2024-11-06T00:03:54Z* 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 2024-11-06T00:03:54Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-06T00:03:54Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2024-11-06T00:03:54Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2024-11-06T00:03:54Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2024-11-06T00:03:54Z* depth config: Depth_Keller, depth, sea_water_pressure 2024-11-06T00:03:54Z* LCM timeout=0.20 sec 2024-11-06T00:03:54Z* TRN settings: 2024-11-06T00:03:54Z* period=4.00 sec 2024-11-06T00:03:54Z* coherence=0.90 sec 2024-11-06T00:03:54Z* map = PortTiles cfg = LRAUV_specs.cfg part= particles.cfg logdir= lrauv 2024-11-06T00:03:54Z* maptype = 2 filtertype = 2 weighting = 4 2024-11-06T00:03:54Z* lowgrade_filter = 0 allow reinit = 1 2024-11-06T00:03:54Z* cmd_estimate = estimate cmd_reinit = reinit 2024-11-06T00:03:54Z* LcmTrn::initTrn() version v1.0.3b0-518-g924cc45 - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-06T00:03:54Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-06T00:03:54Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-06T00:03:54Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-06T00:03:54Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2024-11-06T00:03:54Z* TerrainMapOctree::numTiles_ = 9. 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2024-11-06T00:03:54Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2024-11-06T00:03:54Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.496798 seconds. 2024-11-06T00:03:54Z* session directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.11/ 2024-11-06T00:03:54Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.11/ 2024-11-06T00:03:54Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to lrauv-TRN.11 OK 2024-11-06T00:03:54Z* parseSensorSpecs parsing sensor of type 1. 2024-11-06T00:03:54Z* Sensor 0 is of type 1. 2024-11-06T00:03:54Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55a9adada0] 2024-11-06T00:03:54Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-06T00:03:54Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-06T00:03:54Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-06T00:03:54Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.11/ 2024-11-06T00:03:54Z- createFilter: Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-06T00:03:54Z- parseSensorSpecs parsing sensor of type 1. 2024-11-06T00:03:54Z- Sensor 0 is of type 1. 2024-11-06T00:03:54Z- Random noise generator initialized with 1730851434 2024-11-06T00:03:54Z- Vehicle name: LRAUV Number of sensors: 1 2024-11-06T00:03:54Z- Sensor #1: 2024-11-06T00:03:54Z- Sensor name: rdiDVL 2024-11-06T00:03:54Z- Sensor type: 1 2024-11-06T00:03:54Z- Number of beams per measurement: 4 2024-11-06T00:03:54Z- Sensor #1 to vehicle transformation information: 2024-11-06T00:03:54Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2024-11-06T00:03:54Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2024-11-06T00:03:54Z- 2024-11-06T00:03:54Z- setDistribToSave(0) 2024-11-06T00:03:54Z- setDistribToSave set to 0 2024-11-06T00:03:54Z- TerrainNav::TNavFilter initialized with type 2 2024-11-06T00:03:54Z- TerrainNav::initVariables finished. 2024-11-06T00:03:54Z- TerrainNav::Constructor finished. 2024-11-06T00:03:54Z- TerrainNav::modified weighting set to 4 2024-11-06T00:03:54Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-06T00:03:54Z- LcmTrn::run() v1.0.3b0-518-g924cc45 using bursty timeouts of 50 and 150 msec 2024-11-06T00:03:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851434.93 epoch sec; seqNo:5; 4061397.03 north; 594364.23 east; 36.69 lat; -121.94 lon; 0.00 depth; utmZone: 10 2024-11-06T00:03:55Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T00:03:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:55Z- Waiting for fresh data: AHRS(-1.00), Dvl(-1.00), Nav(1730851434.93), Depth(-1.00) 2024-11-06T00:03:55Z- AHRS_M2 msg: 1730851435.32 epoch sec; seqNo:5 2024-11-06T00:03:55Z- AHRS_M2 msg: 0.31 phi; -0.03 theta; 5.89 psi 2024-11-06T00:03:55Z- handleDepth()- Depth_Keller msg: 1730851435.32 epoch sec; seqNo:6; depth 0.01 2024-11-06T00:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851435.33 epoch sec; seqNo:6; 4061397.04 north; 594365.45 east; 36.69 lat; -121.94 lon; 0.01 depth; utmZone: 10 2024-11-06T00:03:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:55Z- Waiting for fresh data: AHRS(1730851435.32), Dvl(-1.00), Nav(1730851435.33), Depth(1730851435.32) 2024-11-06T00:03:55Z- AHRS_M2 msg: 1730851435.72 epoch sec; seqNo:6 2024-11-06T00:03:55Z- AHRS_M2 msg: 0.29 phi; 0.03 theta; 5.88 psi 2024-11-06T00:03:55Z- handleDepth()- Depth_Keller msg: 1730851435.73 epoch sec; seqNo:7; depth -0.02 2024-11-06T00:03:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851435.74 epoch sec; seqNo:7; 4061397.04 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-06T00:03:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:55Z- Waiting for fresh data: AHRS(1730851435.72), Dvl(-1.00), Nav(1730851435.74), Depth(1730851435.73) 2024-11-06T00:03:56Z- AHRS_M2 msg: 1730851436.12 epoch sec; seqNo:7 2024-11-06T00:03:56Z- AHRS_M2 msg: 0.25 phi; 0.08 theta; 5.87 psi 2024-11-06T00:03:56Z- handleDepth()- Depth_Keller msg: 1730851436.27 epoch sec; seqNo:8; depth -0.03 2024-11-06T00:03:56Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:03:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:56Z- Waiting for fresh data: AHRS(1730851436.12), Dvl(-1.00), Nav(1730851435.74), Depth(1730851436.27) 2024-11-06T00:03:56Z- handleDVL() - DVL msg epochMillisec: 1730851436.29 2024-11-06T00:03:56Z- handleDvl() - RDI_Pathfinder msg: 1730851436.29 sec; seqNo:2; #beams:4 2024-11-06T00:03:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 121.54 , 85.01 , 95.83 , 103.95 2024-11-06T00:03:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.23 , 0.03 , -0.10 2024-11-06T00:03:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851436.32 epoch sec; seqNo:8; 4061397.04 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:03:56Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:03:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:56Z- waiting for 1730851438.93, time is 1730851436.32 2024-11-06T00:03:56Z- AHRS_M2 msg: 1730851436.53 epoch sec; seqNo:8 2024-11-06T00:03:56Z- AHRS_M2 msg: 0.21 phi; 0.05 theta; 5.89 psi 2024-11-06T00:03:56Z- handleDepth()- Depth_Keller msg: 1730851436.55 epoch sec; seqNo:9; depth -0.08 2024-11-06T00:03:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851436.59 epoch sec; seqNo:9; 4061397.04 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:03:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:56Z- waiting for 1730851438.93, time is 1730851436.59 2024-11-06T00:03:56Z- AHRS_M2 msg: 1730851436.94 epoch sec; seqNo:9 2024-11-06T00:03:56Z- AHRS_M2 msg: 0.22 phi; -0.03 theta; 5.89 psi 2024-11-06T00:03:56Z- handleDepth()- Depth_Keller msg: 1730851436.97 epoch sec; seqNo:10; depth -0.08 2024-11-06T00:03:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851436.99 epoch sec; seqNo:10; 4061397.04 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:03:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:57Z- waiting for 1730851438.93, time is 1730851436.99 2024-11-06T00:03:57Z- AHRS_M2 msg: 1730851437.34 epoch sec; seqNo:10 2024-11-06T00:03:57Z- AHRS_M2 msg: 0.28 phi; -0.09 theta; 5.88 psi 2024-11-06T00:03:57Z- handleDepth()- Depth_Keller msg: 1730851437.37 epoch sec; seqNo:11; depth -0.07 2024-11-06T00:03:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851437.38 epoch sec; seqNo:11; 4061397.04 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:03:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:57Z- waiting for 1730851438.93, time is 1730851437.38 2024-11-06T00:03:57Z- AHRS_M2 msg: 1730851437.74 epoch sec; seqNo:11 2024-11-06T00:03:57Z- AHRS_M2 msg: 0.32 phi; -0.12 theta; 5.87 psi 2024-11-06T00:03:57Z- handleDepth()- Depth_Keller msg: 1730851437.75 epoch sec; seqNo:12; depth -0.09 2024-11-06T00:03:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851437.76 epoch sec; seqNo:12; 4061396.67 north; 594365.46 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:03:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:57Z- waiting for 1730851438.93, time is 1730851437.76 2024-11-06T00:03:58Z- AHRS_M2 msg: 1730851438.15 epoch sec; seqNo:12 2024-11-06T00:03:58Z- AHRS_M2 msg: 0.28 phi; -0.10 theta; 5.82 psi 2024-11-06T00:03:58Z- handleDepth()- Depth_Keller msg: 1730851438.15 epoch sec; seqNo:13; depth -0.05 2024-11-06T00:03:58Z- handleDVL() - DVL msg epochMillisec: 1730851438.17 2024-11-06T00:03:58Z- handleDvl() - RDI_Pathfinder msg: 1730851438.17 sec; seqNo:3; #beams:4 2024-11-06T00:03:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 114.37 , 84.60 , 98.00 , 99.49 2024-11-06T00:03:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.55 , 0.37 , -0.39 2024-11-06T00:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851438.20 epoch sec; seqNo:13; 4061396.67 north; 594365.46 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:03:58Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:03:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:58Z- waiting for 1730851438.93, time is 1730851438.20 2024-11-06T00:03:58Z- AHRS_M2 msg: 1730851438.56 epoch sec; seqNo:13 2024-11-06T00:03:58Z- AHRS_M2 msg: 0.18 phi; -0.07 theta; 5.81 psi 2024-11-06T00:03:58Z- handleDepth()- Depth_Keller msg: 1730851438.56 epoch sec; seqNo:14; depth -0.05 2024-11-06T00:03:58Z- handleDVL() - DVL msg epochMillisec: 1730851438.56 2024-11-06T00:03:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:03:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:03:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:03:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:03:58Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:03:58Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:03:58Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:03:58Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:03:58Z- handleDvl() - RDI_Pathfinder msg: 1730851438.56 sec; seqNo:4; #beams:0 2024-11-06T00:03:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:03:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.55 , 0.37 , -0.39 2024-11-06T00:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851438.58 epoch sec; seqNo:14; 4061396.67 north; 594365.46 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:03:58Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:03:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:58Z- waiting for 1730851438.93, time is 1730851438.58 2024-11-06T00:03:58Z- AHRS_M2 msg: 1730851438.96 epoch sec; seqNo:14 2024-11-06T00:03:58Z- AHRS_M2 msg: 0.19 phi; -0.07 theta; 5.84 psi 2024-11-06T00:03:58Z- handleDepth()- Depth_Keller msg: 1730851438.97 epoch sec; seqNo:15; depth -0.07 2024-11-06T00:03:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851438.98 epoch sec; seqNo:15; 4061396.67 north; 594365.46 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:03:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851434.93 2024-11-06T00:03:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:59Z- waiting for 1730851438.93, time is 1730851438.98 2024-11-06T00:03:59Z- LcmTrn::updateTrn() >>>> pose time 1730851438.98, meas time 1730851438.56 <<<< 2024-11-06T00:03:59Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851438.98 2024-11-06T00:03:59Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T00:03:59Z- TerrainNav::motionUpdate() - currEstimate = (4061397, 594365.46, -0.07) 