-05T21:03:48Z- AHRS_M2 msg: 1730840628.27 epoch sec; seqNo:47 2024-11-05T21:03:48Z- AHRS_M2 msg: 0.27 phi; -0.03 theta; 1.44 psi 2024-11-05T21:03:48Z- handleDepth()- Depth_Keller msg: 1730840628.28 epoch sec; seqNo:47; depth -0.10 2024-11-05T21:03:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840628.32 epoch sec; seqNo:48; 4061663.99 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:48Z- waiting for 1730840631.47, time is 1730840628.32 2024-11-05T21:03:48Z- AHRS_M2 msg: 1730840628.68 epoch sec; seqNo:48 2024-11-05T21:03:48Z- AHRS_M2 msg: 0.32 phi; -0.03 theta; 1.46 psi 2024-11-05T21:03:48Z- handleDepth()- Depth_Keller msg: 1730840628.68 epoch sec; seqNo:48; depth -0.08 2024-11-05T21:03:48Z- handleDVL() - DVL msg epochMillisec: 1730840628.69 2024-11-05T21:03:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:48Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:48Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:48Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:48Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:48Z- handleDvl() - RDI_Pathfinder msg: 1730840628.69 sec; seqNo:17; #beams:0 2024-11-05T21:03:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.17 , 0.16 2024-11-05T21:03:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840628.71 epoch sec; seqNo:49; 4061663.99 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:48Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:48Z- waiting for 1730840631.47, time is 1730840628.71 2024-11-05T21:03:49Z- AHRS_M2 msg: 1730840629.09 epoch sec; seqNo:49 2024-11-05T21:03:49Z- AHRS_M2 msg: 0.32 phi; -0.04 theta; 1.45 psi 2024-11-05T21:03:49Z- handleDepth()- Depth_Keller msg: 1730840629.10 epoch sec; seqNo:49; depth -0.09 2024-11-05T21:03:49Z- handleDVL() - DVL msg epochMillisec: 1730840629.15 2024-11-05T21:03:49Z- handleDvl() - RDI_Pathfinder msg: 1730840629.15 sec; seqNo:18; #beams:4 2024-11-05T21:03:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 114.84 , 86.37 , 95.86 , 93.15 2024-11-05T21:03:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , 0.20 , 0.40 2024-11-05T21:03:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840629.19 epoch sec; seqNo:50; 4061663.99 north; 594829.96 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:49Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:49Z- waiting for 1730840631.47, time is 1730840629.19 2024-11-05T21:03:49Z- AHRS_M2 msg: 1730840629.49 epoch sec; seqNo:50 2024-11-05T21:03:49Z- AHRS_M2 msg: 0.27 phi; -0.04 theta; 1.45 psi 2024-11-05T21:03:49Z- handleDepth()- Depth_Keller msg: 1730840629.49 epoch sec; seqNo:50; depth -0.08 2024-11-05T21:03:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840629.51 epoch sec; seqNo:51; 4061664.00 north; 594831.18 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:49Z- waiting for 1730840631.47, time is 1730840629.51 2024-11-05T21:03:49Z- AHRS_M2 msg: 1730840629.89 epoch sec; seqNo:51 2024-11-05T21:03:49Z- AHRS_M2 msg: 0.19 phi; -0.03 theta; 1.47 psi 2024-11-05T21:03:50Z- handleDepth()- Depth_Keller msg: 1730840630.04 epoch sec; seqNo:51; depth -0.09 2024-11-05T21:03:50Z- handleDVL() - DVL msg epochMillisec: 1730840630.04 2024-11-05T21:03:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:50Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:50Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:50Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:50Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:50Z- handleDvl() - RDI_Pathfinder msg: 1730840630.04 sec; seqNo:19; #beams:0 2024-11-05T21:03:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , 0.20 , 0.40 2024-11-05T21:03:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:50Z- waiting for 1730840631.47, time is 1730840630.04 2024-11-05T21:03:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840630.06 epoch sec; seqNo:52; 4061664.00 north; 594831.18 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:50Z- 1 msgs in 200 ms and 2 handle calls 2024-11-05T21:03:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:50Z- waiting for 1730840631.47, time is 1730840630.06 2024-11-05T21:03:50Z- AHRS_M2 msg: 1730840630.29 epoch sec; seqNo:52 2024-11-05T21:03:50Z- AHRS_M2 msg: 0.14 phi; -0.02 theta; 1.48 psi 2024-11-05T21:03:50Z- handleDepth()- Depth_Keller msg: 1730840630.35 epoch sec; seqNo:52; depth -0.09 2024-11-05T21:03:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840630.38 epoch sec; seqNo:53; 4061664.00 north; 594831.18 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:50Z- waiting for 1730840631.47, time is 1730840630.38 2024-11-05T21:03:50Z- AHRS_M2 msg: 1730840630.70 epoch sec; seqNo:53 2024-11-05T21:03:50Z- AHRS_M2 msg: 0.15 phi; 0.00 theta; 1.51 psi 2024-11-05T21:03:50Z- handleDepth()- Depth_Keller msg: 1730840630.70 epoch sec; seqNo:53; depth -0.09 2024-11-05T21:03:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840630.72 epoch sec; seqNo:54; 4061664.00 north; 594831.18 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:50Z- waiting for 1730840631.47, time is 1730840630.72 2024-11-05T21:03:51Z- AHRS_M2 msg: 1730840631.10 epoch sec; seqNo:54 2024-11-05T21:03:51Z- AHRS_M2 msg: 0.21 phi; 0.02 theta; 1.51 psi 2024-11-05T21:03:51Z- handleDepth()- Depth_Keller msg: 1730840631.11 epoch sec; seqNo:54; depth -0.09 2024-11-05T21:03:51Z- handleDVL() - DVL msg epochMillisec: 1730840631.15 2024-11-05T21:03:51Z- handleDvl() - RDI_Pathfinder msg: 1730840631.15 sec; seqNo:20; #beams:4 2024-11-05T21:03:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 105.42 , 90.51 , 95.93 , 90.51 2024-11-05T21:03:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , -0.03 , -0.18 2024-11-05T21:03:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840631.18 epoch sec; seqNo:55; 4061664.00 north; 594831.18 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:51Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:51Z- waiting for 1730840631.47, time is 1730840631.18 2024-11-05T21:03:51Z- AHRS_M2 msg: 1730840631.51 epoch sec; seqNo:55 2024-11-05T21:03:51Z- AHRS_M2 msg: 0.30 phi; 0.01 theta; 1.50 psi 2024-11-05T21:03:51Z- handleDepth()- Depth_Keller msg: 1730840631.52 epoch sec; seqNo:55; depth -0.07 2024-11-05T21:03:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840631.54 epoch sec; seqNo:56; 4061664.00 north; 594831.18 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840627.47 2024-11-05T21:03:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:51Z- waiting for 1730840631.47, time is 1730840631.54 2024-11-05T21:03:51Z- LcmTrn::updateTrn() >>>> pose time 1730840631.54, meas time 1730840631.15 <<<< 2024-11-05T21:03:51Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840631.54 2024-11-05T21:03:51Z- TerrainNav::Measurement type 1 from time = 1730840631.15 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:03:51Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594831.18, -0.07) 2024-11-05T21:03:51Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:03:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:51Z- publishEstimatesDecoder() - at 1730840631.54 sec 2024-11-05T21:03:51Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:03:51Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:03:51Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:03:51Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:03:51Z- AHRS_M2 msg: 1730840631.91 epoch sec; seqNo:56 2024-11-05T21:03:51Z- AHRS_M2 msg: 0.33 phi; -0.04 theta; 1.50 psi 2024-11-05T21:03:51Z- handleDepth()- Depth_Keller msg: 1730840631.92 epoch sec; seqNo:56; depth -0.07 2024-11-05T21:03:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840631.94 epoch sec; seqNo:57; 4061664.02 north; 594832.40 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:52Z- waiting for 1730840635.54, time is 1730840631.94 2024-11-05T21:03:52Z- AHRS_M2 msg: 1730840632.32 epoch sec; seqNo:57 2024-11-05T21:03:52Z- AHRS_M2 msg: 0.22 phi; 0.00 theta; 1.50 psi 2024-11-05T21:03:52Z- handleDepth()- Depth_Keller msg: 1730840632.33 epoch sec; seqNo:57; depth -0.10 2024-11-05T21:03:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840632.34 epoch sec; seqNo:58; 4061664.02 north; 594832.40 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:52Z- waiting for 1730840635.54, time is 1730840632.34 2024-11-05T21:03:52Z- AHRS_M2 msg: 1730840632.72 epoch sec; seqNo:58 2024-11-05T21:03:52Z- AHRS_M2 msg: 0.25 phi; -0.00 theta; 1.49 psi 2024-11-05T21:03:52Z- handleDepth()- Depth_Keller msg: 1730840632.73 epoch sec; seqNo:58; depth -0.11 2024-11-05T21:03:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840632.74 epoch sec; seqNo:59; 4061664.02 north; 594832.40 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:03:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:52Z- waiting for 1730840635.54, time is 1730840632.74 2024-11-05T21:03:53Z- AHRS_M2 msg: 1730840633.12 epoch sec; seqNo:59 2024-11-05T21:03:53Z- AHRS_M2 msg: 0.29 phi; -0.05 theta; 1.51 psi 2024-11-05T21:03:53Z- handleDepth()- Depth_Keller msg: 1730840633.13 epoch sec; seqNo:59; depth -0.09 2024-11-05T21:03:53Z- handleDVL() - DVL msg epochMillisec: 1730840633.16 2024-11-05T21:03:53Z- handleDvl() - RDI_Pathfinder msg: 1730840633.16 sec; seqNo:21; #beams:4 2024-11-05T21:03:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 113.75 , 85.29 , 96.13 , 93.42 2024-11-05T21:03:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.21 , -0.09 2024-11-05T21:03:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840633.17 epoch sec; seqNo:60; 4061664.02 north; 594832.40 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:53Z- waiting for 1730840635.54, time is 1730840633.17 2024-11-05T21:03:53Z- AHRS_M2 msg: 1730840633.53 epoch sec; seqNo:60 2024-11-05T21:03:53Z- AHRS_M2 msg: 0.29 phi; -0.07 theta; 1.51 psi 2024-11-05T21:03:53Z- handleDepth()- Depth_Keller msg: 1730840633.53 epoch sec; seqNo:60; depth -0.09 2024-11-05T21:03:53Z- handleDVL() - DVL msg epochMillisec: 1730840633.53 2024-11-05T21:03:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:53Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:53Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:53Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:53Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:53Z- handleDvl() - RDI_Pathfinder msg: 1730840633.53 sec; seqNo:22; #beams:0 2024-11-05T21:03:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.21 , -0.09 2024-11-05T21:03:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840633.55 epoch sec; seqNo:61; 4061664.02 north; 594832.40 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:53Z- waiting for 1730840635.54, time is 1730840633.55 2024-11-05T21:03:53Z- AHRS_M2 msg: 1730840633.95 epoch sec; seqNo:61 2024-11-05T21:03:53Z- AHRS_M2 msg: 0.26 phi; -0.08 theta; 1.48 psi 2024-11-05T21:03:53Z- handleDepth()- Depth_Keller msg: 1730840633.96 epoch sec; seqNo:61; depth -0.10 