2024-11-06T00:03:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:03:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:03:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:03:59Z- publishEstimatesDecoder() - at 1730851438.98 sec 2024-11-06T00:03:59Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:03:59Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:03:59Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:03:59Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:03:59Z- AHRS_M2 msg: 1730851439.36 epoch sec; seqNo:15 2024-11-06T00:03:59Z- AHRS_M2 msg: 0.29 phi; -0.04 theta; 5.87 psi 2024-11-06T00:03:59Z- handleDepth()- Depth_Keller msg: 1730851439.37 epoch sec; seqNo:16; depth -0.05 2024-11-06T00:03:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851439.39 epoch sec; seqNo:16; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:03:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:03:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:03:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:59Z- waiting for 1730851442.98, time is 1730851439.39 2024-11-06T00:03:59Z- AHRS_M2 msg: 1730851439.76 epoch sec; seqNo:16 2024-11-06T00:03:59Z- AHRS_M2 msg: 0.39 phi; 0.03 theta; 5.85 psi 2024-11-06T00:03:59Z- handleDepth()- Depth_Keller msg: 1730851439.77 epoch sec; seqNo:17; depth -0.03 2024-11-06T00:03:59Z- handleDVL() - DVL msg epochMillisec: 1730851439.77 2024-11-06T00:03:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:03:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:03:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:03:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:03:59Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:03:59Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:03:59Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:03:59Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:03:59Z- handleDvl() - RDI_Pathfinder msg: 1730851439.77 sec; seqNo:5; #beams:0 2024-11-06T00:03:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:03:59Z- handleDvl() - RDI_Pathfinder msg: velocities -0.55 , 0.37 , -0.39 2024-11-06T00:03:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851439.78 epoch sec; seqNo:17; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:03:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:03:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:03:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:03:59Z- waiting for 1730851442.98, time is 1730851439.78 2024-11-06T00:04:00Z- AHRS_M2 msg: 1730851440.17 epoch sec; seqNo:17 2024-11-06T00:04:00Z- AHRS_M2 msg: 0.34 phi; 0.06 theta; 5.84 psi 2024-11-06T00:04:00Z- handleDepth()- Depth_Keller msg: 1730851440.18 epoch sec; seqNo:18; depth -0.03 2024-11-06T00:04:00Z- handleDVL() - DVL msg epochMillisec: 1730851440.21 2024-11-06T00:04:00Z- handleDvl() - RDI_Pathfinder msg: 1730851440.21 sec; seqNo:6; #beams:4 2024-11-06T00:04:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 113.36 , 86.29 , 94.41 , 99.82 2024-11-06T00:04:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , -0.07 , -0.01 2024-11-06T00:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851440.22 epoch sec; seqNo:18; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:00Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:00Z- waiting for 1730851442.98, time is 1730851440.22 2024-11-06T00:04:00Z- AHRS_M2 msg: 1730851440.57 epoch sec; seqNo:18 2024-11-06T00:04:00Z- AHRS_M2 msg: 0.23 phi; -0.01 theta; 5.86 psi 2024-11-06T00:04:00Z- handleDepth()- Depth_Keller msg: 1730851440.58 epoch sec; seqNo:19; depth -0.08 2024-11-06T00:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851440.60 epoch sec; seqNo:19; 4061396.68 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:00Z- waiting for 1730851442.98, time is 1730851440.60 2024-11-06T00:04:00Z- AHRS_M2 msg: 1730851440.97 epoch sec; seqNo:19 2024-11-06T00:04:00Z- AHRS_M2 msg: 0.17 phi; -0.12 theta; 5.85 psi 2024-11-06T00:04:00Z- handleDepth()- Depth_Keller msg: 1730851440.98 epoch sec; seqNo:20; depth -0.10 2024-11-06T00:04:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851440.99 epoch sec; seqNo:20; 4061396.68 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:01Z- waiting for 1730851442.98, time is 1730851440.99 2024-11-06T00:04:01Z- AHRS_M2 msg: 1730851441.38 epoch sec; seqNo:20 2024-11-06T00:04:01Z- AHRS_M2 msg: 0.19 phi; -0.13 theta; 5.82 psi 2024-11-06T00:04:01Z- handleDepth()- Depth_Keller msg: 1730851441.38 epoch sec; seqNo:21; depth -0.10 2024-11-06T00:04:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851441.40 epoch sec; seqNo:21; 4061397.06 north; 594366.67 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:01Z- waiting for 1730851442.98, time is 1730851441.40 2024-11-06T00:04:01Z- AHRS_M2 msg: 1730851441.78 epoch sec; seqNo:21 2024-11-06T00:04:01Z- AHRS_M2 msg: 0.25 phi; -0.05 theta; 5.82 psi 2024-11-06T00:04:01Z- handleDepth()- Depth_Keller msg: 1730851441.79 epoch sec; seqNo:22; depth -0.08 2024-11-06T00:04:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851441.80 epoch sec; seqNo:22; 4061397.04 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:01Z- waiting for 1730851442.98, time is 1730851441.80 2024-11-06T00:04:02Z- AHRS_M2 msg: 1730851442.19 epoch sec; seqNo:22 2024-11-06T00:04:02Z- AHRS_M2 msg: 0.29 phi; 0.02 theta; 5.83 psi 2024-11-06T00:04:02Z- handleDepth()- Depth_Keller msg: 1730851442.19 epoch sec; seqNo:23; depth -0.04 2024-11-06T00:04:02Z- handleDVL() - DVL msg epochMillisec: 1730851442.22 2024-11-06T00:04:02Z- handleDvl() - RDI_Pathfinder msg: 1730851442.22 sec; seqNo:7; #beams:4 2024-11-06T00:04:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 108.01 , 89.07 , 90.42 , 105.31 2024-11-06T00:04:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.19 , -0.43 2024-11-06T00:04:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851442.26 epoch sec; seqNo:23; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:02Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:02Z- waiting for 1730851442.98, time is 1730851442.26 2024-11-06T00:04:02Z- AHRS_M2 msg: 1730851442.60 epoch sec; seqNo:23 2024-11-06T00:04:02Z- AHRS_M2 msg: 0.23 phi; 0.10 theta; 5.79 psi 2024-11-06T00:04:02Z- handleDepth()- Depth_Keller msg: 1730851442.61 epoch sec; seqNo:24; depth -0.01 2024-11-06T00:04:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851442.64 epoch sec; seqNo:24; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:02Z- waiting for 1730851442.98, time is 1730851442.64 2024-11-06T00:04:02Z- AHRS_M2 msg: 1730851442.99 epoch sec; seqNo:24 2024-11-06T00:04:02Z- AHRS_M2 msg: 0.18 phi; 0.12 theta; 5.77 psi 2024-11-06T00:04:03Z- handleDepth()- Depth_Keller msg: 1730851443.00 epoch sec; seqNo:25; depth -0.01 2024-11-06T00:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851443.02 epoch sec; seqNo:25; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851438.98 2024-11-06T00:04:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:03Z- waiting for 1730851442.98, time is 1730851443.02 2024-11-06T00:04:03Z- LcmTrn::updateTrn() >>>> pose time 1730851443.02, meas time 1730851442.22 <<<< 2024-11-06T00:04:03Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851443.02 2024-11-06T00:04:03Z- TerrainNav::Measurement type 1 from time = 1730851442.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:03Z- TerrainNav::motionUpdate() - currEstimate = (4061397, 594366.67, -0.01) 2024-11-06T00:04:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:03Z- publishEstimatesDecoder() - at 1730851443.02 sec 2024-11-06T00:04:03Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:03Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:03Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:03Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:03Z- AHRS_M2 msg: 1730851443.40 epoch sec; seqNo:25 2024-11-06T00:04:03Z- AHRS_M2 msg: 0.23 phi; 0.10 theta; 5.81 psi 2024-11-06T00:04:03Z- handleDepth()- Depth_Keller msg: 1730851443.41 epoch sec; seqNo:26; depth 0.01 2024-11-06T00:04:03Z- handleDVL() - DVL msg epochMillisec: 1730851443.42 2024-11-06T00:04:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:03Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:03Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:03Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:03Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:03Z- handleDvl() - RDI_Pathfinder msg: 1730851443.42 sec; seqNo:8; #beams:0 2024-11-06T00:04:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.19 , -0.43 2024-11-06T00:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851443.44 epoch sec; seqNo:26; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; 0.01 depth; utmZone: 10 2024-11-06T00:04:03Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:03Z- waiting for 1730851447.02, time is 1730851443.44 2024-11-06T00:04:03Z- AHRS_M2 msg: 1730851443.80 epoch sec; seqNo:26 2024-11-06T00:04:03Z- AHRS_M2 msg: 0.34 phi; 0.07 theta; 5.85 psi 2024-11-06T00:04:03Z- handleDepth()- Depth_Keller msg: 1730851443.81 epoch sec; seqNo:27; depth 0.03 2024-11-06T00:04:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851443.83 epoch sec; seqNo:27; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; 0.03 depth; utmZone: 10 2024-11-06T00:04:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:03Z- waiting for 1730851447.02, time is 1730851443.83 2024-11-06T00:04:04Z- AHRS_M2 msg: 1730851444.21 epoch sec; seqNo:27 2024-11-06T00:04:04Z- AHRS_M2 msg: 0.38 phi; 0.03 theta; 5.84 psi 2024-11-06T00:04:04Z- handleDepth()- Depth_Keller msg: 1730851444.22 epoch sec; seqNo:28; depth 0.04 2024-11-06T00:04:04Z- handleDVL() - DVL msg epochMillisec: 1730851444.24 2024-11-06T00:04:04Z- handleDvl() - RDI_Pathfinder msg: 1730851444.24 sec; seqNo:9; #beams:4 2024-11-06T00:04:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 112.07 , 86.36 , 102.60 , 90.42 2024-11-06T00:04:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.00 , -0.11 , 0.85 2024-11-06T00:04:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851444.25 epoch sec; seqNo:28; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; 0.04 depth; utmZone: 10 2024-11-06T00:04:04Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:04Z- waiting for 1730851447.02, time is 1730851444.25 2024-11-06T00:04:04Z- AHRS_M2 msg: 1730851444.61 epoch sec; seqNo:28 2024-11-06T00:04:04Z- AHRS_M2 msg: 0.30 phi; 0.05 theta; 5.80 psi 2024-11-06T00:04:04Z- handleDepth()- Depth_Keller msg: 1730851444.62 epoch sec; seqNo:29; depth 0.04 2024-11-06T00:04:04Z- handleDVL() - DVL msg epochMillisec: 1730851444.62 2024-11-06T00:04:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:04Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:04Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:04Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:04Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:04Z- handleDvl() - RDI_Pathfinder msg: 1730851444.62 sec; seqNo:10; #beams:0 2024-11-06T00:04:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.00 , -0.11 , 0.85 2024-11-06T00:04:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851444.66 epoch sec; seqNo:29; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; 0.04 depth; utmZone: 10 2024-11-06T00:04:04Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:04Z- waiting for 1730851447.02, time is 1730851444.66 2024-11-06T00:04:05Z- AHRS_M2 msg: 1730851445.01 epoch sec; seqNo:29 2024-11-06T00:04:05Z- AHRS_M2 msg: 0.14 phi; 0.05 theta; 5.79 psi 2024-11-06T00:04:05Z- handleDepth()- Depth_Keller msg: 1730851445.02 epoch sec; seqNo:30; depth -0.01 2024-11-06T00:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851445.03 epoch