2024-11-05T21:03:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840633.97 epoch sec; seqNo:62; 4061664.40 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:54Z- waiting for 1730840635.54, time is 1730840633.97 2024-11-05T21:03:54Z- AHRS_M2 msg: 1730840634.33 epoch sec; seqNo:62 2024-11-05T21:03:54Z- AHRS_M2 msg: 0.23 phi; -0.08 theta; 1.51 psi 2024-11-05T21:03:54Z- handleDepth()- Depth_Keller msg: 1730840634.38 epoch sec; seqNo:62; depth -0.08 2024-11-05T21:03:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840634.39 epoch sec; seqNo:63; 4061664.40 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:03:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:54Z- waiting for 1730840635.54, time is 1730840634.39 2024-11-05T21:03:54Z- AHRS_M2 msg: 1730840634.74 epoch sec; seqNo:63 2024-11-05T21:03:54Z- AHRS_M2 msg: 0.23 phi; -0.09 theta; 1.50 psi 2024-11-05T21:03:54Z- handleDepth()- Depth_Keller msg: 1730840634.75 epoch sec; seqNo:63; depth -0.06 2024-11-05T21:03:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840634.77 epoch sec; seqNo:64; 4061664.40 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:03:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:54Z- waiting for 1730840635.54, time is 1730840634.77 2024-11-05T21:03:55Z- AHRS_M2 msg: 1730840635.14 epoch sec; seqNo:64 2024-11-05T21:03:55Z- AHRS_M2 msg: 0.26 phi; -0.06 theta; 1.44 psi 2024-11-05T21:03:55Z- handleDepth()- Depth_Keller msg: 1730840635.16 epoch sec; seqNo:64; depth -0.07 2024-11-05T21:03:55Z- handleDVL() - DVL msg epochMillisec: 1730840635.18 2024-11-05T21:03:55Z- handleDvl() - RDI_Pathfinder msg: 1730840635.18 sec; seqNo:23; #beams:4 2024-11-05T21:03:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 110.91 , 86.51 , 94.64 , 94.64 2024-11-05T21:03:55Z- handleDvl() - RDI_Pathfinder msg: velocities -0.13 , -0.23 , 0.23 2024-11-05T21:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840635.19 epoch sec; seqNo:65; 4061664.40 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:55Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:55Z- waiting for 1730840635.54, time is 1730840635.19 2024-11-05T21:03:55Z- AHRS_M2 msg: 1730840635.55 epoch sec; seqNo:65 2024-11-05T21:03:55Z- AHRS_M2 msg: 0.31 phi; -0.05 theta; 1.45 psi 2024-11-05T21:03:55Z- handleDepth()- Depth_Keller msg: 1730840635.56 epoch sec; seqNo:65; depth -0.05 2024-11-05T21:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840635.57 epoch sec; seqNo:66; 4061664.40 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-05T21:03:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840631.54 2024-11-05T21:03:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:55Z- waiting for 1730840635.54, time is 1730840635.57 2024-11-05T21:03:55Z- LcmTrn::updateTrn() >>>> pose time 1730840635.57, meas time 1730840635.18 <<<< 2024-11-05T21:03:55Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840635.57 2024-11-05T21:03:55Z- TerrainNav::Measurement type 1 from time = 1730840635.18 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:03:55Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594832.39, -0.05) 2024-11-05T21:03:55Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:03:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:55Z- publishEstimatesDecoder() - at 1730840635.57 sec 2024-11-05T21:03:55Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:03:55Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:03:55Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:03:55Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:03:55Z- AHRS_M2 msg: 1730840635.95 epoch sec; seqNo:66 2024-11-05T21:03:55Z- AHRS_M2 msg: 0.34 phi; -0.05 theta; 1.46 psi 2024-11-05T21:03:55Z- handleDepth()- Depth_Keller msg: 1730840635.96 epoch sec; seqNo:66; depth -0.07 2024-11-05T21:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840635.97 epoch sec; seqNo:67; 4061664.77 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:56Z- waiting for 1730840639.57, time is 1730840635.97 2024-11-05T21:03:56Z- AHRS_M2 msg: 1730840636.36 epoch sec; seqNo:67 2024-11-05T21:03:56Z- AHRS_M2 msg: 0.30 phi; 0.05 theta; 1.44 psi 2024-11-05T21:03:56Z- handleDepth()- Depth_Keller msg: 1730840636.37 epoch sec; seqNo:67; depth -0.10 2024-11-05T21:03:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840636.38 epoch sec; seqNo:68; 4061664.77 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:03:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:56Z- waiting for 1730840639.57, time is 1730840636.38 2024-11-05T21:03:56Z- AHRS_M2 msg: 1730840636.76 epoch sec; seqNo:68 2024-11-05T21:03:56Z- AHRS_M2 msg: 0.28 phi; 0.10 theta; 1.44 psi 2024-11-05T21:03:56Z- handleDepth()- Depth_Keller msg: 1730840636.77 epoch sec; seqNo:68; depth -0.09 2024-11-05T21:03:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840636.79 epoch sec; seqNo:69; 4061664.77 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:03:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:56Z- waiting for 1730840639.57, time is 1730840636.79 2024-11-05T21:03:57Z- AHRS_M2 msg: 1730840637.16 epoch sec; seqNo:69 2024-11-05T21:03:57Z- AHRS_M2 msg: 0.26 phi; 0.03 theta; 1.48 psi 2024-11-05T21:03:57Z- handleDepth()- Depth_Keller msg: 1730840637.17 epoch sec; seqNo:69; depth -0.07 2024-11-05T21:03:57Z- handleDVL() - DVL msg epochMillisec: 1730840637.21 2024-11-05T21:03:57Z- handleDvl() - RDI_Pathfinder msg: 1730840637.21 sec; seqNo:24; #beams:4 2024-11-05T21:03:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 123.11 , 85.15 , 96.00 , 96.00 2024-11-05T21:03:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.12 , 0.19 2024-11-05T21:03:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840637.25 epoch sec; seqNo:70; 4061664.77 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:03:57Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:57Z- waiting for 1730840639.57, time is 1730840637.25 2024-11-05T21:03:57Z- AHRS_M2 msg: 1730840637.57 epoch sec; seqNo:70 2024-11-05T21:03:57Z- AHRS_M2 msg: 0.23 phi; -0.01 theta; 1.49 psi 2024-11-05T21:03:57Z- handleDepth()- Depth_Keller msg: 1730840637.57 epoch sec; seqNo:70; depth -0.06 2024-11-05T21:03:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840637.61 epoch sec; seqNo:71; 4061664.77 north; 594832.39 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:03:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:57Z- waiting for 1730840639.57, time is 1730840637.61 2024-11-05T21:03:57Z- AHRS_M2 msg: 1730840637.97 epoch sec; seqNo:71 2024-11-05T21:03:57Z- AHRS_M2 msg: 0.20 phi; -0.02 theta; 1.48 psi 2024-11-05T21:03:57Z- handleDepth()- Depth_Keller msg: 1730840637.98 epoch sec; seqNo:71; depth -0.06 2024-11-05T21:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840638.00 epoch sec; seqNo:72; 4061664.79 north; 594833.61 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:03:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:58Z- waiting for 1730840639.57, time is 1730840638.00 2024-11-05T21:03:58Z- AHRS_M2 msg: 1730840638.38 epoch sec; seqNo:72 2024-11-05T21:03:58Z- AHRS_M2 msg: 0.17 phi; -0.04 theta; 1.46 psi 2024-11-05T21:03:58Z- handleDepth()- Depth_Keller msg: 1730840638.40 epoch sec; seqNo:72; depth -0.03 2024-11-05T21:03:58Z- handleDVL() - DVL msg epochMillisec: 1730840638.40 2024-11-05T21:03:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:58Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:58Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:58Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:58Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:58Z- handleDvl() - RDI_Pathfinder msg: 1730840638.40 sec; seqNo:25; #beams:0 2024-11-05T21:03:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.12 , 0.19 2024-11-05T21:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840638.42 epoch sec; seqNo:73; 4061664.79 north; 594833.61 east; 36.70 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-05T21:03:58Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:58Z- waiting for 1730840639.57, time is 1730840638.42 2024-11-05T21:03:58Z- AHRS_M2 msg: 1730840638.78 epoch sec; seqNo:73 2024-11-05T21:03:58Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 1.46 psi 2024-11-05T21:03:58Z- handleDepth()- Depth_Keller msg: 1730840638.78 epoch sec; seqNo:73; depth -0.03 2024-11-05T21:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840638.84 epoch sec; seqNo:74; 4061664.79 north; 594833.61 east; 36.70 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-05T21:03:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:03:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:58Z- waiting for 1730840639.57, time is 1730840638.84 2024-11-05T21:03:59Z- AHRS_M2 msg: 1730840639.18 epoch sec; seqNo:74 2024-11-05T21:03:59Z- AHRS_M2 msg: 0.23 phi; -0.05 theta; 1.45 psi 2024-11-05T21:03:59Z- handleDepth()- Depth_Keller msg: 1730840639.19 epoch sec; seqNo:74; depth -0.05 2024-11-05T21:03:59Z- handleDVL() - DVL msg epochMillisec: 1730840639.22 2024-11-05T21:03:59Z- handleDvl() - RDI_Pathfinder msg: 1730840639.22 sec; seqNo:26; #beams:4 2024-11-05T21:03:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.28 , 88.95 , 95.72 , 90.30 2024-11-05T21:03:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , -0.17 , 0.01 2024-11-05T21:03:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840639.27 epoch sec; seqNo:75; 4061665.17 north; 594833.60 east; 36.70 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-05T21:03:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:59Z- waiting for 1730840639.57, time is 1730840639.27 2024-11-05T21:03:59Z- AHRS_M2 msg: 1730840639.58 epoch sec; seqNo:75 2024-11-05T21:03:59Z- AHRS_M2 msg: 0.28 phi; 0.02 theta; 1.42 psi 2024-11-05T21:03:59Z- handleDepth()- Depth_Keller msg: 1730840639.59 epoch sec; seqNo:75; depth -0.03 2024-11-05T21:03:59Z- handleDVL() - DVL msg epochMillisec: 1730840639.59 2024-11-05T21:03:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:03:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:03:59Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:03:59Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:03:59Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:03:59Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:03:59Z- handleDvl() - RDI_Pathfinder msg: 1730840639.59 sec; seqNo:27; #beams:0 2024-11-05T21:03:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:03:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.05 , -0.17 , 0.01 2024-11-05T21:03:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840639.62 epoch sec; seqNo:76; 4061665.17 north; 594833.60 east; 36.70 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-05T21:03:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:03:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840635.57 2024-11-05T21:03:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:03:59Z- waiting for 1730840639.57, time is 1730840639.62 2024-11-05T21:03:59Z- LcmTrn::updateTrn() >>>> pose time 1730840639.62, meas time 1730840639.59 <<<< 2024-11-05T21:03:59Z- LcmTrn::updateTrn() equating pose 1730840639.59 and meas times 1730840639.59 2024-11-05T21:03:59Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730840639.59 2024-11-05T21:03:59Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594833.60, -0.03) 2024-11-05T21:03:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:03:59Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-05T21:03:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:03:59Z- publishEstimatesDecoder() - at 1730840639.59 sec 2024-11-05T21:03:59Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:03:59Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:03:59Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:03:59Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:03:59Z- AHRS_M2 msg: 1730840639.99 epoch sec; seqNo:76 2024-11-05T21:03:59Z- AHRS_M2 msg: 0.31 phi; 0.05 theta; 1.42 psi 2024-11-05T21:04:00Z- handleDepth()- Depth_Keller msg: 1730840640.00 epoch sec; seqNo:76; depth -0.01 2024-11-05T21:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840640.04 epoch sec; seqNo:77; 4061665.17 north; 594833.60 east; 36.70 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-05T21:04:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:00Z- waiting for 1730840643.59, time is 1730840640.04 2024-11-05T21:04:00Z- AHRS_M2 msg: 1730840640.41 epoch sec; seqNo:77 2024-11-05T21:04:00Z- AHRS_M2 msg: 0.23 phi; 0.03 theta; 1.45 psi 2024-11-05T21:04:00Z- handleDepth()- Depth_Keller msg: 1730840640.41 epoch sec; seqNo:77; depth -0.02 2024-11-05T21:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840640.43 epoch sec; seqNo:78; 4061665.17 north; 594833.60 east; 36.70 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-05T21:04:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:00Z- waiting for 1730840643.59, time is 1730840640.43 2024-11-05T21:04:00Z- AHRS_M2 msg: 1730840640.80 epoch sec; seqNo:78 2024-11-05T21:04:00Z- AHRS_M2 msg: 0.13 phi; -0.02 theta; 1.45 psi 2024-11-05T21:04:00Z- handleDepth()- Depth_Keller msg: 1730840640.81 epoch sec; seqNo:78; depth -0.06 2024-11-05T21:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840640.89 epoch sec; seqNo:79; 4061665.17 north; 594833.60 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:00Z- waiting for 1730840643.59, time is 1730840640.89 2024-11-05T21:04:01Z- AHRS_M2 msg: 1730840641.20 epoch sec; seqNo:79 2024-11-05T21:04:01Z- AHRS_M2 msg: 0.11 phi; -0.06 theta; 1.43 psi 2024-11-05T21:04:01Z- handleDepth()- Depth_Keller msg: 1730840641.21 epoch sec; seqNo:79; depth -0.08 2024-11-05T21:04:01Z- handleDVL() - DVL msg epochMillisec: 1730840641.25 2024-11-05T21:04:01Z- handleDvl() - RDI_Pathfinder msg: 1730840641.25 sec; seqNo:28; #beams:4 2024-11-05T21:04:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 119.11 , 87.93 , 104.20 , 89.29 2024-11-05T21:04:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , 0.38 , -0.51 2024-11-05T21:04:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840641.27 epoch sec; seqNo:80; 4061665.17 north; 594833.60 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:01Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:01Z- waiting for 1730840643.59, time is 1730840641.27 2024-11-05T21:04:01Z- AHRS_M2 msg: 1730840641.60 epoch sec; seqNo:80 2024-11-05T21:04:01Z- AHRS_M2 msg: 0.16 phi; -0.05 theta; 1.45 psi 2024-11-05T21:04:01Z- handleDepth()- Depth_Keller msg: 1730840641.62 epoch sec; seqNo:80; depth -0.12 2024-11-05T21:04:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840641.63 epoch sec; seqNo:81; 4061664.79 north; 594833.61 east; 36.70 lat; -121.94 lon; -0.12 depth; utmZone: 10 2024-11-05T21:04:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:01Z- waiting for 1730840643.59, time is 1730840641.63 2024-11-05T21:04:02Z- AHRS_M2 msg: 1730840642.01 epoch sec; seqNo:81 2024-11-05T21:04:02Z- AHRS_M2 msg: 0.28 phi; -0.02 theta; 1.42 psi 2024-11-05T21:04:02Z- handleDepth()- Depth_Keller msg: 1730840642.02 epoch sec; seqNo:81; depth -0.12 2024-11-05T21:04:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840642.04 epoch sec; seqNo:82; 4061664.79 north; 594833.61 east; 36.70 lat; -121.94 lon; -0.12 depth; utmZone: 10 2024-11-05T21:04:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:02Z- waiting for 1730840643.59, time is 1730840642.04 2024-11-05T21:04:02Z- AHRS_M2 msg: 1730840642.41 epoch sec; seqNo:82 2024-11-05T21:04:02Z- AHRS_M2 msg: 0.38 phi; -0.01 theta; 1.40 psi 2024-11-05T21:04:02Z- handleDepth()- Depth_Keller msg: 1730840642.42 epoch sec; seqNo:82; depth -0.08 2024-11-05T21:04:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840642.43 epoch sec; seqNo:83; 4061664.41 north; 594833.61 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:02Z- waiting for 1730840643.59, time is 1730840642.43 2024-11-05T21:04:02Z- AHRS_M2 msg: 1730840642.83 epoch sec; seqNo:83 2024-11-05T21:04:02Z- AHRS_M2 msg: 0.34 phi; 0.00 theta; 1.42 psi 2024-11-05T21:04:02Z- handleDepth()- Depth_Keller msg: 1730840642.85 epoch sec; seqNo:83; depth -0.07 2024-11-05T21:04:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840642.89 epoch sec; seqNo:84; 4061664.42 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:02Z- waiting for 1730840643.59, time is 1730840642.89 2024-11-05T21:04:03Z- AHRS_M2 msg: 1730840643.22 epoch sec; seqNo:84 2024-11-05T21:04:03Z- AHRS_M2 msg: 0.26 phi; -0.03 theta; 1.40 psi 2024-11-05T21:04:03Z- handleDepth()- Depth_Keller msg: 1730840643.23 epoch sec; seqNo:84; depth -0.06 2024-11-05T21:04:03Z- handleDVL() - DVL msg epochMillisec: 1730840643.25 2024-11-05T21:04:03Z- handleDvl() - RDI_Pathfinder msg: 1730840643.25 sec; seqNo:29; #beams:4 2024-11-05T21:04:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 114.70 , 84.88 , 99.79 , 94.37 2024-11-05T21:04:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.26 , 0.05 2024-11-05T21:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840643.27 epoch sec; seqNo:85; 4061664.42 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:03Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:03Z- waiting for 1730840643.59, time is 1730840643.27 2024-11-05T21:04:03Z- AHRS_M2 msg: 1730840643.62 epoch sec; seqNo:85 2024-11-05T21:04:03Z- AHRS_M2 msg: 0.22 phi; -0.08 theta; 1.37 psi 2024-11-05T21:04:03Z- handleDepth()- Depth_Keller msg: 1730840643.63 epoch sec; seqNo:85; depth -0.05 2024-11-05T21:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840643.65 epoch sec; seqNo:86; 4061664.42 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-05T21:04:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840639.59 2024-11-05T21:04:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:03Z- waiting for 1730840643.59, time is 1730840643.65 2024-11-05T21:04:03Z- LcmTrn::updateTrn() >>>> pose time 1730840643.65, meas time 1730840643.25 <<<< 2024-11-05T21:04:03Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840643.65 2024-11-05T21:04:03Z- TerrainNav::Measurement type 1 from time = 1730840643.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:03Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594834.83, -0.05) 2024-11-05T21:04:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:03Z- publishEstimatesDecoder() - at 1730840643.65 sec 2024-11-05T21:04:03Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:03Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:03Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:03Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:04Z- AHRS_M2 msg: 1730840644.03 epoch sec; seqNo:86 2024-11-05T21:04:04Z- AHRS_M2 msg: 0.22 phi; -0.08 theta; 1.35 psi 2024-11-05T21:04:04Z- handleDepth()- Depth_Keller msg: 1730840644.04 epoch sec; seqNo:86; depth -0.07 2024-11-05T21:04:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840644.05 epoch sec; seqNo:87; 4061664.80 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:04Z- waiting for 1730840647.65, time is 1730840644.05 2024-11-05T21:04:04Z- AHRS_M2 msg: 1730840644.43 epoch sec; seqNo:87 2024-11-05T21:04:04Z- AHRS_M2 msg: 0.21 phi; -0.04 theta; 1.32 psi 2024-11-05T21:04:04Z- handleDepth()- Depth_Keller msg: 1730840644.45 epoch sec; seqNo:87; depth -0.06 2024-11-05T21:04:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840644.46 epoch sec; seqNo:88; 4061664.80 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:04Z- waiting for 1730840647.65, time is 1730840644.46 2024-11-05T21:04:04Z- AHRS_M2 msg: 1730840644.88 epoch sec; seqNo:88 2024-11-05T21:04:04Z- AHRS_M2 msg: 0.22 phi; -0.04 theta; 1.29 psi 2024-11-05T21:04:04Z- handleDepth()- Depth_Keller msg: 1730840644.89 epoch sec; seqNo:88; depth -0.07 2024-11-05T21:04:04Z- handleDVL() - DVL msg epochMillisec: 1730840644.93 2024-11-05T21:04:04Z- handleDvl() - RDI_Pathfinder msg: 1730840644.93 sec; seqNo:30; #beams:4 2024-11-05T21:04:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 110.77 , 86.37 , 94.50 , 94.50 2024-11-05T21:04:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.41 , -0.11 , 0.44 2024-11-05T21:04:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840644.94 epoch sec; seqNo:89; 4061664.80 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:05Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:05Z- waiting for 1730840647.65, time is 1730840644.94 2024-11-05T21:04:05Z- AHRS_M2 msg: 1730840645.24 epoch sec; seqNo:89 2024-11-05T21:04:05Z- AHRS_M2 msg: 0.23 phi; -0.05 theta; 1.31 psi 2024-11-05T21:04:05Z- handleDepth()- Depth_Keller msg: 1730840645.25 epoch sec; seqNo:89; depth -0.07 2024-11-05T21:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840645.27 epoch sec; seqNo:90; 4061665.18 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:05Z- waiting for 1730840647.65, time is 1730840645.27 2024-11-05T21:04:05Z- AHRS_M2 msg: 1730840645.65 epoch sec; seqNo:90 2024-11-05T21:04:05Z- AHRS_M2 msg: 0.22 phi; -0.07 theta; 1.33 psi 2024-11-05T21:04:05Z- handleDepth()- Depth_Keller msg: 1730840645.65 epoch sec; seqNo:90; depth -0.09 2024-11-05T21:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840645.66 epoch sec; seqNo:91; 4061665.18 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:05Z- waiting for 1730840647.65, time is 1730840645.66 2024-11-05T21:04:06Z- AHRS_M2 msg: 1730840646.05 epoch sec; seqNo:91 2024-11-05T21:04:06Z- AHRS_M2 msg: 0.21 phi; -0.06 theta; 1.31 psi 2024-11-05T21:04:06Z- handleDepth()- Depth_Keller msg: 1730840646.07 epoch sec; seqNo:91; depth -0.09 2024-11-05T21:04:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840646.08 epoch sec; seqNo:92; 4061665.18 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:06Z- waiting for 1730840647.65, time is 1730840646.08 2024-11-05T21:04:06Z- AHRS_M2 msg: 1730840646.45 epoch sec; seqNo:92 2024-11-05T21:04:06Z- AHRS_M2 msg: 0.23 phi; -0.04 theta; 1.30 psi 