sec; seqNo:30; 4061397.44 north; 594366.67 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:05Z- waiting for 1730851447.02, time is 1730851445.03 2024-11-06T00:04:05Z- AHRS_M2 msg: 1730851445.42 epoch sec; seqNo:30 2024-11-06T00:04:05Z- AHRS_M2 msg: 0.07 phi; -0.00 theta; 5.76 psi 2024-11-06T00:04:05Z- handleDepth()- Depth_Keller msg: 1730851445.42 epoch sec; seqNo:31; depth -0.04 2024-11-06T00:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851445.43 epoch sec; seqNo:31; 4061397.42 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:05Z- waiting for 1730851447.02, time is 1730851445.43 2024-11-06T00:04:05Z- AHRS_M2 msg: 1730851445.82 epoch sec; seqNo:31 2024-11-06T00:04:05Z- AHRS_M2 msg: 0.11 phi; -0.04 theta; 5.75 psi 2024-11-06T00:04:05Z- handleDepth()- Depth_Keller msg: 1730851445.83 epoch sec; seqNo:32; depth -0.04 2024-11-06T00:04:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851445.84 epoch sec; seqNo:32; 4061397.42 north; 594365.45 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:05Z- waiting for 1730851447.02, time is 1730851445.84 2024-11-06T00:04:06Z- AHRS_M2 msg: 1730851446.23 epoch sec; seqNo:32 2024-11-06T00:04:06Z- AHRS_M2 msg: 0.21 phi; -0.03 theta; 5.78 psi 2024-11-06T00:04:06Z- handleDepth()- Depth_Keller msg: 1730851446.24 epoch sec; seqNo:33; depth -0.05 2024-11-06T00:04:06Z- handleDVL() - DVL msg epochMillisec: 1730851446.27 2024-11-06T00:04:06Z- handleDvl() - RDI_Pathfinder msg: 1730851446.27 sec; seqNo:11; #beams:4 2024-11-06T00:04:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 101.31 , 91.84 , 95.90 , 91.84 2024-11-06T00:04:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.53 , 0.07 , -0.17 2024-11-06T00:04:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851446.28 epoch sec; seqNo:33; 4061397.06 north; 594366.67 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:06Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:06Z- waiting for 1730851447.02, time is 1730851446.28 2024-11-06T00:04:06Z- AHRS_M2 msg: 1730851446.63 epoch sec; seqNo:33 2024-11-06T00:04:06Z- AHRS_M2 msg: 0.33 phi; -0.00 theta; 5.81 psi 2024-11-06T00:04:06Z- handleDepth()- Depth_Keller msg: 1730851446.64 epoch sec; seqNo:34; depth -0.07 2024-11-06T00:04:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851446.67 epoch sec; seqNo:34; 4061397.06 north; 594366.67 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:06Z- waiting for 1730851447.02, time is 1730851446.67 2024-11-06T00:04:07Z- AHRS_M2 msg: 1730851447.03 epoch sec; seqNo:34 2024-11-06T00:04:07Z- AHRS_M2 msg: 0.37 phi; -0.00 theta; 5.75 psi 2024-11-06T00:04:07Z- handleDepth()- Depth_Keller msg: 1730851447.05 epoch sec; seqNo:35; depth -0.07 2024-11-06T00:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851447.06 epoch sec; seqNo:35; 4061396.68 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851443.02 2024-11-06T00:04:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:07Z- waiting for 1730851447.02, time is 1730851447.06 2024-11-06T00:04:07Z- LcmTrn::updateTrn() >>>> pose time 1730851447.06, meas time 1730851446.27 <<<< 2024-11-06T00:04:07Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851447.06 2024-11-06T00:04:07Z- TerrainNav::Measurement type 1 from time = 1730851446.27 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:07Z- TerrainNav::motionUpdate() - currEstimate = (4061397, 594366.68, -0.07) 2024-11-06T00:04:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:07Z- publishEstimatesDecoder() - at 1730851447.06 sec 2024-11-06T00:04:07Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:07Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:07Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:07Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:07Z- AHRS_M2 msg: 1730851447.44 epoch sec; seqNo:35 2024-11-06T00:04:07Z- AHRS_M2 msg: 0.37 phi; 0.01 theta; 5.74 psi 2024-11-06T00:04:07Z- handleDepth()- Depth_Keller msg: 1730851447.45 epoch sec; seqNo:36; depth -0.06 2024-11-06T00:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851447.46 epoch sec; seqNo:36; 4061396.68 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:07Z- waiting for 1730851451.06, time is 1730851447.46 2024-11-06T00:04:07Z- AHRS_M2 msg: 1730851447.84 epoch sec; seqNo:36 2024-11-06T00:04:07Z- AHRS_M2 msg: 0.36 phi; 0.01 theta; 5.78 psi 2024-11-06T00:04:07Z- handleDepth()- Depth_Keller msg: 1730851447.85 epoch sec; seqNo:37; depth -0.06 2024-11-06T00:04:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851447.86 epoch sec; seqNo:37; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:07Z- waiting for 1730851451.06, time is 1730851447.86 2024-11-06T00:04:08Z- AHRS_M2 msg: 1730851448.25 epoch sec; seqNo:37 2024-11-06T00:04:08Z- AHRS_M2 msg: 0.30 phi; -0.04 theta; 5.78 psi 2024-11-06T00:04:08Z- handleDepth()- Depth_Keller msg: 1730851448.26 epoch sec; seqNo:38; depth -0.07 2024-11-06T00:04:08Z- handleDVL() - DVL msg epochMillisec: 1730851448.29 2024-11-06T00:04:08Z- handleDvl() - RDI_Pathfinder msg: 1730851448.29 sec; seqNo:12; #beams:4 2024-11-06T00:04:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 127.22 , 82.57 , 96.10 , 96.10 2024-11-06T00:04:08Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , -0.16 , 0.38 2024-11-06T00:04:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851448.30 epoch sec; seqNo:38; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:08Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:08Z- waiting for 1730851451.06, time is 1730851448.30 2024-11-06T00:04:08Z- AHRS_M2 msg: 1730851448.66 epoch sec; seqNo:38 2024-11-06T00:04:08Z- AHRS_M2 msg: 0.20 phi; -0.04 theta; 5.76 psi 2024-11-06T00:04:08Z- handleDepth()- Depth_Keller msg: 1730851448.77 epoch sec; seqNo:39; depth -0.06 2024-11-06T00:04:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851448.78 epoch sec; seqNo:39; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:08Z- waiting for 1730851451.06, time is 1730851448.78 2024-11-06T00:04:09Z- AHRS_M2 msg: 1730851449.05 epoch sec; seqNo:39 2024-11-06T00:04:09Z- AHRS_M2 msg: 0.17 phi; 0.02 theta; 5.76 psi 2024-11-06T00:04:09Z- handleDepth()- Depth_Keller msg: 1730851449.14 epoch sec; seqNo:40; depth -0.09 2024-11-06T00:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851449.15 epoch sec; seqNo:40; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:09Z- waiting for 1730851451.06, time is 1730851449.15 2024-11-06T00:04:09Z- handleDepth()- Depth_Keller msg: 1730851449.51 epoch sec; seqNo:41; depth -0.10 2024-11-06T00:04:09Z- handleDVL() - DVL msg epochMillisec: 1730851449.51 2024-11-06T00:04:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:09Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:09Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:09Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:09Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:09Z- handleDvl() - RDI_Pathfinder msg: 1730851449.51 sec; seqNo:13; #beams:0 2024-11-06T00:04:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:09Z- handleDvl() - RDI_Pathfinder msg: velocities -0.06 , -0.16 , 0.38 2024-11-06T00:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851449.52 epoch sec; seqNo:41; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:09Z- waiting for 1730851451.06, time is 1730851449.52 2024-11-06T00:04:09Z- AHRS_M2 msg: 1730851449.86 epoch sec; seqNo:40 2024-11-06T00:04:09Z- AHRS_M2 msg: 0.14 phi; -0.03 theta; 5.74 psi 2024-11-06T00:04:09Z- handleDepth()- Depth_Keller msg: 1730851449.87 epoch sec; seqNo:42; depth -0.08 2024-11-06T00:04:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851449.89 epoch sec; seqNo:42; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:10Z- waiting for 1730851451.06, time is 1730851449.89 2024-11-06T00:04:10Z- AHRS_M2 msg: 1730851450.27 epoch sec; seqNo:41 2024-11-06T00:04:10Z- AHRS_M2 msg: 0.16 phi; -0.09 theta; 5.75 psi 2024-11-06T00:04:10Z- handleDepth()- Depth_Keller msg: 1730851450.28 epoch sec; seqNo:43; depth -0.09 2024-11-06T00:04:10Z- handleDVL() - DVL msg epochMillisec: 1730851450.31 2024-11-06T00:04:10Z- handleDvl() - RDI_Pathfinder msg: 1730851450.31 sec; seqNo:14; #beams:4 2024-11-06T00:04:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 107.81 , 88.86 , 95.63 , 95.63 2024-11-06T00:04:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , 0.58 , -0.01 2024-11-06T00:04:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851450.33 epoch sec; seqNo:43; 4061395.92 north; 594366.69 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:10Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:10Z- waiting for 1730851451.06, time is 1730851450.33 2024-11-06T00:04:10Z- AHRS_M2 msg: 1730851450.69 epoch sec; seqNo:42 2024-11-06T00:04:10Z- AHRS_M2 msg: 0.36 phi; -0.16 theta; 5.69 psi 2024-11-06T00:04:10Z- handleDepth()- Depth_Keller msg: 1730851450.70 epoch sec; seqNo:44; depth -0.06 2024-11-06T00:04:10Z- handleDVL() - DVL msg epochMillisec: 1730851450.70 2024-11-06T00:04:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:10Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:10Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:10Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:10Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:10Z- handleDvl() - RDI_Pathfinder msg: 1730851450.70 sec; seqNo:15; #beams:0 2024-11-06T00:04:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:10Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , 0.58 , -0.01 2024-11-06T00:04:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851450.72 epoch sec; seqNo:44; 4061395.92 north; 594366.69 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:10Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:10Z- waiting for 1730851451.06, time is 1730851450.72 2024-11-06T00:04:11Z- AHRS_M2 msg: 1730851451.08 epoch sec; seqNo:43 2024-11-06T00:04:11Z- AHRS_M2 msg: 0.33 phi; -0.03 theta; 5.62 psi 2024-11-06T00:04:11Z- handleDepth()- Depth_Keller msg: 1730851451.09 epoch sec; seqNo:45; depth -0.04 2024-11-06T00:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851451.10 epoch sec; seqNo:45; 4061395.94 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851447.06 2024-11-06T00:04:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:11Z- waiting for 1730851451.06, time is 1730851451.10 2024-11-06T00:04:11Z- LcmTrn::updateTrn() >>>> pose time 1730851451.10, meas time 1730851450.70 <<<< 2024-11-06T00:04:11Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851451.10 2024-11-06T00:04:11Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T00:04:11Z- TerrainNav::motionUpdate() - currEstimate = (4061396, 594367.91, -0.04) 2024-11-06T00:04:11Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:11Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:11Z- publishEstimatesDecoder() - at 1730851451.10 sec 2024-11-06T00:04:11Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:11Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:11Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:11Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:11Z- AHRS_M2 msg: 1730851451.48 epoch sec; seqNo:44 2024-11-06T00:04:11Z- AHRS_M2 msg: 0.22 phi; 0.07 theta; 5.65 psi 2024-11-06T00:04:11Z- handleDepth()- Depth_Keller msg: 1730851451.49 epoch sec; seqNo:46; depth -0.03 2024-11-06T00:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851451.50 epoch sec; seqNo:46; 4061395.56 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:11Z- waiting for 1730851455.10, time is 1730851451.50 2024-11-06T00:04:11Z- AHRS_M2 msg: 1730851451.89 epoch sec; seqNo:45 2024-11-06T00:04:11Z- AHRS_M2 msg: 0.15 phi; 0.10 theta; 5.69 psi 