2024-11-05T21:04:06Z- handleDepth()- Depth_Keller msg: 1730840646.46 epoch sec; seqNo:92; depth -0.10 2024-11-05T21:04:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840646.47 epoch sec; seqNo:93; 4061665.18 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:06Z- waiting for 1730840647.65, time is 1730840646.47 2024-11-05T21:04:06Z- AHRS_M2 msg: 1730840646.89 epoch sec; seqNo:93 2024-11-05T21:04:06Z- AHRS_M2 msg: 0.23 phi; -0.06 theta; 1.30 psi 2024-11-05T21:04:06Z- handleDepth()- Depth_Keller msg: 1730840646.90 epoch sec; seqNo:93; depth -0.10 2024-11-05T21:04:06Z- handleDVL() - DVL msg epochMillisec: 1730840646.96 2024-11-05T21:04:06Z- handleDvl() - RDI_Pathfinder msg: 1730840646.96 sec; seqNo:31; #beams:4 2024-11-05T21:04:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 108.26 , 87.93 , 96.06 , 92.00 2024-11-05T21:04:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.41 , 0.14 , 0.29 2024-11-05T21:04:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840646.98 epoch sec; seqNo:94; 4061665.18 north; 594834.83 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:07Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:07Z- waiting for 1730840647.65, time is 1730840646.98 2024-11-05T21:04:07Z- AHRS_M2 msg: 1730840647.26 epoch sec; seqNo:94 2024-11-05T21:04:07Z- AHRS_M2 msg: 0.23 phi; -0.11 theta; 1.30 psi 2024-11-05T21:04:07Z- handleDepth()- Depth_Keller msg: 1730840647.27 epoch sec; seqNo:94; depth -0.09 2024-11-05T21:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840647.29 epoch sec; seqNo:95; 4061665.56 north; 594834.82 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:07Z- waiting for 1730840647.65, time is 1730840647.29 2024-11-05T21:04:07Z- AHRS_M2 msg: 1730840647.67 epoch sec; seqNo:95 2024-11-05T21:04:07Z- AHRS_M2 msg: 0.24 phi; -0.14 theta; 1.29 psi 2024-11-05T21:04:07Z- handleDepth()- Depth_Keller msg: 1730840647.68 epoch sec; seqNo:95; depth -0.11 2024-11-05T21:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840647.70 epoch sec; seqNo:96; 4061665.56 north; 594834.82 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840643.65 2024-11-05T21:04:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:07Z- waiting for 1730840647.65, time is 1730840647.70 2024-11-05T21:04:07Z- LcmTrn::updateTrn() >>>> pose time 1730840647.70, meas time 1730840646.96 <<<< 2024-11-05T21:04:07Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840647.70 2024-11-05T21:04:07Z- TerrainNav::Measurement type 1 from time = 1730840646.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:07Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594834.82, -0.11) 2024-11-05T21:04:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:07Z- publishEstimatesDecoder() - at 1730840647.70 sec 2024-11-05T21:04:07Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:07Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:07Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:07Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:08Z- AHRS_M2 msg: 1730840648.07 epoch sec; seqNo:96 2024-11-05T21:04:08Z- AHRS_M2 msg: 0.26 phi; -0.12 theta; 1.28 psi 2024-11-05T21:04:08Z- handleDepth()- Depth_Keller msg: 1730840648.08 epoch sec; seqNo:96; depth -0.09 2024-11-05T21:04:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840648.10 epoch sec; seqNo:97; 4061665.57 north; 594836.04 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:08Z- waiting for 1730840651.70, time is 1730840648.10 2024-11-05T21:04:08Z- AHRS_M2 msg: 1730840648.47 epoch sec; seqNo:97 2024-11-05T21:04:08Z- AHRS_M2 msg: 0.23 phi; -0.04 theta; 1.26 psi 2024-11-05T21:04:08Z- handleDepth()- Depth_Keller msg: 1730840648.48 epoch sec; seqNo:97; depth -0.10 2024-11-05T21:04:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840648.51 epoch sec; seqNo:98; 4061665.57 north; 594836.04 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:08Z- waiting for 1730840651.70, time is 1730840648.51 2024-11-05T21:04:08Z- AHRS_M2 msg: 1730840648.90 epoch sec; seqNo:98 2024-11-05T21:04:08Z- AHRS_M2 msg: 0.20 phi; -0.03 theta; 1.28 psi 2024-11-05T21:04:08Z- handleDepth()- Depth_Keller msg: 1730840648.91 epoch sec; seqNo:98; depth -0.09 2024-11-05T21:04:08Z- handleDVL() - DVL msg epochMillisec: 1730840648.96 2024-11-05T21:04:08Z- handleDvl() - RDI_Pathfinder msg: 1730840648.96 sec; seqNo:32; #beams:4 2024-11-05T21:04:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.62 , 86.57 , 96.06 , 94.71 2024-11-05T21:04:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.17 , 0.11 2024-11-05T21:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840648.99 epoch sec; seqNo:99; 4061665.57 north; 594836.04 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:09Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:09Z- waiting for 1730840651.70, time is 1730840648.99 2024-11-05T21:04:09Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-05T21:04:09Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-05T21:04:09Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-05T21:04:09Z- AHRS_M2 msg: 1730840649.27 epoch sec; seqNo:99 2024-11-05T21:04:09Z- AHRS_M2 msg: 0.20 phi; -0.03 theta; 1.28 psi 2024-11-05T21:04:09Z- handleDepth()- Depth_Keller msg: 1730840649.30 epoch sec; seqNo:99; depth -0.07 2024-11-05T21:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840649.33 epoch sec; seqNo:100; 4061665.57 north; 594836.04 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:09Z- waiting for 1730840651.70, time is 1730840649.33 2024-11-05T21:04:09Z- AHRS_M2 msg: 1730840649.69 epoch sec; seqNo:100 2024-11-05T21:04:09Z- AHRS_M2 msg: 0.25 phi; -0.04 theta; 1.26 psi 2024-11-05T21:04:09Z- handleDepth()- Depth_Keller msg: 1730840649.70 epoch sec; seqNo:100; depth -0.07 2024-11-05T21:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840649.71 epoch sec; seqNo:101; 4061665.57 north; 594836.04 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:09Z- waiting for 1730840651.70, time is 1730840649.71 2024-11-05T21:04:10Z- AHRS_M2 msg: 1730840650.09 epoch sec; seqNo:101 2024-11-05T21:04:10Z- AHRS_M2 msg: 0.25 phi; -0.04 theta; 1.27 psi 2024-11-05T21:04:10Z- handleDepth()- Depth_Keller msg: 1730840650.11 epoch sec; seqNo:101; depth -0.09 2024-11-05T21:04:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840650.13 epoch sec; seqNo:102; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:10Z- waiting for 1730840651.70, time is 1730840650.13 2024-11-05T21:04:10Z- AHRS_M2 msg: 1730840650.49 epoch sec; seqNo:102 2024-11-05T21:04:10Z- AHRS_M2 msg: 0.29 phi; -0.02 theta; 1.24 psi 2024-11-05T21:04:10Z- handleDepth()- Depth_Keller msg: 1730840650.50 epoch sec; seqNo:102; depth -0.11 2024-11-05T21:04:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840650.54 epoch sec; seqNo:103; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:10Z- waiting for 1730840651.70, time is 1730840650.54 2024-11-05T21:04:10Z- AHRS_M2 msg: 1730840650.90 epoch sec; seqNo:103 2024-11-05T21:04:10Z- AHRS_M2 msg: 0.31 phi; 0.04 theta; 1.23 psi 2024-11-05T21:04:10Z- handleDepth()- Depth_Keller msg: 1730840650.92 epoch sec; seqNo:103; depth -0.08 2024-11-05T21:04:10Z- handleDVL() - DVL msg epochMillisec: 1730840650.96 2024-11-05T21:04:10Z- handleDvl() - RDI_Pathfinder msg: 1730840650.96 sec; seqNo:33; #beams:4 2024-11-05T21:04:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.55 , 89.22 , 96.00 , 91.93 2024-11-05T21:04:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.22 , -0.18 , -0.04 2024-11-05T21:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840650.98 epoch sec; seqNo:104; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:11Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:11Z- waiting for 1730840651.70, time is 1730840650.98 2024-11-05T21:04:11Z- AHRS_M2 msg: 1730840651.30 epoch sec; seqNo:104 2024-11-05T21:04:11Z- AHRS_M2 msg: 0.26 phi; 0.04 theta; 1.24 psi 2024-11-05T21:04:11Z- handleDepth()- Depth_Keller msg: 1730840651.31 epoch sec; seqNo:104; depth -0.09 2024-11-05T21:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840651.32 epoch sec; seqNo:105; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:11Z- waiting for 1730840651.70, time is 1730840651.32 2024-11-05T21:04:11Z- AHRS_M2 msg: 1730840651.70 epoch sec; seqNo:105 2024-11-05T21:04:11Z- AHRS_M2 msg: 0.23 phi; -0.02 theta; 1.22 psi 2024-11-05T21:04:11Z- handleDepth()- Depth_Keller msg: 1730840651.71 epoch sec; seqNo:105; depth -0.10 2024-11-05T21:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840651.73 epoch sec; seqNo:106; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840647.70 2024-11-05T21:04:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:11Z- waiting for 1730840651.70, time is 1730840651.73 2024-11-05T21:04:11Z- LcmTrn::updateTrn() >>>> pose time 1730840651.73, meas time 1730840650.96 <<<< 2024-11-05T21:04:11Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840651.73 2024-11-05T21:04:11Z- TerrainNav::Measurement type 1 from time = 1730840650.96 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:11Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594837.26, -0.10) 2024-11-05T21:04:11Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:11Z- publishEstimatesDecoder() - at 1730840651.73 sec 2024-11-05T21:04:11Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:11Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:11Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:11Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:12Z- AHRS_M2 msg: 1730840652.11 epoch sec; seqNo:106 2024-11-05T21:04:12Z- AHRS_M2 msg: 0.22 phi; -0.06 theta; 1.23 psi 2024-11-05T21:04:12Z- handleDepth()- Depth_Keller msg: 1730840652.12 epoch sec; seqNo:106; depth -0.08 2024-11-05T21:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840652.12 epoch sec; seqNo:107; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:12Z- waiting for 1730840655.73, time is 1730840652.12 2024-11-05T21:04:12Z- AHRS_M2 msg: 1730840652.51 epoch sec; seqNo:107 2024-11-05T21:04:12Z- AHRS_M2 msg: 0.22 phi; -0.07 theta; 1.22 psi 2024-11-05T21:04:12Z- handleDepth()- Depth_Keller msg: 1730840652.52 epoch sec; seqNo:107; depth -0.09 2024-11-05T21:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840652.53 epoch sec; seqNo:108; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:12Z- waiting for 1730840655.73, time is 1730840652.53 2024-11-05T21:04:12Z- AHRS_M2 msg: 1730840652.92 epoch sec; seqNo:108 2024-11-05T21:04:12Z- AHRS_M2 msg: 0.30 phi; -0.06 theta; 1.20 psi 2024-11-05T21:04:12Z- handleDepth()- Depth_Keller msg: 1730840652.93 epoch sec; seqNo:108; depth -0.08 2024-11-05T21:04:12Z- handleDVL() - DVL msg epochMillisec: 1730840652.95 2024-11-05T21:04:12Z- handleDvl() - RDI_Pathfinder msg: 1730840652.95 sec; seqNo:34; #beams:4 2024-11-05T21:04:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 105.48 , 89.22 , 96.00 , 91.93 2024-11-05T21:04:12Z- handleDvl() - RDI_Pathfinder msg: velocities -0.04 , -0.03 , -0.30 2024-11-05T21:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840652.97 epoch sec; seqNo:109; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:13Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:13Z- waiting for 1730840655.73, time is 1730840652.97 2024-11-05T21:04:13Z- AHRS_M2 msg: 1730840653.32 epoch sec; seqNo:109 2024-11-05T21:04:13Z- AHRS_M2 msg: 0.36 phi; -0.04 theta; 1.15 psi 2024-11-05T21:04:13Z- handleDepth()- Depth_Keller msg: 1730840653.33 epoch sec; seqNo:109; depth -0.06 2024-11-05T21:04:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840653.36 epoch sec; seqNo:110; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:13Z- waiting for 1730840655.73, time is 1730840653.36 2024-11-05T21:04:13Z- AHRS_M2 msg: 1730840653.73 epoch sec; seqNo:110 2024-11-05T21:04:13Z- AHRS_M2 msg: 0.34 phi; -0.00 theta; 1.14 psi 2024-11-05T21:04:13Z- handleDepth()- Depth_Keller msg: 1730840653.73 epoch sec; seqNo:110; depth -0.06 2024-11-05T21:04:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840653.74 epoch sec; seqNo:111; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:13Z- waiting for 1730840655.73, time is 1730840653.74 2024-11-05T21:04:14Z- AHRS_M2 msg: 1730840654.13 epoch sec; seqNo:111 2024-11-05T21:04:14Z- AHRS_M2 msg: 0.23 phi; -0.01 theta; 1.18 psi 2024-11-05T21:04:14Z- handleDepth()- Depth_Keller msg: 1730840654.14 epoch sec; seqNo:111; depth -0.07 2024-11-05T21:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840654.16 epoch sec; seqNo:112; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:14Z- waiting for 1730840655.73, time is 1730840654.16 2024-11-05T21:04:14Z- AHRS_M2 msg: 1730840654.55 epoch sec; seqNo:112 2024-11-05T21:04:14Z- AHRS_M2 msg: 0.12 phi; -0.07 theta; 1.18 psi 2024-11-05T21:04:14Z- handleDepth()- Depth_Keller msg: 1730840654.57 epoch sec; seqNo:112; depth -0.12 2024-11-05T21:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840654.58 epoch sec; seqNo:113; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.12 depth; utmZone: 10 2024-11-05T21:04:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:14Z- waiting for 1730840655.73, time is 1730840654.58 2024-11-05T21:04:14Z- AHRS_M2 msg: 1730840654.94 epoch sec; seqNo:113 2024-11-05T21:04:14Z- AHRS_M2 msg: 0.13 phi; -0.06 theta; 1.15 psi 2024-11-05T21:04:14Z- handleDepth()- Depth_Keller msg: 1730840654.94 epoch sec; seqNo:113; depth -0.10 2024-11-05T21:04:15Z- handleDVL() - DVL msg epochMillisec: 1730840654.99 2024-11-05T21:04:15Z- handleDvl() - RDI_Pathfinder msg: 1730840654.99 sec; seqNo:35; #beams:4 2024-11-05T21:04:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.69 , 89.35 , 96.13 , 89.35 2024-11-05T21:04:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.03 , 0.14 , -0.44 2024-11-05T21:04:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840655.04 epoch sec; seqNo:114; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:15Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:15Z- waiting for 1730840655.73, time is 1730840655.04 2024-11-05T21:04:15Z- AHRS_M2 msg: 1730840655.35 epoch sec; seqNo:114 2024-11-05T21:04:15Z- AHRS_M2 msg: 0.22 phi; -0.05 theta; 1.18 psi 2024-11-05T21:04:15Z- handleDepth()- Depth_Keller msg: 1730840655.37 epoch sec; seqNo:114; depth -0.10 2024-11-05T21:04:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840655.40 epoch sec; seqNo:115; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:15Z- waiting for 1730840655.73, time is 1730840655.40 2024-11-05T21:04:15Z- AHRS_M2 msg: 1730840655.75 epoch sec; seqNo:115 2024-11-05T21:04:15Z- AHRS_M2 msg: 0.28 phi; -0.07 theta; 1.21 psi 2024-11-05T21:04:15Z- handleDepth()- Depth_Keller msg: 1730840655.76 epoch sec; seqNo:115; depth -0.08 2024-11-05T21:04:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840655.77 epoch sec; seqNo:116; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840651.73 2024-11-05T21:04:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:15Z- waiting for 1730840655.73, time is 1730840655.77 2024-11-05T21:04:15Z- LcmTrn::updateTrn() >>>> pose time 1730840655.77, meas time 1730840654.99 <<<< 2024-11-05T21:04:15Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840655.77 2024-11-05T21:04:15Z- TerrainNav::Measurement type 1 from time = 1730840654.99 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:15Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594837.26, -0.08) 2024-11-05T21:04:15Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:15Z- publishEstimatesDecoder() - at 1730840655.77 sec 2024-11-05T21:04:15Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:15Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:15Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:15Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:16Z- AHRS_M2 msg: 1730840656.16 epoch sec; seqNo:116 2024-11-05T21:04:16Z- AHRS_M2 msg: 0.27 phi; -0.04 theta; 1.18 psi 2024-11-05T21:04:16Z- handleDepth()- Depth_Keller msg: 1730840656.18 epoch sec; seqNo:116; depth -0.06 2024-11-05T21:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840656.20 epoch sec; seqNo:117; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:16Z- waiting for 1730840659.77, time is 1730840656.20 2024-11-05T21:04:16Z- AHRS_M2 msg: 1730840656.56 epoch sec; seqNo:117 2024-11-05T21:04:16Z- AHRS_M2 msg: 0.25 phi; 0.03 theta; 1.18 psi 2024-11-05T21:04:16Z- handleDepth()- Depth_Keller msg: 1730840656.60 epoch sec; seqNo:117; depth -0.07 2024-11-05T21:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840656.64 epoch sec; seqNo:118; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:16Z- waiting for 1730840659.77, time is 1730840656.64 2024-11-05T21:04:16Z- AHRS_M2 msg: 1730840656.96 epoch sec; seqNo:118 2024-11-05T21:04:16Z- AHRS_M2 msg: 0.26 phi; -0.01 theta; 1.21 psi 2024-11-05T21:04:16Z- handleDepth()- Depth_Keller msg: 1730840656.98 epoch sec; seqNo:118; depth -0.07 2024-11-05T21:04:17Z- handleDVL() - DVL msg epochMillisec: 1730840657.05 2024-11-05T21:04:17Z- handleDvl() - RDI_Pathfinder msg: 1730840657.05 sec; seqNo:36; #beams:4 2024-11-05T21:04:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.62 , 86.57 , 96.06 , 92.00 2024-11-05T21:04:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , -0.55 , 0.11 2024-11-05T21:04:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840657.07 epoch sec; seqNo:119; 4061665.59 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:17Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:17Z- waiting for 1730840659.77, time is 1730840657.07 2024-11-05T21:04:17Z- AHRS_M2 msg: 1730840657.38 epoch sec; seqNo:119 2024-11-05T21:04:17Z- AHRS_M2 msg: 0.28 phi; -0.06 theta; 1.17 psi 2024-11-05T21:04:17Z- handleDepth()- Depth_Keller msg: 1730840657.39 epoch sec; seqNo:119; depth -0.07 2024-11-05T21:04:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840657.42 epoch sec; seqNo:120; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:17Z- waiting for 1730840659.77, time is 1730840657.42 2024-11-05T21:04:17Z- AHRS_M2 msg: 1730840657.78 epoch sec; seqNo:120 2024-11-05T21:04:17Z- AHRS_M2 msg: 0.31 phi; -0.07 theta; 1.17 psi 2024-11-05T21:04:17Z- handleDepth()- Depth_Keller msg: 1730840657.80 epoch sec; seqNo:120; depth -0.08 2024-11-05T21:04:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840657.83 epoch sec; seqNo:121; 4061665.97 north; 594837.26 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:17Z- waiting for 1730840659.77, time is 1730840657.83 2024-11-05T21:04:18Z- AHRS_M2 msg: 1730840658.19 epoch sec; seqNo:121 2024-11-05T21:04:18Z- AHRS_M2 msg: 0.30 phi; -0.09 theta; 1.17 psi 2024-11-05T21:04:18Z- handleDepth()- Depth_Keller msg: 1730840658.21 epoch sec; seqNo:121; depth -0.10 2024-11-05T21:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840658.24 epoch sec; seqNo:122; 4061666.34 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:18Z- waiting for 1730840659.77, time is 1730840658.24 2024-11-05T21:04:18Z- AHRS_M2 msg: 1730840658.61 epoch sec; seqNo:122 2024-11-05T21:04:18Z- AHRS_M2 msg: 0.31 phi; -0.06 theta; 1.12 psi 2024-11-05T21:04:18Z- handleDepth()- Depth_Keller msg: 1730840658.64 epoch sec; seqNo:122; depth -0.10 2024-11-05T21:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840658.67 epoch sec; seqNo:123; 4061666.72 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:18Z- waiting for 1730840659.77, time is 1730840658.67 2024-11-05T21:04:19Z- AHRS_M2 msg: 1730840659.00 epoch sec; seqNo:123 2024-11-05T21:04:19Z- AHRS_M2 msg: 0.30 phi; -0.04 theta; 1.10 psi 2024-11-05T21:04:19Z- handleDepth()- Depth_Keller msg: 1730840659.02 epoch sec; seqNo:123; depth -0.11 2024-11-05T21:04:19Z- handleDVL() - DVL msg epochMillisec: 1730840659.10 2024-11-05T21:04:19Z- handleDvl() - RDI_Pathfinder msg: 1730840659.10 sec; seqNo:37; #beams:4 2024-11-05T21:04:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 115.04 , 85.22 , 96.06 , 96.06 2024-11-05T21:04:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , -0.05 , 0.81 2024-11-05T21:04:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:19Z- waiting for 1730840659.77, time is 1730840659.10 2024-11-05T21:04:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840659.21 epoch sec; seqNo:124; 4061666.72 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:19Z- 1 msgs in 200 ms and 2 handle calls 2024-11-05T21:04:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:19Z- waiting for 1730840659.77, time is 1730840659.21 2024-11-05T21:04:19Z- AHRS_M2 msg: 1730840659.48 epoch sec; seqNo:124 2024-11-05T21:04:19Z- AHRS_M2 msg: 0.25 phi; -0.01 theta; 1.11 psi 2024-11-05T21:04:19Z- handleDepth()- Depth_Keller msg: 1730840659.50 epoch sec; seqNo:124; depth -0.11 2024-11-05T21:04:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840659.58 epoch sec; seqNo:125; 4061666.72 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:19Z- waiting for 1730840659.77, time is 1730840659.58 2024-11-05T21:04:19Z- AHRS_M2 msg: 1730840659.82 epoch sec; seqNo:125 2024-11-05T21:04:19Z- AHRS_M2 msg: 0.22 phi; 0.01 theta; 1.14 psi 2024-11-05T21:04:19Z- handleDepth()- Depth_Keller msg: 1730840659.84 epoch sec; seqNo:125; depth -0.10 2024-11-05T21:04:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840659.86 epoch sec; seqNo:126; 4061667.10 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840655.77 2024-11-05T21:04:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:19Z- waiting for 1730840659.77, time is 1730840659.86 2024-11-05T21:04:19Z- LcmTrn::updateTrn() >>>> pose time 1730840659.86, meas time 1730840659.10 <<<< 2024-11-05T21:04:19Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840659.86 2024-11-05T21:04:19Z- TerrainNav::Measurement type 1 from time = 1730840659.10 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:19Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594837.25, -0.10) 2024-11-05T21:04:19Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:19Z- publishEstimatesDecoder() - at 