2024-11-06T00:04:11Z- handleDepth()- Depth_Keller msg: 1730851451.90 epoch sec; seqNo:47; depth -0.01 2024-11-06T00:04:11Z- handleDVL() - DVL msg epochMillisec: 1730851451.91 2024-11-06T00:04:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:11Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:11Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:11Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:11Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:11Z- handleDvl() - RDI_Pathfinder msg: 1730851451.91 sec; seqNo:16; #beams:0 2024-11-06T00:04:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:11Z- handleDvl() - RDI_Pathfinder msg: velocities -0.72 , 0.58 , -0.01 2024-11-06T00:04:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851451.94 epoch sec; seqNo:47; 4061395.56 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:12Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:12Z- waiting for 1730851455.10, time is 1730851451.94 2024-11-06T00:04:12Z- AHRS_M2 msg: 1730851452.29 epoch sec; seqNo:46 2024-11-06T00:04:12Z- AHRS_M2 msg: 0.17 phi; 0.06 theta; 5.70 psi 2024-11-06T00:04:12Z- handleDepth()- Depth_Keller msg: 1730851452.30 epoch sec; seqNo:48; depth -0.01 2024-11-06T00:04:12Z- handleDVL() - DVL msg epochMillisec: 1730851452.33 2024-11-06T00:04:12Z- handleDvl() - RDI_Pathfinder msg: 1730851452.33 sec; seqNo:17; #beams:4 2024-11-06T00:04:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 123.03 , 0.00 , 95.96 , 101.38 2024-11-06T00:04:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , 0.11 , -0.65 2024-11-06T00:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851452.34 epoch sec; seqNo:48; 4061395.94 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:12Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:12Z- waiting for 1730851455.10, time is 1730851452.34 2024-11-06T00:04:12Z- AHRS_M2 msg: 1730851452.69 epoch sec; seqNo:47 2024-11-06T00:04:12Z- AHRS_M2 msg: 0.23 phi; -0.01 theta; 5.65 psi 2024-11-06T00:04:12Z- handleDepth()- Depth_Keller msg: 1730851452.70 epoch sec; seqNo:49; depth -0.02 2024-11-06T00:04:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851452.72 epoch sec; seqNo:49; 4061395.94 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-06T00:04:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:12Z- waiting for 1730851455.10, time is 1730851452.72 2024-11-06T00:04:13Z- AHRS_M2 msg: 1730851453.12 epoch sec; seqNo:48 2024-11-06T00:04:13Z- AHRS_M2 msg: 0.22 phi; -0.03 theta; 5.60 psi 2024-11-06T00:04:13Z- handleDepth()- Depth_Keller msg: 1730851453.14 epoch sec; seqNo:50; depth 0.03 2024-11-06T00:04:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851453.17 epoch sec; seqNo:50; 4061396.31 north; 594367.90 east; 36.69 lat; -121.94 lon; 0.03 depth; utmZone: 10 2024-11-06T00:04:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:13Z- waiting for 1730851455.10, time is 1730851453.17 2024-11-06T00:04:13Z- AHRS_M2 msg: 1730851453.52 epoch sec; seqNo:49 2024-11-06T00:04:13Z- AHRS_M2 msg: 0.21 phi; -0.07 theta; 5.59 psi 2024-11-06T00:04:13Z- handleDepth()- Depth_Keller msg: 1730851453.54 epoch sec; seqNo:51; depth 0.01 2024-11-06T00:04:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851453.59 epoch sec; seqNo:51; 4061396.69 north; 594367.90 east; 36.69 lat; -121.94 lon; 0.01 depth; utmZone: 10 2024-11-06T00:04:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:13Z- waiting for 1730851455.10, time is 1730851453.59 2024-11-06T00:04:13Z- AHRS_M2 msg: 1730851453.98 epoch sec; seqNo:50 2024-11-06T00:04:13Z- AHRS_M2 msg: 0.26 phi; -0.05 theta; 5.60 psi 2024-11-06T00:04:14Z- handleDepth()- Depth_Keller msg: 1730851454.00 epoch sec; seqNo:52; depth -0.00 2024-11-06T00:04:14Z- handleDVL() - DVL msg epochMillisec: 1730851454.07 2024-11-06T00:04:14Z- handleDvl() - RDI_Pathfinder msg: 1730851454.07 sec; seqNo:18; #beams:4 2024-11-06T00:04:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 110.92 , 85.62 , 96.04 , 96.04 2024-11-06T00:04:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.02 , -0.31 , -0.37 2024-11-06T00:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851454.10 epoch sec; seqNo:52; 4061396.69 north; 594367.90 east; 36.69 lat; -121.94 lon; -0.00 depth; utmZone: 10 2024-11-06T00:04:14Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:14Z- waiting for 1730851455.10, time is 1730851454.10 2024-11-06T00:04:14Z- AHRS_M2 msg: 1730851454.34 epoch sec; seqNo:51 2024-11-06T00:04:14Z- AHRS_M2 msg: 0.29 phi; 0.06 theta; 5.58 psi 2024-11-06T00:04:14Z- handleDepth()- Depth_Keller msg: 1730851454.36 epoch sec; seqNo:53; depth 0.03 2024-11-06T00:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851454.41 epoch sec; seqNo:53; 4061396.69 north; 594367.90 east; 36.69 lat; -121.94 lon; 0.03 depth; utmZone: 10 2024-11-06T00:04:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:14Z- waiting for 1730851455.10, time is 1730851454.41 2024-11-06T00:04:14Z- handleDepth()- Depth_Keller msg: 1730851454.79 epoch sec; seqNo:54; depth 0.01 2024-11-06T00:04:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851454.81 epoch sec; seqNo:54; 4061396.69 north; 594367.90 east; 36.69 lat; -121.94 lon; 0.01 depth; utmZone: 10 2024-11-06T00:04:14Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:04:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:14Z- waiting for 1730851455.10, time is 1730851454.81 2024-11-06T00:04:15Z- AHRS_M2 msg: 1730851455.15 epoch sec; seqNo:52 2024-11-06T00:04:15Z- AHRS_M2 msg: 0.29 phi; 0.09 theta; 5.57 psi 2024-11-06T00:04:15Z- handleDepth()- Depth_Keller msg: 1730851455.17 epoch sec; seqNo:55; depth -0.04 2024-11-06T00:04:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851455.20 epoch sec; seqNo:55; 4061396.31 north; 594367.90 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851451.10 2024-11-06T00:04:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:15Z- waiting for 1730851455.10, time is 1730851455.20 2024-11-06T00:04:15Z- LcmTrn::updateTrn() >>>> pose time 1730851455.20, meas time 1730851454.07 <<<< 2024-11-06T00:04:15Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851455.20 2024-11-06T00:04:15Z- TerrainNav::Measurement type 1 from time = 1730851454.07 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:15Z- TerrainNav::motionUpdate() - currEstimate = (4061396, 594367.90, -0.04) 2024-11-06T00:04:15Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:15Z- publishEstimatesDecoder() - at 1730851455.20 sec 2024-11-06T00:04:15Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:15Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:15Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:15Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:15Z- AHRS_M2 msg: 1730851455.56 epoch sec; seqNo:53 2024-11-06T00:04:15Z- AHRS_M2 msg: 0.27 phi; 0.05 theta; 5.48 psi 2024-11-06T00:04:15Z- handleDepth()- Depth_Keller msg: 1730851455.61 epoch sec; seqNo:56; depth -0.05 2024-11-06T00:04:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851455.66 epoch sec; seqNo:56; 4061396.31 north; 594367.90 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:15Z- waiting for 1730851459.20, time is 1730851455.66 2024-11-06T00:04:15Z- AHRS_M2 msg: 1730851455.99 epoch sec; seqNo:54 2024-11-06T00:04:15Z- AHRS_M2 msg: 0.25 phi; 0.04 theta; 5.45 psi 2024-11-06T00:04:16Z- handleDepth()- Depth_Keller msg: 1730851456.01 epoch sec; seqNo:57; depth -0.08 2024-11-06T00:04:16Z- handleDVL() - DVL msg epochMillisec: 1730851456.07 2024-11-06T00:04:16Z- handleDvl() - RDI_Pathfinder msg: 1730851456.07 sec; seqNo:19; #beams:4 2024-11-06T00:04:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 116.26 , 85.14 , 104.08 , 91.90 2024-11-06T00:04:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.18 , 0.60 2024-11-06T00:04:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:16Z- waiting for 1730851459.20, time is 1730851456.07 2024-11-06T00:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851456.13 epoch sec; seqNo:57; 4061396.31 north; 594367.90 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:16Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T00:04:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:16Z- waiting for 1730851459.20, time is 1730851456.13 2024-11-06T00:04:16Z- AHRS_M2 msg: 1730851456.38 epoch sec; seqNo:55 2024-11-06T00:04:16Z- AHRS_M2 msg: 0.32 phi; -0.02 theta; 5.51 psi 2024-11-06T00:04:16Z- handleDepth()- Depth_Keller msg: 1730851456.40 epoch sec; seqNo:58; depth -0.09 2024-11-06T00:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851456.45 epoch sec; seqNo:58; 4061396.31 north; 594367.90 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:16Z- waiting for 1730851459.20, time is 1730851456.45 2024-11-06T00:04:16Z- AHRS_M2 msg: 1730851456.80 epoch sec; seqNo:56 2024-11-06T00:04:16Z- AHRS_M2 msg: 0.36 phi; -0.04 theta; 5.52 psi 2024-11-06T00:04:16Z- handleDepth()- Depth_Keller msg: 1730851456.80 epoch sec; seqNo:59; depth -0.08 2024-11-06T00:04:16Z- handleDVL() - DVL msg epochMillisec: 1730851456.80 2024-11-06T00:04:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:16Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:16Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:16Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:16Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:16Z- handleDvl() - RDI_Pathfinder msg: 1730851456.80 sec; seqNo:20; #beams:0 2024-11-06T00:04:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , -0.18 , 0.60 2024-11-06T00:04:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851456.82 epoch sec; seqNo:59; 4061396.30 north; 594366.68 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:16Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:16Z- waiting for 1730851459.20, time is 1730851456.82 2024-11-06T00:04:17Z- AHRS_M2 msg: 1730851457.21 epoch sec; seqNo:57 2024-11-06T00:04:17Z- AHRS_M2 msg: 0.30 phi; 0.00 theta; 5.48 psi 2024-11-06T00:04:17Z- handleDepth()- Depth_Keller msg: 1730851457.22 epoch sec; seqNo:60; depth -0.06 2024-11-06T00:04:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851457.30 epoch sec; seqNo:60; 4061395.92 north; 594366.69 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:17Z- waiting for 1730851459.20, time is 1730851457.30 2024-11-06T00:04:17Z- AHRS_M2 msg: 1730851457.61 epoch sec; seqNo:58 2024-11-06T00:04:17Z- AHRS_M2 msg: 0.20 phi; -0.01 theta; 5.42 psi 2024-11-06T00:04:17Z- handleDepth()- Depth_Keller msg: 1730851457.62 epoch sec; seqNo:61; depth -0.07 2024-11-06T00:04:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851457.67 epoch sec; seqNo:61; 4061395.92 north; 594366.69 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:17Z- waiting for 1730851459.20, time is 1730851457.67 2024-11-06T00:04:18Z- AHRS_M2 msg: 1730851458.01 epoch sec; seqNo:59 2024-11-06T00:04:18Z- AHRS_M2 msg: 0.06 phi; -0.09 theta; 5.39 psi 2024-11-06T00:04:18Z- handleDepth()- Depth_Keller msg: 1730851458.03 epoch sec; seqNo:62; depth -0.07 2024-11-06T00:04:18Z- handleDVL() - DVL msg epochMillisec: 1730851458.08 2024-11-06T00:04:18Z- handleDvl() - RDI_Pathfinder msg: 1730851458.08 sec; seqNo:21; #beams:4 2024-11-06T00:04:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 117.42 , 84.94 , 95.77 , 97.12 2024-11-06T00:04:18Z- handleDvl() - RDI_Pathfinder msg: velocities -0.35 , 0.13 , 0.18 2024-11-06T00:04:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:18Z- waiting for 1730851459.20, time is 1730851458.08 2024-11-06T00:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851458.14 epoch sec; seqNo:62; 4061395.92 north; 594366.69 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:18Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T00:04:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:18Z- waiting for 1730851459.20, time is 1730851458.14 2024-11-06T00:04:18Z- AHRS_M2 msg: 1730851458.42 epoch sec; seqNo:60 2024-11-06T00:04:18Z- AHRS_M2 msg: 0.05 phi; -0.02 theta; 5.43 psi 2024-11-06T00:04:18Z- handleDepth()- Depth_Keller msg: 1730851458.44 epoch sec; seqNo:63; depth -0.06 2024-11-06T00:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851458.49 epoch sec; seqNo:63; 4061395.92 north; 594366.69 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:18Z- waiting for 1730851459.20, time is 1730851458.49 2024-11-06T00:04:18Z- AHRS_M2 msg: 1730851458.83 epoch sec; seqNo:61 2024-11-06T00:04:18Z- AHRS_M2 msg: 0.20 phi; 0.07 theta; 5.47 psi 2024-11-06T00:04:18Z- handleDepth()- Depth_Keller msg: 1730851458.86 epoch sec; seqNo:64; depth -0.04 2024-11-06T00:04:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851458.89 epoch sec; seqNo:64; 4061395.94 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:18Z- waiting for 1730851459.20, time is 1730851458.89 2024-11-06T00:04:19Z- AHRS_M2 msg: 1730851459.25 epoch sec; seqNo:62 2024-11-06T00:04:19Z- AHRS_M2 msg: 0.28 phi; 0.01 theta; 5.40 psi 2024-11-06T00:04:19Z- handleDepth()- Depth_Keller msg: 1730851459.27 epoch sec; seqNo:65; depth -0.05 2024-11-06T00:04:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851459.33 epoch sec; seqNo:65; 4061395.94 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851455.20 2024-11-06T00:04:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:19Z- waiting for 1730851459.20, time is 1730851459.33 2024-11-06T00:04:19Z- LcmTrn::updateTrn() >>>> pose time 1730851459.33, meas time 1730851458.08 <<<< 2024-11-06T00:04:19Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851459.33 2024-11-06T00:04:19Z- TerrainNav::Measurement type 1 from time = 1730851458.08 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:19Z- TerrainNav::motionUpdate() - currEstimate = (4061396, 594367.91, -0.05) 2024-11-06T00:04:19Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:19Z- publishEstimatesDecoder() - at 1730851459.33 sec 2024-11-06T00:04:19Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:19Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:19Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:19Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:19Z- AHRS_M2 msg: 1730851459.68 epoch sec; seqNo:63 2024-11-06T00:04:19Z- AHRS_M2 msg: 0.23 phi; -0.08 theta; 5.40 psi 2024-11-06T00:04:19Z- handleDepth()- Depth_Keller msg: 1730851459.68 epoch sec; seqNo:66; depth -0.05 2024-11-06T00:04:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851459.75 epoch sec; seqNo:66; 4061395.56 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:19Z- waiting for 1730851463.33, time is 1730851459.75 2024-11-06T00:04:20Z- AHRS_M2 msg: 1730851460.06 epoch sec; seqNo:64 2024-11-06T00:04:20Z- AHRS_M2 msg: 0.20 phi; -0.02 theta; 5.48 psi 2024-11-06T00:04:20Z- handleDepth()- Depth_Keller msg: 1730851460.07 epoch sec; seqNo:67; depth -0.07 2024-11-06T00:04:20Z- handleDVL() - DVL msg epochMillisec: 1730851460.12 2024-11-06T00:04:20Z- handleDvl() - RDI_Pathfinder msg: 1730851460.12 sec; seqNo:22; #beams:4 2024-11-06T00:04:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 116.13 , 85.01 , 98.54 , 97.19 2024-11-06T00:04:20Z- handleDvl() - RDI_Pathfinder msg: velocities -0.49 , 0.01 , 0.02 2024-11-06T00:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851460.17 epoch sec; seqNo:67; 4061395.56 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:20Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:20Z- waiting for 1730851463.33, time is 1730851460.17 2024-11-06T00:04:20Z- AHRS_M2 msg: 1730851460.46 epoch sec; seqNo:65 2024-11-06T00:04:20Z- AHRS_M2 msg: 0.20 phi; 0.00 theta; 5.52 psi 2024-11-06T00:04:20Z- handleDepth()- Depth_Keller msg: 1730851460.48 epoch sec; seqNo:68; depth -0.08 2024-11-06T00:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851460.52 epoch sec; seqNo:68; 4061395.56 north; 594367.91 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:20Z- waiting for 1730851463.33, time is 1730851460.52 2024-11-06T00:04:20Z- AHRS_M2 msg: 1730851460.87 epoch sec; seqNo:66 2024-11-06T00:04:20Z- AHRS_M2 msg: 0.21 phi; -0.02 theta; 5.52 psi 2024-11-06T00:04:20Z- handleDepth()- Depth_Keller msg: 1730851460.88 epoch sec; seqNo:69; depth -0.05 2024-11-06T00:04:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851460.93 epoch sec; seqNo:69; 4061395.18 north; 594367.92 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:21Z- waiting for 1730851463.33, time is 1730851460.93 2024-11-06T00:04:21Z- AHRS_M2 msg: 1730851461.28 epoch sec; seqNo:67 2024-11-06T00:04:21Z- AHRS_M2 msg: 0.25 phi; -0.00 theta; 5.51 psi 2024-11-06T00:04:21Z- handleDepth()- Depth_Keller msg: 1730851461.29 epoch sec; seqNo:70; depth -0.01 2024-11-06T00:04:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851461.32 epoch sec; seqNo:70; 4061395.18 north; 594367.92 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:21Z- waiting for 1730851463.33, time is 1730851461.32 2024-11-06T00:04:21Z- AHRS_M2 msg: 1730851461.68 epoch sec; seqNo:68 2024-11-06T00:04:21Z- AHRS_M2 msg: 0.28 phi; 0.04 theta; 5.52 psi 2024-11-06T00:04:21Z- handleDepth()- Depth_Keller msg: 1730851461.69 epoch sec; seqNo:71; depth -0.00 2024-11-06T00:04:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851461.74 epoch sec; seqNo:71; 4061395.18 north; 594367.92 east; 36.69 lat; -121.94 lon; -0.00 depth; utmZone: 10 2024-11-06T00:04:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:21Z- waiting for 1730851463.33, time is 1730851461.74 2024-11-06T00:04:22Z- AHRS_M2 msg: 1730851462.09 epoch sec; seqNo:69 2024-11-06T00:04:22Z- AHRS_M2 msg: 0.25 phi; 0.04 theta; 5.50 psi 2024-11-06T00:04:22Z- handleDepth()- Depth_Keller msg: 1730851462.10 epoch sec; seqNo:72; depth -0.02 2024-11-06T00:04:22Z- handleDVL() - DVL msg epochMillisec: 1730851462.17 2024-11-06T00:04:22Z- handleDvl() - RDI_Pathfinder msg: 1730851462.17 sec; seqNo:23; #beams:4 2024-11-06T00:04:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 113.36 , 86.29 , 95.77 , 95.77 2024-11-06T00:04:22Z- handleDvl() - RDI_Pathfinder msg: velocities -0.09 , 0.13 , 0.20 2024-11-06T00:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851462.22 epoch sec; seqNo:72; 4061395.18 north; 594367.92 east; 36.69 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-06T00:04:22Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:22Z- waiting for 1730851463.33, time is 1730851462.22 2024-11-06T00:04:22Z- AHRS_M2 msg: 1730851462.49 epoch sec; seqNo:70 2024-11-06T00:04:22Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.47 psi 2024-11-06T00:04:22Z- handleDepth()- Depth_Keller msg: 1730851462.51 epoch sec; seqNo:73; depth -0.04 2024-11-06T00:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851462.54 epoch sec; seqNo:73; 4061395.18 north; 594367.92 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:22Z- waiting for 1730851463.33, time is 1730851462.54 2024-11-06T00:04:22Z- AHRS_M2 msg: 1730851462.90 epoch sec; seqNo:71 2024-11-06T00:04:22Z- AHRS_M2 msg: 0.13 phi; -0.09 theta; 5.50 psi 2024-11-06T00:04:22Z- handleDepth()- Depth_Keller msg: 1730851462.93 epoch sec; seqNo:74; depth -0.05 2024-11-06T00:04:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851462.96 epoch sec; seqNo:74; 4061395.18 north; 594367.92 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:23Z- waiting for 1730851463.33, time is 1730851462.96 2024-11-06T00:04:23Z- AHRS_M2 msg: 1730851463.31 epoch sec; seqNo:72 2024-11-06T00:04:23Z- AHRS_M2 msg: 0.35 phi; 0.01 theta; 5.60 psi 2024-11-06T00:04:23Z- handleDepth()- Depth_Keller msg: 1730851463.33 epoch sec; seqNo:75; depth -0.04 2024-11-06T00:04:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851463.34 epoch sec; seqNo:75; 4061395.18 north; 594367.92 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851459.33 2024-11-06T00:04:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:23Z- waiting for 1730851463.33, time is 1730851463.34 2024-11-06T00:04:23Z- LcmTrn::updateTrn() >>>> pose time 1730851463.34, meas time 1730851462.17 <<<< 2024-11-06T00:04:23Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851463.34 2024-11-06T00:04:23Z- TerrainNav::Measurement type 1 from time = 1730851462.17 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:23Z- TerrainNav::motionUpdate() - currEstimate = (4061395, 594367.92, -0.04) 2024-11-06T00:04:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:23Z- publishEstimatesDecoder() - at 1730851463.34 sec 2024-11-06T00:04:23Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:23Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:23Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:23Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:23Z- AHRS_M2 msg: 1730851463.72 epoch sec; seqNo:73 2024-11-06T00:04:23Z- AHRS_M2 msg: 0.39 phi; 0.01 theta; 5.61 psi 2024-11-06T00:04:23Z- handleDepth()- Depth_Keller msg: 1730851463.73 epoch sec; seqNo:76; depth -0.03 2024-11-06T00:04:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851463.77 epoch sec; seqNo:76; 4061395.19 north; 594369.14 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:23Z- waiting for 1730851467.34, time is 1730851463.77 2024-11-06T00:04:24Z- AHRS_M2 msg: 1730851464.11 epoch sec; seqNo:74 2024-11-06T00:04:24Z- AHRS_M2 msg: 0.32 phi; 0.02 theta; 5.56 psi 2024-11-06T00:04:24Z- handleDepth()- Depth_Keller msg: 1730851464.12 epoch sec; seqNo:77; depth -0.06 2024-11-06T00:04:24Z- handleDVL() - DVL msg epochMillisec: 1730851464.16 2024-11-06T00:04:24Z- handleDvl() - RDI_Pathfinder msg: 1730851464.16 sec; seqNo:24; #beams:4 2024-11-06T00:04:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 116.20 , 85.08 , 95.90 , 97.25 2024-11-06T00:04:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.16 , 0.22 , -0.01 2024-11-06T00:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851464.19 epoch sec; seqNo:77; 4061395.19 north; 594369.14 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:24Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:24Z- waiting for 1730851467.34, time is 1730851464.19 2024-11-06T00:04:24Z- AHRS_M2 msg: 1730851464.52 epoch sec; seqNo:75 2024-11-06T00:04:24Z- AHRS_M2 msg: 0.18 phi; 0.01 theta; 5.56 psi 2024-11-06T00:04:24Z- handleDepth()- Depth_Keller msg: 1730851464.52 epoch sec; seqNo:78; depth -0.06 2024-11-06T00:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851464.54 epoch sec; seqNo:78; 4061395.19 north; 594369.14 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:24Z- waiting for 1730851467.34, time is 1730851464.54 2024-11-06T00:04:24Z- AHRS_M2 msg: 1730851464.92 epoch sec; seqNo:76 2024-11-06T00:04:24Z- AHRS_M2 msg: 0.15 phi; 0.01 theta; 5.62 psi 2024-11-06T00:04:24Z- handleDepth()- Depth_Keller msg: 1730851464.93 epoch sec; seqNo:79; depth -0.10 2024-11-06T00:04:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851464.95 epoch sec; seqNo:79; 4061395.19 north; 594369.14 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:25Z- waiting for 1730851467.34, time is 1730851464.95 2024-11-06T00:04:25Z- AHRS_M2 msg: 1730851465.33 epoch sec; seqNo:77 2024-11-06T00:04:25Z- AHRS_M2 msg: 0.25 phi; 0.00 theta; 5.67 psi 2024-11-06T00:04:25Z- handleDepth()- Depth_Keller msg: 1730851465.35 epoch sec; seqNo:80; depth -0.09 2024-11-06T00:04:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851465.38 epoch sec; seqNo:80; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:25Z- waiting for 1730851467.34, time is 1730851465.38 2024-11-06T00:04:25Z- AHRS_M2 msg: 1730851465.74 