1730840659.86 sec 2024-11-05T21:04:19Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:19Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:19Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:19Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:20Z- AHRS_M2 msg: 1730840660.23 epoch sec; seqNo:126 2024-11-05T21:04:20Z- AHRS_M2 msg: 0.23 phi; -0.02 theta; 1.14 psi 2024-11-05T21:04:20Z- handleDepth()- Depth_Keller msg: 1730840660.25 epoch sec; seqNo:126; depth -0.11 2024-11-05T21:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840660.28 epoch sec; seqNo:127; 4061667.10 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:20Z- waiting for 1730840663.86, time is 1730840660.28 2024-11-05T21:04:20Z- AHRS_M2 msg: 1730840660.64 epoch sec; seqNo:127 2024-11-05T21:04:20Z- AHRS_M2 msg: 0.28 phi; -0.02 theta; 1.13 psi 2024-11-05T21:04:20Z- handleDepth()- Depth_Keller msg: 1730840660.65 epoch sec; seqNo:127; depth -0.09 2024-11-05T21:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840660.70 epoch sec; seqNo:128; 4061667.10 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:20Z- waiting for 1730840663.86, time is 1730840660.70 2024-11-05T21:04:21Z- AHRS_M2 msg: 1730840661.04 epoch sec; seqNo:128 2024-11-05T21:04:21Z- AHRS_M2 msg: 0.32 phi; -0.01 theta; 1.16 psi 2024-11-05T21:04:21Z- handleDepth()- Depth_Keller msg: 1730840661.07 epoch sec; seqNo:128; depth -0.09 2024-11-05T21:04:21Z- handleDVL() - DVL msg epochMillisec: 1730840661.14 2024-11-05T21:04:21Z- handleDvl() - RDI_Pathfinder msg: 1730840661.14 sec; seqNo:38; #beams:4 2024-11-05T21:04:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 106.77 , 87.79 , 95.93 , 91.86 2024-11-05T21:04:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.44 , 0.25 , -0.21 2024-11-05T21:04:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:21Z- waiting for 1730840663.86, time is 1730840661.14 2024-11-05T21:04:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840661.21 epoch sec; seqNo:129; 4061667.10 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:21Z- 1 msgs in 200 ms and 2 handle calls 2024-11-05T21:04:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:21Z- waiting for 1730840663.86, time is 1730840661.21 2024-11-05T21:04:21Z- AHRS_M2 msg: 1730840661.45 epoch sec; seqNo:129 2024-11-05T21:04:21Z- AHRS_M2 msg: 0.26 phi; 0.01 theta; 1.18 psi 2024-11-05T21:04:21Z- handleDepth()- Depth_Keller msg: 1730840661.48 epoch sec; seqNo:129; depth -0.07 2024-11-05T21:04:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840661.54 epoch sec; seqNo:130; 4061667.10 north; 594837.25 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:21Z- waiting for 1730840663.86, time is 1730840661.54 2024-11-05T21:04:21Z- AHRS_M2 msg: 1730840661.86 epoch sec; seqNo:130 2024-11-05T21:04:21Z- AHRS_M2 msg: 0.16 phi; -0.00 theta; 1.22 psi 2024-11-05T21:04:21Z- handleDepth()- Depth_Keller msg: 1730840661.88 epoch sec; seqNo:130; depth -0.08 2024-11-05T21:04:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840661.91 epoch sec; seqNo:131; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:22Z- waiting for 1730840663.86, time is 1730840661.91 2024-11-05T21:04:22Z- AHRS_M2 msg: 1730840662.27 epoch sec; seqNo:131 2024-11-05T21:04:22Z- AHRS_M2 msg: 0.10 phi; -0.06 theta; 1.25 psi 2024-11-05T21:04:22Z- handleDepth()- Depth_Keller msg: 1730840662.29 epoch sec; seqNo:131; depth -0.09 2024-11-05T21:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840662.34 epoch sec; seqNo:132; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:22Z- waiting for 1730840663.86, time is 1730840662.34 2024-11-05T21:04:22Z- AHRS_M2 msg: 1730840662.68 epoch sec; seqNo:132 2024-11-05T21:04:22Z- AHRS_M2 msg: 0.12 phi; -0.07 theta; 1.20 psi 2024-11-05T21:04:22Z- handleDepth()- Depth_Keller msg: 1730840662.69 epoch sec; seqNo:132; depth -0.11 2024-11-05T21:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840662.74 epoch sec; seqNo:133; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:22Z- waiting for 1730840663.86, time is 1730840662.74 2024-11-05T21:04:23Z- AHRS_M2 msg: 1730840663.09 epoch sec; seqNo:133 2024-11-05T21:04:23Z- AHRS_M2 msg: 0.25 phi; -0.03 theta; 1.16 psi 2024-11-05T21:04:23Z- handleDepth()- Depth_Keller msg: 1730840663.13 epoch sec; seqNo:133; depth -0.09 2024-11-05T21:04:23Z- handleDVL() - DVL msg epochMillisec: 1730840663.20 2024-11-05T21:04:23Z- handleDvl() - RDI_Pathfinder msg: 1730840663.20 sec; seqNo:39; #beams:4 2024-11-05T21:04:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.78 , 92.07 , 93.42 , 90.71 2024-11-05T21:04:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , -0.13 , -0.07 2024-11-05T21:04:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:23Z- waiting for 1730840663.86, time is 1730840663.20 2024-11-05T21:04:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840663.25 epoch sec; seqNo:134; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:23Z- 1 msgs in 200 ms and 2 handle calls 2024-11-05T21:04:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:23Z- waiting for 1730840663.86, time is 1730840663.25 2024-11-05T21:04:23Z- AHRS_M2 msg: 1730840663.49 epoch sec; seqNo:134 2024-11-05T21:04:23Z- AHRS_M2 msg: 0.37 phi; -0.02 theta; 1.19 psi 2024-11-05T21:04:23Z- handleDepth()- Depth_Keller msg: 1730840663.51 epoch sec; seqNo:134; depth -0.06 2024-11-05T21:04:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840663.58 epoch sec; seqNo:135; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:23Z- waiting for 1730840663.86, time is 1730840663.58 2024-11-05T21:04:23Z- AHRS_M2 msg: 1730840663.91 epoch sec; seqNo:135 2024-11-05T21:04:23Z- AHRS_M2 msg: 0.27 phi; -0.07 theta; 1.21 psi 2024-11-05T21:04:23Z- handleDepth()- Depth_Keller msg: 1730840663.94 epoch sec; seqNo:135; depth -0.08 2024-11-05T21:04:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840663.96 epoch sec; seqNo:136; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840659.86 2024-11-05T21:04:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:24Z- waiting for 1730840663.86, time is 1730840663.96 2024-11-05T21:04:24Z- LcmTrn::updateTrn() >>>> pose time 1730840663.96, meas time 1730840663.20 <<<< 2024-11-05T21:04:24Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840663.96 2024-11-05T21:04:24Z- TerrainNav::Measurement type 1 from time = 1730840663.20 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:24Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594838.47, -0.08) 2024-11-05T21:04:24Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:24Z- publishEstimatesDecoder() - at 1730840663.96 sec 2024-11-05T21:04:24Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:24Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:24Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:24Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:24Z- AHRS_M2 msg: 1730840664.31 epoch sec; seqNo:136 2024-11-05T21:04:24Z- AHRS_M2 msg: 0.24 phi; -0.07 theta; 1.21 psi 2024-11-05T21:04:24Z- handleDepth()- Depth_Keller msg: 1730840664.36 epoch sec; seqNo:136; depth -0.09 2024-11-05T21:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840664.44 epoch sec; seqNo:137; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:24Z- waiting for 1730840667.96, time is 1730840664.44 2024-11-05T21:04:24Z- AHRS_M2 msg: 1730840664.72 epoch sec; seqNo:137 2024-11-05T21:04:24Z- AHRS_M2 msg: 0.21 phi; -0.07 theta; 1.22 psi 2024-11-05T21:04:24Z- handleDepth()- Depth_Keller msg: 1730840664.74 epoch sec; seqNo:137; depth -0.09 2024-11-05T21:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840664.77 epoch sec; seqNo:138; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:24Z- waiting for 1730840667.96, time is 1730840664.77 2024-11-05T21:04:25Z- AHRS_M2 msg: 1730840665.14 epoch sec; seqNo:138 2024-11-05T21:04:25Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 1.21 psi 2024-11-05T21:04:25Z- handleDepth()- Depth_Keller msg: 1730840665.16 epoch sec; seqNo:138; depth -0.09 2024-11-05T21:04:25Z- handleDVL() - DVL msg epochMillisec: 1730840665.26 2024-11-05T21:04:25Z- handleDvl() - RDI_Pathfinder msg: 1730840665.26 sec; seqNo:40; #beams:4 2024-11-05T21:04:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 112.60 , 88.20 , 94.98 , 93.62 2024-11-05T21:04:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.06 , 0.06 2024-11-05T21:04:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:25Z- waiting for 1730840667.96, time is 1730840665.26 2024-11-05T21:04:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840665.31 epoch sec; seqNo:139; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:25Z- 1 msgs in 200 ms and 2 handle calls 2024-11-05T21:04:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:25Z- waiting for 1730840667.96, time is 1730840665.31 2024-11-05T21:04:25Z- AHRS_M2 msg: 1730840665.55 epoch sec; seqNo:139 2024-11-05T21:04:25Z- AHRS_M2 msg: 0.14 phi; 0.02 theta; 1.22 psi 2024-11-05T21:04:25Z- handleDepth()- Depth_Keller msg: 1730840665.55 epoch sec; seqNo:139; depth -0.11 2024-11-05T21:04:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840665.61 epoch sec; seqNo:140; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:25Z- waiting for 1730840667.96, time is 1730840665.61 2024-11-05T21:04:25Z- AHRS_M2 msg: 1730840665.94 epoch sec; seqNo:140 2024-11-05T21:04:25Z- AHRS_M2 msg: 0.18 phi; 0.04 theta; 1.25 psi 2024-11-05T21:04:25Z- handleDepth()- Depth_Keller msg: 1730840665.96 epoch sec; seqNo:140; depth -0.10 2024-11-05T21:04:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840665.98 epoch sec; seqNo:141; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:26Z- waiting for 1730840667.96, time is 1730840665.98 2024-11-05T21:04:26Z- handleDepth()- Depth_Keller msg: 1730840666.39 epoch sec; seqNo:141; depth -0.08 2024-11-05T21:04:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840666.41 epoch sec; seqNo:142; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:26Z- 2 msgs in 200 ms and 3 handle calls 2024-11-05T21:04:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:26Z- waiting for 1730840667.96, time is 1730840666.41 2024-11-05T21:04:26Z- AHRS_M2 msg: 1730840666.75 epoch sec; seqNo:141 2024-11-05T21:04:26Z- AHRS_M2 msg: 0.25 phi; -0.03 theta; 1.27 psi 2024-11-05T21:04:26Z- handleDepth()- Depth_Keller msg: 1730840666.76 epoch sec; seqNo:142; depth -0.06 2024-11-05T21:04:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840666.78 epoch sec; seqNo:143; 4061667.12 north; 594838.47 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:26Z- waiting for 1730840667.96, time is 1730840666.78 2024-11-05T21:04:27Z- AHRS_M2 msg: 1730840667.16 epoch sec; seqNo:142 2024-11-05T21:04:27Z- AHRS_M2 msg: 0.28 phi; 0.00 theta; 1.26 psi 2024-11-05T21:04:27Z- handleDepth()- Depth_Keller msg: 1730840667.17 epoch sec; seqNo:143; depth -0.04 2024-11-05T21:04:27Z- handleDVL() - DVL