epoch sec; seqNo:78 2024-11-06T00:04:25Z- AHRS_M2 msg: 0.33 phi; -0.03 theta; 5.64 psi 2024-11-06T00:04:25Z- handleDepth()- Depth_Keller msg: 1730851465.75 epoch sec; seqNo:81; depth -0.06 2024-11-06T00:04:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851465.79 epoch sec; seqNo:81; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:25Z- waiting for 1730851467.34, time is 1730851465.79 2024-11-06T00:04:26Z- AHRS_M2 msg: 1730851466.15 epoch sec; seqNo:79 2024-11-06T00:04:26Z- AHRS_M2 msg: 0.29 phi; -0.05 theta; 5.61 psi 2024-11-06T00:04:26Z- handleDepth()- Depth_Keller msg: 1730851466.17 epoch sec; seqNo:82; depth -0.05 2024-11-06T00:04:26Z- handleDVL() - DVL msg epochMillisec: 1730851466.24 2024-11-06T00:04:26Z- handleDvl() - RDI_Pathfinder msg: 1730851466.24 sec; seqNo:25; #beams:4 2024-11-06T00:04:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 106.66 , 89.06 , 95.83 , 97.18 2024-11-06T00:04:26Z- handleDvl() - RDI_Pathfinder msg: velocities -0.19 , 0.25 , 0.14 2024-11-06T00:04:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851466.29 epoch sec; seqNo:82; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:26Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:26Z- waiting for 1730851467.34, time is 1730851466.29 2024-11-06T00:04:26Z- AHRS_M2 msg: 1730851466.54 epoch sec; seqNo:80 2024-11-06T00:04:26Z- AHRS_M2 msg: 0.19 phi; -0.04 theta; 5.63 psi 2024-11-06T00:04:26Z- handleDepth()- Depth_Keller msg: 1730851466.55 epoch sec; seqNo:83; depth -0.05 2024-11-06T00:04:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851466.60 epoch sec; seqNo:83; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:26Z- waiting for 1730851467.34, time is 1730851466.60 2024-11-06T00:04:26Z- AHRS_M2 msg: 1730851466.95 epoch sec; seqNo:81 2024-11-06T00:04:26Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 5.66 psi 2024-11-06T00:04:26Z- handleDepth()- Depth_Keller msg: 1730851466.96 epoch sec; seqNo:84; depth -0.08 2024-11-06T00:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851467.03 epoch sec; seqNo:84; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:27Z- waiting for 1730851467.34, time is 1730851467.03 2024-11-06T00:04:27Z- AHRS_M2 msg: 1730851467.36 epoch sec; seqNo:82 2024-11-06T00:04:27Z- AHRS_M2 msg: 0.15 phi; -0.12 theta; 5.64 psi 2024-11-06T00:04:27Z- handleDepth()- Depth_Keller msg: 1730851467.38 epoch sec; seqNo:85; depth -0.10 2024-11-06T00:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851467.44 epoch sec; seqNo:85; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851463.34 2024-11-06T00:04:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:27Z- waiting for 1730851467.34, time is 1730851467.44 2024-11-06T00:04:27Z- LcmTrn::updateTrn() >>>> pose time 1730851467.44, meas time 1730851466.24 <<<< 2024-11-06T00:04:27Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851467.44 2024-11-06T00:04:27Z- TerrainNav::Measurement type 1 from time = 1730851466.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:27Z- TerrainNav::motionUpdate() - currEstimate = (4061396, 594369.13, -0.10) 2024-11-06T00:04:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:27Z- publishEstimatesDecoder() - at 1730851467.44 sec 2024-11-06T00:04:27Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:27Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:27Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:27Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:27Z- AHRS_M2 msg: 1730851467.76 epoch sec; seqNo:83 2024-11-06T00:04:27Z- AHRS_M2 msg: 0.21 phi; -0.12 theta; 5.67 psi 2024-11-06T00:04:27Z- handleDepth()- Depth_Keller msg: 1730851467.77 epoch sec; seqNo:86; depth -0.09 2024-11-06T00:04:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851467.85 epoch sec; seqNo:86; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:27Z- waiting for 1730851471.44, time is 1730851467.85 2024-11-06T00:04:28Z- AHRS_M2 msg: 1730851468.17 epoch sec; seqNo:84 2024-11-06T00:04:28Z- AHRS_M2 msg: 0.30 phi; 0.01 theta; 5.72 psi 2024-11-06T00:04:28Z- handleDepth()- Depth_Keller msg: 1730851468.20 epoch sec; seqNo:87; depth -0.05 2024-11-06T00:04:28Z- handleDVL() - DVL msg epochMillisec: 1730851468.27 2024-11-06T00:04:28Z- handleDvl() - RDI_Pathfinder msg: 1730851468.27 sec; seqNo:26; #beams:4 2024-11-06T00:04:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 104.08 , 89.20 , 93.26 , 95.96 2024-11-06T00:04:28Z- handleDvl() - RDI_Pathfinder msg: velocities -0.18 , 0.08 , -0.67 2024-11-06T00:04:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:28Z- waiting for 1730851471.44, time is 1730851468.27 2024-11-06T00:04:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851468.33 epoch sec; seqNo:87; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:28Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T00:04:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:28Z- waiting for 1730851471.44, time is 1730851468.33 2024-11-06T00:04:28Z- AHRS_M2 msg: 1730851468.64 epoch sec; seqNo:85 2024-11-06T00:04:28Z- AHRS_M2 msg: 0.37 phi; 0.08 theta; 5.74 psi 2024-11-06T00:04:28Z- handleDepth()- Depth_Keller msg: 1730851468.69 epoch sec; seqNo:88; depth -0.03 2024-11-06T00:04:28Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:04:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:28Z- waiting for 1730851471.44, time is 1730851468.64 2024-11-06T00:04:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851468.80 epoch sec; seqNo:88; 4061395.57 north; 594369.13 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:28Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T00:04:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:28Z- waiting for 1730851471.44, time is 1730851468.80 2024-11-06T00:04:29Z- AHRS_M2 msg: 1730851469.00 epoch sec; seqNo:86 2024-11-06T00:04:29Z- AHRS_M2 msg: 0.32 phi; 0.01 theta; 5.73 psi 2024-11-06T00:04:29Z- handleDepth()- Depth_Keller msg: 1730851469.01 epoch sec; seqNo:89; depth -0.03 2024-11-06T00:04:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851469.04 epoch sec; seqNo:89; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:29Z- waiting for 1730851471.44, time is 1730851469.04 2024-11-06T00:04:29Z- AHRS_M2 msg: 1730851469.41 epoch sec; seqNo:87 2024-11-06T00:04:29Z- AHRS_M2 msg: 0.20 phi; -0.06 theta; 5.71 psi 2024-11-06T00:04:29Z- handleDepth()- Depth_Keller msg: 1730851469.44 epoch sec; seqNo:90; depth -0.01 2024-11-06T00:04:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851469.45 epoch sec; seqNo:90; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:29Z- waiting for 1730851471.44, time is 1730851469.45 2024-11-06T00:04:29Z- AHRS_M2 msg: 1730851469.81 epoch sec; seqNo:88 2024-11-06T00:04:29Z- AHRS_M2 msg: 0.11 phi; -0.07 theta; 5.69 psi 2024-11-06T00:04:29Z- handleDepth()- Depth_Keller msg: 1730851469.82 epoch sec; seqNo:91; depth -0.03 2024-11-06T00:04:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851469.84 epoch sec; seqNo:91; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:29Z- waiting for 1730851471.44, time is 1730851469.84 2024-11-06T00:04:30Z- handleDepth()- Depth_Keller msg: 1730851470.23 epoch sec; seqNo:92; depth -0.05 2024-11-06T00:04:30Z- handleDVL() - DVL msg epochMillisec: 1730851470.27 2024-11-06T00:04:30Z- handleDvl() - RDI_Pathfinder msg: 1730851470.27 sec; seqNo:27; #beams:4 2024-11-06T00:04:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 115.05 , 83.93 , 97.46 , 97.46 2024-11-06T00:04:30Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , 0.41 , -0.26 2024-11-06T00:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851470.31 epoch sec; seqNo:92; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:30Z- waiting for 1730851471.44, time is 1730851470.31 2024-11-06T00:04:30Z- AHRS_M2 msg: 1730851470.62 epoch sec; seqNo:89 2024-11-06T00:04:30Z- AHRS_M2 msg: 0.19 phi; -0.11 theta; 5.73 psi 2024-11-06T00:04:30Z- handleDepth()- Depth_Keller msg: 1730851470.62 epoch sec; seqNo:93; depth -0.05 2024-11-06T00:04:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851470.67 epoch sec; seqNo:93; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:30Z- waiting for 1730851471.44, time is 1730851470.67 2024-11-06T00:04:31Z- AHRS_M2 msg: 1730851471.02 epoch sec; seqNo:90 2024-11-06T00:04:31Z- AHRS_M2 msg: 0.30 phi; -0.03 theta; 5.73 psi 2024-11-06T00:04:31Z- handleDepth()- Depth_Keller msg: 1730851471.03 epoch sec; seqNo:94; depth -0.06 2024-11-06T00:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851471.06 epoch sec; seqNo:94; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:31Z- waiting for 1730851471.44, time is 1730851471.06 2024-11-06T00:04:31Z- AHRS_M2 msg: 1730851471.43 epoch sec; seqNo:91 2024-11-06T00:04:31Z- AHRS_M2 msg: 0.36 phi; 0.00 theta; 5.73 psi 2024-11-06T00:04:31Z- handleDepth()- Depth_Keller msg: 1730851471.44 epoch sec; seqNo:95; depth -0.05 2024-11-06T00:04:31Z- handleDVL() - DVL msg epochMillisec: 1730851471.44 2024-11-06T00:04:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:31Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:31Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:31Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:31Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:31Z- handleDvl() - RDI_Pathfinder msg: 1730851471.44 sec; seqNo:28; #beams:0 2024-11-06T00:04:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:31Z- handleDvl() - RDI_Pathfinder msg: velocities -0.24 , 0.41 , -0.26 2024-11-06T00:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851471.45 epoch sec; seqNo:95; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:31Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851467.44 2024-11-06T00:04:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:31Z- waiting for 1730851471.44, time is 1730851471.45 2024-11-06T00:04:31Z- LcmTrn::updateTrn() >>>> pose time 1730851471.45, meas time 1730851471.44 <<<< 2024-11-06T00:04:31Z- LcmTrn::updateTrn() equating pose 1730851471.44 and meas times 1730851471.44 2024-11-06T00:04:31Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730851471.44 2024-11-06T00:04:31Z- TerrainNav::motionUpdate() - currEstimate = (4061396, 594370.35, -0.05) 2024-11-06T00:04:31Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:31Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T00:04:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:31Z- publishEstimatesDecoder() - at 1730851471.44 sec 2024-11-06T00:04:31Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:31Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:31Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:31Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:31Z- AHRS_M2 msg: 1730851471.83 epoch sec; seqNo:92 2024-11-06T00:04:31Z- AHRS_M2 msg: 0.37 phi; -0.01 theta; 5.78 psi 2024-11-06T00:04:31Z- handleDepth()- Depth_Keller msg: 1730851471.84 epoch sec; seqNo:96; depth -0.05 2024-11-06T00:04:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851471.85 epoch sec; seqNo:96; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:31Z- waiting for 1730851475.44, time is 1730851471.85 2024-11-06T00:04:32Z- AHRS_M2 msg: 1730851472.23 epoch sec; seqNo:93 2024-11-06T00:04:32Z- AHRS_M2 msg: 0.38 phi; -0.05 theta; 5.79 psi 2024-11-06T00:04:32Z- handleDepth()- Depth_Keller msg: 1730851472.24 epoch sec; seqNo:97; depth -0.06 2024-11-06T00:04:32Z- handleDVL() - DVL msg epochMillisec: 1730851472.27 2024-11-06T00:04:32Z- handleDvl() - RDI_Pathfinder msg: 1730851472.27 sec; seqNo:29; #beams:4 2024-11-06T00:04:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 121.54 , 82.30 , 95.83 , 98.54 2024-11-06T00:04:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.28 , -0.32 , 0.53 2024-11-06T00:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851472.28 epoch sec; seqNo:97; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:32Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:32Z- waiting for 1730851475.44, time is 1730851472.28 2024-11-06T00:04:32Z- AHRS_M2 msg: 1730851472.64 epoch sec; seqNo:94 2024-11-06T00:04:32Z- AHRS_M2 msg: 0.32 phi; -0.08 theta; 5.78 psi 2024-11-06T00:04:32Z- handleDepth()- Depth_Keller msg: 1730851472.65 epoch sec; seqNo:98; depth -0.05 2024-11-06T00:04:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851472.67 epoch sec; seqNo:98; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:32Z- waiting for 1730851475.44, time is 1730851472.67 2024-11-06T00:04:33Z- AHRS_M2 msg: 1730851473.05 epoch sec; seqNo:95 2024-11-06T00:04:33Z- AHRS_M2 msg: 0.15 phi; -0.09 theta; 5.74 psi 2024-11-06T00:04:33Z- handleDepth()- Depth_Keller msg: 1730851473.06 epoch sec; seqNo:99; depth -0.08 2024-11-06T00:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851473.07 epoch sec; seqNo:99; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:33Z- waiting for 1730851475.44, time is 1730851473.07 2024-11-06T00:04:33Z- AHRS_M2 msg: 1730851473.45 epoch sec; seqNo:96 2024-11-06T00:04:33Z- AHRS_M2 msg: 0.02 phi; -0.06 theta; 5.70 psi 2024-11-06T00:04:33Z- handleDepth()- Depth_Keller msg: 1730851473.46 epoch sec; seqNo:100; depth -0.09 2024-11-06T00:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851473.47 epoch sec; seqNo:100; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:33Z- waiting for 1730851475.44, time is 1730851473.47 2024-11-06T00:04:33Z- AHRS_M2 msg: 1730851473.85 epoch sec; seqNo:97 2024-11-06T00:04:33Z- AHRS_M2 msg: 0.08 phi; -0.02 theta; 5.75 psi 2024-11-06T00:04:33Z- handleDepth()- Depth_Keller msg: 1730851473.86 epoch sec; seqNo:101; depth -0.09 2024-11-06T00:04:33Z- handleDVL() - DVL msg epochMillisec: 1730851473.86 2024-11-06T00:04:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:33Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:33Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:33Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:33Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:33Z- handleDvl() - RDI_Pathfinder msg: 1730851473.86 sec; seqNo:30; #beams:0 2024-11-06T00:04:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.28 , -0.32 , 0.53 2024-11-06T00:04:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851473.87 epoch sec; seqNo:101; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:34Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:34Z- waiting for 1730851475.44, time is 1730851473.87 2024-11-06T00:04:34Z- handleDepth()- Depth_Keller msg: 1730851474.27 epoch sec; seqNo:102; depth -0.07 2024-11-06T00:04:34Z- handleDVL() - DVL msg epochMillisec: 1730851474.32 2024-11-06T00:04:34Z- handleDvl() - RDI_Pathfinder msg: 1730851474.32 sec; seqNo:31; #beams:4 2024-11-06T00:04:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 98.47 , 97.11 , 90.35 , 97.11 2024-11-06T00:04:34Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.27 , 0.09 2024-11-06T00:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851474.35 epoch sec; seqNo:102; 4061395.58 north; 594370.35 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:34Z- waiting for 1730851475.44, time is 1730851474.35 2024-11-06T00:04:34Z- AHRS_M2 msg: 1730851474.66 epoch sec; seqNo:98 2024-11-06T00:04:34Z- AHRS_M2 msg: 0.47 phi; 0.03 theta; 5.76 psi 2024-11-06T00:04:34Z- handleDepth()- Depth_Keller msg: 1730851474.67 epoch sec; seqNo:103; depth -0.03 2024-11-06T00:04:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851474.72 epoch sec; seqNo:103; 4061395.20 north; 594370.36 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:34Z- waiting for 1730851475.44, time is 1730851474.72 2024-11-06T00:04:35Z- AHRS_M2 msg: 1730851475.07 epoch sec; seqNo:99 2024-11-06T00:04:35Z- AHRS_M2 msg: 0.48 phi; 0.09 theta; 5.75 psi 2024-11-06T00:04:35Z- handleDepth()- Depth_Keller msg: 1730851475.07 epoch sec; seqNo:104; depth -0.03 2024-11-06T00:04:35Z- handleDVL() - DVL msg epochMillisec: 1730851475.08 2024-11-06T00:04:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:35Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:35Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:35Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:35Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:35Z- handleDvl() - RDI_Pathfinder msg: 1730851475.08 sec; seqNo:32; #beams:0 2024-11-06T00:04:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:35Z- handleDvl() - RDI_Pathfinder msg: velocities -0.15 , -0.27 , 0.09 2024-11-06T00:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851475.09 epoch sec; seqNo:104; 4061395.20 north; 594370.36 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:35Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:35Z- waiting for 1730851475.44, time is 1730851475.09 2024-11-06T00:04:35Z- AHRS_M2 msg: 1730851475.46 epoch sec; seqNo:100 2024-11-06T00:04:35Z- AHRS_M2 msg: 0.32 phi; 0.07 theta; 5.76 psi 2024-11-06T00:04:35Z- handleDepth()- Depth_Keller msg: 1730851475.47 epoch sec; seqNo:105; depth -0.08 2024-11-06T00:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851475.51 epoch sec; seqNo:105; 4061395.19 north; 594369.14 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851471.44 2024-11-06T00:04:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:35Z- waiting for 1730851475.44, time is 1730851475.51 2024-11-06T00:04:35Z- LcmTrn::updateTrn() >>>> pose time 1730851475.51, meas time 1730851475.08 <<<< 2024-11-06T00:04:35Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851475.51 2024-11-06T00:04:35Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T00:04:35Z- TerrainNav::motionUpdate() - currEstimate = (4061395, 594369.14, -0.08) 2024-11-06T00:04:35Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:35Z- publishEstimatesDecoder() - at 1730851475.51 sec 2024-11-06T00:04:35Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:35Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:35Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:35Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:35Z- AHRS_M2 msg: 1730851475.87 epoch sec; seqNo:101 2024-11-06T00:04:35Z- AHRS_M2 msg: 0.17 phi; 0.01 theta; 5.79 psi 2024-11-06T00:04:35Z- handleDepth()- Depth_Keller msg: 1730851475.88 epoch sec; seqNo:106; depth -0.11 2024-11-06T00:04:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851475.98 epoch sec; seqNo:106; 4061394.81 north; 594369.14 east; 36.69 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-06T00:04:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851475.51 2024-11-06T00:04:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:36Z- waiting for 1730851479.51, time is 1730851475.98 2024-11-06T00:04:36Z- AHRS_M2 msg: 1730851476.29 epoch sec; seqNo:102 2024-11-06T00:04:36Z- AHRS_M2 msg: 0.07 phi; -0.09 theta; 5.78 psi 2024-11-06T00:04:36Z- handleDepth()- Depth_Keller msg: 1730851476.30 epoch sec; seqNo:107; depth -0.10 2024-11-06T00:04:36Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:04:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851475.51 2024-11-06T00:04:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:36Z- waiting for 1730851479.51, time is 1730851476.29 2024-11-06T00:04:36Z- handleDVL() - DVL msg epochMillisec: 1730851476.62 2024-11-06T00:04:36Z- handleDvl() - RDI_Pathfinder msg: 1730851476.62 sec; seqNo:33; #beams:4 2024-11-06T00:04:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 154.22 , 0.00 , 108.21 , 97.39 2024-11-06T00:04:36Z- handleDvl() - RDI_Pathfinder msg: velocities -0.47 , -5.98 , 0.31 2024-11-06T00:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851476.67 epoch sec; seqNo:107; 4061392.51 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:36Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:04:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851475.51 2024-11-06T00:04:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:36Z- waiting for 1730851479.51, time is 1730851476.67 2024-11-06T00:04:36Z- AHRS_M2 msg: 1730851476.79 epoch sec; seqNo:103 2024-11-06T00:04:36Z- AHRS_M2 msg: 0.26 phi; -0.09 theta; 5.74 psi 2024-11-06T00:04:36Z- handleDepth()- Depth_Keller msg: 1730851476.80 epoch sec; seqNo:108; depth -0.07 2024-11-06T00:04:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851476.85 epoch sec; seqNo:108; 4061392.12 north; 594365.51 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851475.51 2024-11-06T00:04:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:36Z- waiting for 1730851479.51, time is 1730851476.85 2024-11-06T00:04:37Z- AHRS_M2 msg: 1730851477.17 epoch sec; seqNo:104 2024-11-06T00:04:37Z- AHRS_M2 msg: 0.33 phi; -0.20 theta; 5.74 psi 2024-11-06T00:04:37Z- handleDepth()- Depth_Keller msg: 1730851477.18 epoch sec; seqNo:109; depth -0.06 2024-11-06T00:04:37Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:04:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851475.51 2024-11-06T00:04:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:37Z- waiting for 1730851479.51, time is 1730851477.17 2024-11-06T00:04:39Z- handleDVL() - DVL msg epochMillisec: 1730851479.22 2024-11-06T00:04:39Z- handleDvl() - RDI_Pathfinder msg: 1730851479.22 sec; seqNo:34; #beams:4 2024-11-06T00:04:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 122.56 , 83.86 , 97.25 , 107.67 2024-11-06T00:04:39Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.25 , -0.98 2024-11-06T00:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851479.24 epoch sec; seqNo:109; 4061392.89 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:39Z- AHRS_M2 msg: 1730851479.34 epoch sec; seqNo:105 2024-11-06T00:04:39Z- AHRS_M2 msg: 0.16 phi; 0.03 theta; 5.66 psi 2024-11-06T00:04:39Z- handleDepth()- Depth_Keller msg: 1730851479.35 epoch sec; seqNo:110; depth -0.06 2024-11-06T00:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851479.36 epoch sec; seqNo:110; 4061392.89 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:39Z- 5 msgs in 200 ms and 6 handle calls 2024-11-06T00:04:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851475.51 2024-11-06T00:04:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:39Z- waiting for 1730851479.51, time is 1730851479.36 2024-11-06T00:04:39Z- AHRS_M2 msg: 1730851479.74 epoch sec; seqNo:106 2024-11-06T00:04:39Z- AHRS_M2 msg: 0.22 phi; 0.02 theta; 5.67 psi 2024-11-06T00:04:39Z- handleDepth()- Depth_Keller msg: 1730851479.75 epoch sec; seqNo:111; depth -0.06 2024-11-06T00:04:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851479.76 epoch sec; seqNo:111; 4061392.89 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851475.51 2024-11-06T00:04:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:39Z- waiting for 1730851479.51, time is 1730851479.76 2024-11-06T00:04:39Z- LcmTrn::updateTrn() >>>> pose time 1730851479.76, meas time 1730851479.22 <<<< 2024-11-06T00:04:39Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851479.76 2024-11-06T00:04:39Z- TerrainNav::Measurement type 1 from time = 1730851479.22 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:39Z- TerrainNav::motionUpdate() - currEstimate = (4061393, 594366.72, -0.06) 2024-11-06T00:04:39Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:39Z- publishEstimatesDecoder() - at 1730851479.76 sec 2024-11-06T00:04:39Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:39Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:39Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:39Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:40Z- AHRS_M2 