msg epochMillisec: 1730840667.21 2024-11-05T21:04:27Z- handleDvl() - RDI_Pathfinder msg: 1730840667.21 sec; seqNo:41; #beams:4 2024-11-05T21:04:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 108.19 , 89.21 , 95.99 , 87.86 2024-11-05T21:04:27Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , -0.25 , -0.62 2024-11-05T21:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840667.25 epoch sec; seqNo:144; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-05T21:04:27Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:27Z- waiting for 1730840667.96, time is 1730840667.25 2024-11-05T21:04:27Z- AHRS_M2 msg: 1730840667.56 epoch sec; seqNo:143 2024-11-05T21:04:27Z- AHRS_M2 msg: 0.30 phi; 0.02 theta; 1.27 psi 2024-11-05T21:04:27Z- handleDepth()- Depth_Keller msg: 1730840667.57 epoch sec; seqNo:144; depth -0.04 2024-11-05T21:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840667.61 epoch sec; seqNo:145; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-05T21:04:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:27Z- waiting for 1730840667.96, time is 1730840667.61 2024-11-05T21:04:27Z- AHRS_M2 msg: 1730840667.96 epoch sec; seqNo:144 2024-11-05T21:04:27Z- AHRS_M2 msg: 0.33 phi; -0.06 theta; 1.25 psi 2024-11-05T21:04:27Z- handleDepth()- Depth_Keller msg: 1730840667.97 epoch sec; seqNo:145; depth -0.02 2024-11-05T21:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840667.99 epoch sec; seqNo:146; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-05T21:04:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840663.96 2024-11-05T21:04:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:28Z- waiting for 1730840667.96, time is 1730840667.99 2024-11-05T21:04:28Z- LcmTrn::updateTrn() >>>> pose time 1730840667.99, meas time 1730840667.21 <<<< 2024-11-05T21:04:28Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840667.99 2024-11-05T21:04:28Z- TerrainNav::Measurement type 1 from time = 1730840667.21 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:28Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594838.46, -0.02) 2024-11-05T21:04:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:28Z- publishEstimatesDecoder() - at 1730840667.99 sec 2024-11-05T21:04:28Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:28Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:28Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:28Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:28Z- AHRS_M2 msg: 1730840668.37 epoch sec; seqNo:145 2024-11-05T21:04:28Z- AHRS_M2 msg: 0.35 phi; -0.06 theta; 1.18 psi 2024-11-05T21:04:28Z- handleDepth()- Depth_Keller msg: 1730840668.38 epoch sec; seqNo:146; depth -0.02 2024-11-05T21:04:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840668.40 epoch sec; seqNo:147; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-05T21:04:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:28Z- waiting for 1730840671.99, time is 1730840668.40 2024-11-05T21:04:28Z- AHRS_M2 msg: 1730840668.78 epoch sec; seqNo:146 2024-11-05T21:04:28Z- AHRS_M2 msg: 0.35 phi; 0.03 theta; 1.17 psi 2024-11-05T21:04:28Z- handleDepth()- Depth_Keller msg: 1730840668.78 epoch sec; seqNo:147; depth -0.02 2024-11-05T21:04:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840668.80 epoch sec; seqNo:148; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-05T21:04:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:28Z- waiting for 1730840671.99, time is 1730840668.80 2024-11-05T21:04:29Z- handleDepth()- Depth_Keller msg: 1730840669.20 epoch sec; seqNo:148; depth -0.04 2024-11-05T21:04:29Z- handleDVL() - DVL msg epochMillisec: 1730840669.24 2024-11-05T21:04:29Z- handleDvl() - RDI_Pathfinder msg: 1730840669.24 sec; seqNo:42; #beams:4 2024-11-05T21:04:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 124.60 , 85.29 , 96.13 , 96.13 2024-11-05T21:04:29Z- handleDvl() - RDI_Pathfinder msg: velocities -0.01 , -0.21 , 0.86 2024-11-05T21:04:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840669.29 epoch sec; seqNo:149; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-05T21:04:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:29Z- waiting for 1730840671.99, time is 1730840669.29 2024-11-05T21:04:29Z- handleDepth()- Depth_Keller msg: 1730840669.60 epoch sec; seqNo:149; depth -0.10 2024-11-05T21:04:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840669.62 epoch sec; seqNo:150; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:29Z- 2 msgs in 200 ms and 3 handle calls 2024-11-05T21:04:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:29Z- waiting for 1730840671.99, time is 1730840669.62 2024-11-05T21:04:29Z- AHRS_M2 msg: 1730840669.99 epoch sec; seqNo:147 2024-11-05T21:04:29Z- AHRS_M2 msg: 0.09 phi; -0.01 theta; 1.23 psi 2024-11-05T21:04:30Z- handleDepth()- Depth_Keller msg: 1730840670.00 epoch sec; seqNo:150; depth -0.09 2024-11-05T21:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840670.01 epoch sec; seqNo:151; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:30Z- waiting for 1730840671.99, time is 1730840670.01 2024-11-05T21:04:30Z- AHRS_M2 msg: 1730840670.39 epoch sec; seqNo:148 2024-11-05T21:04:30Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 1.25 psi 2024-11-05T21:04:30Z- handleDepth()- Depth_Keller msg: 1730840670.41 epoch sec; seqNo:151; depth -0.09 2024-11-05T21:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840670.41 epoch sec; seqNo:152; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:30Z- waiting for 1730840671.99, time is 1730840670.41 2024-11-05T21:04:30Z- AHRS_M2 msg: 1730840670.79 epoch sec; seqNo:149 2024-11-05T21:04:30Z- AHRS_M2 msg: 0.29 phi; -0.04 theta; 1.23 psi 2024-11-05T21:04:30Z- handleDepth()- Depth_Keller msg: 1730840670.80 epoch sec; seqNo:152; depth -0.08 2024-11-05T21:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840670.82 epoch sec; seqNo:153; 4061668.25 north; 594838.45 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:30Z- waiting for 1730840671.99, time is 1730840670.82 2024-11-05T21:04:31Z- AHRS_M2 msg: 1730840671.20 epoch sec; seqNo:150 2024-11-05T21:04:31Z- AHRS_M2 msg: 0.38 phi; -0.01 theta; 1.24 psi 2024-11-05T21:04:31Z- handleDepth()- Depth_Keller msg: 1730840671.21 epoch sec; seqNo:153; depth -0.06 2024-11-05T21:04:31Z- handleDVL() - DVL msg epochMillisec: 1730840671.25 2024-11-05T21:04:31Z- handleDvl() - RDI_Pathfinder msg: 1730840671.25 sec; seqNo:43; #beams:4 2024-11-05T21:04:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 94.37 , 97.08 , 95.72 , 91.66 2024-11-05T21:04:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , 0.18 , -0.37 2024-11-05T21:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840671.27 epoch sec; seqNo:154; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:31Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:31Z- waiting for 1730840671.99, time is 1730840671.27 2024-11-05T21:04:31Z- AHRS_M2 msg: 1730840671.60 epoch sec; seqNo:151 2024-11-05T21:04:31Z- AHRS_M2 msg: 0.30 phi; -0.03 theta; 1.28 psi 2024-11-05T21:04:31Z- handleDepth()- Depth_Keller msg: 1730840671.61 epoch sec; seqNo:154; depth -0.06 2024-11-05T21:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840671.63 epoch sec; seqNo:155; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:31Z- waiting for 1730840671.99, time is 1730840671.63 2024-11-05T21:04:32Z- AHRS_M2 msg: 1730840672.00 epoch sec; seqNo:152 2024-11-05T21:04:32Z- AHRS_M2 msg: 0.17 phi; -0.09 theta; 1.30 psi 2024-11-05T21:04:32Z- handleDepth()- Depth_Keller msg: 1730840672.01 epoch sec; seqNo:155; depth -0.09 2024-11-05T21:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840672.04 epoch sec; seqNo:156; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840667.99 2024-11-05T21:04:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:32Z- waiting for 1730840671.99, time is 1730840672.04 2024-11-05T21:04:32Z- LcmTrn::updateTrn() >>>> pose time 1730840672.04, meas time 1730840671.25 <<<< 2024-11-05T21:04:32Z- LcmTrn::updateTrn() measUpdate first last update time: 1730840672.04 2024-11-05T21:04:32Z- TerrainNav::Measurement type 1 from time = 1730840671.25 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-05T21:04:32Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594838.46, -0.09) 2024-11-05T21:04:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:32Z- publishEstimatesDecoder() - at 1730840672.04 sec 2024-11-05T21:04:32Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:32Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:32Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:32Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:32Z- AHRS_M2 msg: 1730840672.41 epoch sec; seqNo:153 2024-11-05T21:04:32Z- AHRS_M2 msg: 0.13 phi; -0.06 theta; 1.28 psi 2024-11-05T21:04:32Z- handleDepth()- Depth_Keller msg: 1730840672.42 epoch sec; seqNo:156; depth -0.11 2024-11-05T21:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840672.44 epoch sec; seqNo:157; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:32Z- waiting for 1730840676.04, time is 1730840672.44 2024-11-05T21:04:32Z- AHRS_M2 msg: 1730840672.82 epoch sec; seqNo:154 2024-11-05T21:04:32Z- AHRS_M2 msg: 0.18 phi; -0.03 theta; 1.28 psi 2024-11-05T21:04:32Z- handleDepth()- Depth_Keller msg: 1730840672.85 epoch sec; seqNo:157; depth -0.09 2024-11-05T21:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840672.90 epoch sec; seqNo:158; 4061667.49 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:33Z- waiting for 1730840676.04, time is 1730840672.90 2024-11-05T21:04:33Z- AHRS_M2 msg: 1730840673.22 epoch sec; seqNo:155 2024-11-05T21:04:33Z- AHRS_M2 msg: 0.26 phi; -0.09 theta; 1.29 psi 2024-11-05T21:04:33Z- handleDepth()- Depth_Keller msg: 1730840673.23 epoch sec; seqNo:158; depth -0.08 2024-11-05T21:04:33Z- handleDVL() - DVL msg epochMillisec: 1730840673.28 2024-11-05T21:04:33Z- handleDvl() - RDI_Pathfinder msg: 1730840673.28 sec; seqNo:44; #beams:4 2024-11-05T21:04:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 96.20 , 89.42 , 92.13 , 97.55 2024-11-05T21:04:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.17 , -0.03 , -0.06 2024-11-05T21:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840673.31 epoch sec; seqNo:159; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:33Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:33Z- waiting for 1730840676.04, time is 1730840673.31 2024-11-05T21:04:33Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-05T21:04:33Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-05T21:04:33Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-05T21:04:33Z- AHRS_M2 msg: 1730840673.61 epoch sec; seqNo:156 2024-11-05T21:04:33Z- AHRS_M2 msg: 0.26 phi; -0.09 theta; 1.29 psi 2024-11-05T21:04:33Z- handleDepth()- Depth_Keller msg: 1730840673.64 epoch sec; seqNo:159; depth -0.09 2024-11-05T21:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840673.66 epoch sec; seqNo:160; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:33Z- waiting for 1730840676.04, time is 1730840673.66 2024-11-05T21:04:34Z- AHRS_M2 msg: 1730840674.03 epoch sec; seqNo:157 2024-11-05T21:04:34Z- AHRS_M2 msg: 0.36 phi; 0.02 theta; 1.28 psi 2024-11-05T21:04:34Z- handleDepth()- Depth_Keller msg: 1730840674.04 epoch sec; seqNo:160; depth -0.08 2024-11-05T21:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840674.05 epoch sec; seqNo:161; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:34Z- waiting for 1730840676.04, time is 1730840674.05 2024-11-05T21:04:34Z- AHRS_M2 msg: 1730840674.43 epoch sec; seqNo:158 2024-11-05T21:04:34Z- AHRS_M2 msg: 0.32 phi; 0.04 theta; 1.31 psi 2024-11-05T21:04:34Z- handleDepth()- Depth_Keller msg: 1730840674.44 epoch sec; seqNo:161; depth -0.09 2024-11-05T21:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840674.46 epoch sec; seqNo:162; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:34Z- waiting for 1730840676.04, time is 1730840674.46 2024-11-05T21:04:34Z- AHRS_M2 msg: 1730840674.89 epoch sec; seqNo:159 2024-11-05T21:04:34Z- AHRS_M2 msg: 0.27 phi; -0.03 theta; 1.32 psi 2024-11-05T21:04:34Z- handleDepth()- Depth_Keller msg: 1730840674.90 epoch sec; seqNo:162; depth -0.07 2024-11-05T21:04:34Z- handleDVL() - DVL msg epochMillisec: 1730840674.96 2024-11-05T21:04:34Z- handleDvl() - RDI_Pathfinder msg: 1730840674.96 sec; seqNo:45; #beams:4 2024-11-05T21:04:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 123.38 , 88.13 , 104.40 , 90.85 2024-11-05T21:04:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , 0.01 , -0.02 2024-11-05T21:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840674.99 epoch sec; seqNo:163; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:35Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:35Z- waiting for 1730840676.04, time is 1730840674.99 2024-11-05T21:04:35Z- AHRS_M2 msg: 1730840675.24 epoch sec; seqNo:160 2024-11-05T21:04:35Z- AHRS_M2 msg: 0.21 phi; -0.01 theta; 1.33 psi 2024-11-05T21:04:35Z- handleDepth()- Depth_Keller msg: 1730840675.25 epoch sec; seqNo:163; depth -0.09 2024-11-05T21:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840675.29 epoch sec; seqNo:164; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:35Z- waiting for 1730840676.04, time is 1730840675.29 2024-11-05T21:04:35Z- handleDepth()- Depth_Keller msg: 1730840675.66 epoch sec; seqNo:164; depth -0.08 2024-11-05T21:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840675.69 epoch sec; seqNo:165; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-05T21:04:35Z- 2 msgs in 200 ms and 3 handle calls 2024-11-05T21:04:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:35Z- waiting for 1730840676.04, time is 1730840675.69 2024-11-05T21:04:36Z- AHRS_M2 msg: 1730840676.05 epoch sec; seqNo:161 2024-11-05T21:04:36Z- AHRS_M2 msg: 0.20 phi; 0.01 theta; 1.38 psi 2024-11-05T21:04:36Z- handleDepth()- Depth_Keller msg: 1730840676.06 epoch sec; seqNo:165; depth -0.06 2024-11-05T21:04:36Z- handleDVL() - DVL msg epochMillisec: 1730840676.06 2024-11-05T21:04:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:04:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:04:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:04:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:04:36Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:04:36Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:04:36Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:04:36Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:04:36Z- handleDvl() - RDI_Pathfinder msg: 1730840676.06 sec; seqNo:46; #beams:0 2024-11-05T21:04:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:04:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.29 , 0.01 , -0.02 2024-11-05T21:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840676.08 epoch sec; seqNo:166; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-05T21:04:36Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840672.04 2024-11-05T21:04:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:36Z- waiting for 1730840676.04, time is 1730840676.08 2024-11-05T21:04:36Z- LcmTrn::updateTrn() >>>> pose time 1730840676.08, meas time 1730840676.06 <<<< 2024-11-05T21:04:36Z- LcmTrn::updateTrn() equating pose 1730840676.06 and meas times 1730840676.06 2024-11-05T21:04:36Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730840676.06 2024-11-05T21:04:36Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594839.68, -0.06) 2024-11-05T21:04:36Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-05T21:04:36Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-05T21:04:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-05T21:04:36Z- publishEstimatesDecoder() - at 1730840676.06 sec 2024-11-05T21:04:36Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-05T21:04:36Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-05T21:04:36Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-05T21:04:36Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-05T21:04:36Z- AHRS_M2 msg: 1730840676.45 epoch sec; seqNo:162 2024-11-05T21:04:36Z- AHRS_M2 msg: 0.24 phi; -0.06 theta; 1.41 psi 2024-11-05T21:04:36Z- handleDepth()- Depth_Keller msg: 1730840676.46 epoch sec; seqNo:166; depth -0.09 2024-11-05T21:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840676.52 epoch sec; seqNo:167; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-05T21:04:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:36Z- waiting for 1730840680.06, time is 1730840676.52 2024-11-05T21:04:36Z- AHRS_M2 msg: 1730840676.89 epoch sec; seqNo:163 2024-11-05T21:04:36Z- AHRS_M2 msg: 0.30 phi; -0.12 theta; 1.39 psi 2024-11-05T21:04:36Z- handleDepth()- Depth_Keller msg: 1730840676.90 epoch sec; seqNo:167; depth -0.07 2024-11-05T21:04:36Z- handleDVL() - DVL msg epochMillisec: 1730840676.92 2024-11-05T21:04:36Z- handleDvl() - RDI_Pathfinder msg: 1730840676.92 sec; seqNo:47; #beams:4 2024-11-05T21:04:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 108.46 , 87.59 , 96.53 , 90.57 2024-11-05T21:04:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.16 , -0.02 2024-11-05T21:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840676.94 epoch sec; seqNo:168; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:37Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:37Z- waiting for 1730840680.06, time is 1730840676.94 2024-11-05T21:04:37Z- AHRS_M2 msg: 1730840677.26 epoch sec; seqNo:164 2024-11-05T21:04:37Z- AHRS_M2 msg: 0.32 phi; -0.13 theta; 1.38 psi 2024-11-05T21:04:37Z- handleDepth()- Depth_Keller msg: 1730840677.27 epoch sec; seqNo:168; depth -0.10 2024-11-05T21:04:37Z- handleDVL() - DVL msg epochMillisec: 1730840677.28 2024-11-05T21:04:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:04:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:04:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-05T21:04:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-05T21:04:37Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-05T21:04:37Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-05T21:04:37Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-05T21:04:37Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-05T21:04:37Z- handleDvl() - RDI_Pathfinder msg: 1730840677.28 sec; seqNo:48; #beams:0 2024-11-05T21:04:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-05T21:04:37Z- handleDvl() - RDI_Pathfinder msg: velocities -0.28 , -0.16 , -0.02 2024-11-05T21:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840677.30 epoch sec; seqNo:169; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:37Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:37Z- waiting for 1730840680.06, time is 1730840677.30 2024-11-05T21:04:37Z- AHRS_M2 msg: 1730840677.66 epoch sec; seqNo:165 2024-11-05T21:04:37Z- AHRS_M2 msg: 0.32 phi; -0.13 theta; 1.37 psi 2024-11-05T21:04:37Z- handleDepth()- Depth_Keller msg: 1730840677.67 epoch sec; seqNo:169; depth -0.10 2024-11-05T21:04:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840677.69 epoch sec; seqNo:170; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:37Z- waiting for 1730840680.06, time is 1730840677.69 2024-11-05T21:04:38Z- AHRS_M2 msg: 1730840678.06 epoch sec; seqNo:166 2024-11-05T21:04:38Z- AHRS_M2 msg: 0.32 phi; -0.11 theta; 1.38 psi 2024-11-05T21:04:38Z- handleDepth()- Depth_Keller msg: 1730840678.07 epoch sec; seqNo:170; depth -0.10 2024-11-05T21:04:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840678.08 epoch sec; seqNo:171; 4061667.89 north; 594839.68 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:38Z- waiting for 1730840680.06, time is 1730840678.08 2024-11-05T21:04:38Z- AHRS_M2 msg: 1730840678.47 epoch sec; seqNo:167 2024-11-05T21:04:38Z- AHRS_M2 msg: 0.29 phi; -0.08 theta; 1.40 psi 2024-11-05T21:04:38Z- handleDepth()- Depth_Keller msg: 1730840678.48 epoch sec; seqNo:171; depth -0.10 2024-11-05T21:04:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840678.49 epoch sec; seqNo:172; 4061667.87 north; 594838.46 east; 36.70 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-05T21:04:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:38Z- waiting for 1730840680.06, time is 1730840678.49 2024-11-05T21:04:38Z- AHRS_M2 msg: 1730840678.89 epoch sec; seqNo:168 2024-11-05T21:04:38Z- AHRS_M2 msg: 0.24 phi; -0.04 theta; 1.38 psi 2024-11-05T21:04:38Z- handleDepth()- Depth_Keller msg: 1730840678.90 epoch sec; seqNo:172; depth -0.07 2024-11-05T21:04:38Z- handleDVL() - DVL msg epochMillisec: 1730840678.92 2024-11-05T21:04:38Z- handleDvl() - RDI_Pathfinder msg: 1730840678.92 sec; seqNo:49; #beams:4 2024-11-05T21:04:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 119.17 , 86.64 , 96.13 , 98.84 2024-11-05T21:04:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.15 , 0.54 2024-11-05T21:04:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840678.93 epoch sec; seqNo:173; 4061668.27 north; 594839.67 east; 36.70 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-05T21:04:39Z- 4 msgs in 200 ms and 5 handle calls 2024-11-05T21:04:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:39Z- waiting for 1730840680.06, time is 1730840678.93 2024-11-05T21:04:39Z- AHRS_M2 msg: 1730840679.28 epoch sec; seqNo:169 2024-11-05T21:04:39Z- AHRS_M2 msg: 0.19 phi; -0.01 theta; 1.39 psi 2024-11-05T21:04:39Z- handleDepth()- Depth_Keller msg: 1730840679.28 epoch sec; seqNo:173; depth -0.11 2024-11-05T21:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730840679.30 epoch sec; seqNo:174; 4061668.27 north; 594839.67 east; 36.70 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-05T21:04:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-05T21:04:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730840676.06 2024-11-05T21:04:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-05T21:04:39Z- waiting for 1730840680.06, time is 1730840679.30