msg: 1730851480.14 epoch sec; seqNo:107 2024-11-06T00:04:40Z- AHRS_M2 msg: 0.26 phi; -0.04 theta; 5.63 psi 2024-11-06T00:04:40Z- handleDepth()- Depth_Keller msg: 1730851480.18 epoch sec; seqNo:112; depth -0.07 2024-11-06T00:04:40Z- handleDVL() - DVL msg epochMillisec: 1730851480.22 2024-11-06T00:04:40Z- handleDvl() - RDI_Pathfinder msg: 1730851480.22 sec; seqNo:35; #beams:4 2024-11-06T00:04:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 106.79 , 87.44 , 96.37 , 91.90 2024-11-06T00:04:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.04 , -0.12 , 0.93 2024-11-06T00:04:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851480.25 epoch sec; seqNo:112; 4061392.89 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:40Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:40Z- waiting for 1730851483.76, time is 1730851480.25 2024-11-06T00:04:40Z- AHRS_M2 msg: 1730851480.55 epoch sec; seqNo:108 2024-11-06T00:04:40Z- AHRS_M2 msg: 0.30 phi; -0.05 theta; 5.62 psi 2024-11-06T00:04:40Z- handleDepth()- Depth_Keller msg: 1730851480.56 epoch sec; seqNo:113; depth -0.07 2024-11-06T00:04:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851480.60 epoch sec; seqNo:113; 4061392.89 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:40Z- waiting for 1730851483.76, time is 1730851480.60 2024-11-06T00:04:40Z- AHRS_M2 msg: 1730851480.95 epoch sec; seqNo:109 2024-11-06T00:04:40Z- AHRS_M2 msg: 0.31 phi; -0.04 theta; 5.65 psi 2024-11-06T00:04:40Z- handleDepth()- Depth_Keller msg: 1730851480.97 epoch sec; seqNo:114; depth -0.10 2024-11-06T00:04:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851480.98 epoch sec; seqNo:114; 4061392.89 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:41Z- waiting for 1730851483.76, time is 1730851480.98 2024-11-06T00:04:41Z- AHRS_M2 msg: 1730851481.36 epoch sec; seqNo:110 2024-11-06T00:04:41Z- AHRS_M2 msg: 0.27 phi; -0.09 theta; 5.63 psi 2024-11-06T00:04:41Z- handleDepth()- Depth_Keller msg: 1730851481.38 epoch sec; seqNo:115; depth -0.10 2024-11-06T00:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851481.40 epoch sec; seqNo:115; 4061392.51 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:41Z- waiting for 1730851483.76, time is 1730851481.40 2024-11-06T00:04:41Z- AHRS_M2 msg: 1730851481.76 epoch sec; seqNo:111 2024-11-06T00:04:41Z- AHRS_M2 msg: 0.20 phi; -0.11 theta; 5.62 psi 2024-11-06T00:04:41Z- handleDepth()- Depth_Keller msg: 1730851481.77 epoch sec; seqNo:116; depth -0.09 2024-11-06T00:04:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851481.79 epoch sec; seqNo:116; 4061392.50 north; 594365.50 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:41Z- waiting for 1730851483.76, time is 1730851481.79 2024-11-06T00:04:42Z- AHRS_M2 msg: 1730851482.16 epoch sec; seqNo:112 2024-11-06T00:04:42Z- AHRS_M2 msg: 0.17 phi; -0.06 theta; 5.62 psi 2024-11-06T00:04:42Z- handleDepth()- Depth_Keller msg: 1730851482.17 epoch sec; seqNo:117; depth -0.07 2024-11-06T00:04:42Z- handleDVL() - DVL msg epochMillisec: 1730851482.20 2024-11-06T00:04:42Z- handleDvl() - RDI_Pathfinder msg: 1730851482.20 sec; seqNo:36; #beams:4 2024-11-06T00:04:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 117.75 , 85.28 , 96.10 , 96.10 2024-11-06T00:04:42Z- handleDvl() - RDI_Pathfinder msg: velocities -0.62 , 0.29 , -0.39 2024-11-06T00:04:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851482.24 epoch sec; seqNo:117; 4061392.51 north; 594366.72 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:42Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:42Z- waiting for 1730851483.76, time is 1730851482.24 2024-11-06T00:04:42Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T00:04:42Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T00:04:42Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T00:04:42Z- AHRS_M2 msg: 1730851482.56 epoch sec; seqNo:113 2024-11-06T00:04:42Z- AHRS_M2 msg: 0.17 phi; -0.06 theta; 5.62 psi 2024-11-06T00:04:42Z- handleDepth()- Depth_Keller msg: 1730851482.59 epoch sec; seqNo:118; depth -0.05 2024-11-06T00:04:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851482.62 epoch sec; seqNo:118; 4061392.13 north; 594366.73 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:42Z- waiting for 1730851483.76, time is 1730851482.62 2024-11-06T00:04:42Z- handleDepth()- Depth_Keller msg: 1730851482.99 epoch sec; seqNo:119; depth -0.04 2024-11-06T00:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851483.02 epoch sec; seqNo:119; 4061392.13 north; 594366.73 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:43Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:04:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:43Z- waiting for 1730851483.76, time is 1730851483.02 2024-11-06T00:04:43Z- AHRS_M2 msg: 1730851483.38 epoch sec; seqNo:114 2024-11-06T00:04:43Z- AHRS_M2 msg: 0.21 phi; -0.02 theta; 5.59 psi 2024-11-06T00:04:43Z- handleDepth()- Depth_Keller msg: 1730851483.38 epoch sec; seqNo:120; depth -0.05 2024-11-06T00:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851483.41 epoch sec; seqNo:120; 4061392.13 north; 594366.73 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:43Z- waiting for 1730851483.76, time is 1730851483.41 2024-11-06T00:04:43Z- AHRS_M2 msg: 1730851483.81 epoch sec; seqNo:115 2024-11-06T00:04:43Z- AHRS_M2 msg: 0.23 phi; -0.07 theta; 5.60 psi 2024-11-06T00:04:43Z- handleDepth()- Depth_Keller msg: 1730851483.82 epoch sec; seqNo:121; depth -0.05 2024-11-06T00:04:43Z- handleDVL() - DVL msg epochMillisec: 1730851483.82 2024-11-06T00:04:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:43Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:43Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:43Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:43Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:43Z- handleDvl() - RDI_Pathfinder msg: 1730851483.82 sec; seqNo:37; #beams:0 2024-11-06T00:04:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:43Z- handleDvl() - RDI_Pathfinder msg: velocities -0.62 , 0.29 , -0.39 2024-11-06T00:04:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851483.86 epoch sec; seqNo:121; 4061392.15 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:43Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851479.76 2024-11-06T00:04:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:43Z- waiting for 1730851483.76, time is 1730851483.86 2024-11-06T00:04:43Z- LcmTrn::updateTrn() >>>> pose time 1730851483.86, meas time 1730851483.82 <<<< 2024-11-06T00:04:43Z- LcmTrn::updateTrn() equating pose 1730851483.82 and meas times 1730851483.82 2024-11-06T00:04:43Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730851483.82 2024-11-06T00:04:43Z- TerrainNav::motionUpdate() - currEstimate = (4061392, 594367.95, -0.05) 2024-11-06T00:04:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:43Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T00:04:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:43Z- publishEstimatesDecoder() - at 1730851483.82 sec 2024-11-06T00:04:43Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:43Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:43Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:43Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:44Z- AHRS_M2 msg: 1730851484.18 epoch sec; seqNo:116 2024-11-06T00:04:44Z- AHRS_M2 msg: 0.24 phi; -0.11 theta; 5.57 psi 2024-11-06T00:04:44Z- handleDepth()- Depth_Keller msg: 1730851484.19 epoch sec; seqNo:122; depth -0.03 2024-11-06T00:04:44Z- handleDVL() - DVL msg epochMillisec: 1730851484.25 2024-11-06T00:04:44Z- handleDvl() - RDI_Pathfinder msg: 1730851484.25 sec; seqNo:38; #beams:4 2024-11-06T00:04:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 109.36 , 86.36 , 95.83 , 94.48 2024-11-06T00:04:44Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.22 , -0.09 2024-11-06T00:04:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:44Z- waiting for 1730851487.82, time is 1730851484.25 2024-11-06T00:04:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851484.35 epoch sec; seqNo:122; 4061392.15 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:44Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T00:04:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:44Z- waiting for 1730851487.82, time is 1730851484.35 2024-11-06T00:04:44Z- AHRS_M2 msg: 1730851484.59 epoch sec; seqNo:117 2024-11-06T00:04:44Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 5.57 psi 2024-11-06T00:04:44Z- handleDepth()- Depth_Keller msg: 1730851484.59 epoch sec; seqNo:123; depth -0.06 2024-11-06T00:04:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851484.63 epoch sec; seqNo:123; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:44Z- waiting for 1730851487.82, time is 1730851484.63 2024-11-06T00:04:44Z- AHRS_M2 msg: 1730851484.99 epoch sec; seqNo:118 2024-11-06T00:04:44Z- AHRS_M2 msg: 0.21 phi; -0.07 theta; 5.58 psi 2024-11-06T00:04:45Z- handleDepth()- Depth_Keller msg: 1730851485.00 epoch sec; seqNo:124; depth -0.09 2024-11-06T00:04:45Z- handleDVL() - DVL msg epochMillisec: 1730851485.00 2024-11-06T00:04:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:45Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:45Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:45Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:45Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:45Z- handleDvl() - RDI_Pathfinder msg: 1730851485.00 sec; seqNo:39; #beams:0 2024-11-06T00:04:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:45Z- handleDvl() - RDI_Pathfinder msg: velocities -0.33 , 0.22 , -0.09 2024-11-06T00:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851485.03 epoch sec; seqNo:124; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:04:45Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:45Z- waiting for 1730851487.82, time is 1730851485.03 2024-11-06T00:04:45Z- AHRS_M2 msg: 1730851485.39 epoch sec; seqNo:119 2024-11-06T00:04:45Z- AHRS_M2 msg: 0.29 phi; -0.11 theta; 5.58 psi 2024-11-06T00:04:45Z- handleDepth()- Depth_Keller msg: 1730851485.40 epoch sec; seqNo:125; depth -0.08 2024-11-06T00:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851485.44 epoch sec; seqNo:125; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:45Z- waiting for 1730851487.82, time is 1730851485.44 2024-11-06T00:04:45Z- AHRS_M2 msg: 1730851485.80 epoch sec; seqNo:120 2024-11-06T00:04:45Z- AHRS_M2 msg: 0.30 phi; -0.13 theta; 5.58 psi 2024-11-06T00:04:45Z- handleDepth()- Depth_Keller msg: 1730851485.80 epoch sec; seqNo:126; depth -0.07 2024-11-06T00:04:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851485.82 epoch sec; seqNo:126; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:45Z- waiting for 1730851487.82, time is 1730851485.82 2024-11-06T00:04:46Z- AHRS_M2 msg: 1730851486.21 epoch sec; seqNo:121 2024-11-06T00:04:46Z- AHRS_M2 msg: 0.19 phi; -0.07 theta; 5.52 psi 2024-11-06T00:04:46Z- handleDepth()- Depth_Keller msg: 1730851486.21 epoch sec; seqNo:127; depth -0.07 2024-11-06T00:04:46Z- handleDVL() - DVL msg epochMillisec: 1730851486.24 2024-11-06T00:04:46Z- handleDvl() - RDI_Pathfinder msg: 1730851486.24 sec; seqNo:40; #beams:4 2024-11-06T00:04:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 117.62 , 83.79 , 94.61 , 105.44 2024-11-06T00:04:46Z- handleDvl() - RDI_Pathfinder msg: velocities -0.12 , 0.31 , -0.38 2024-11-06T00:04:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851486.25 epoch sec; seqNo:127; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:46Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:46Z- waiting for 1730851487.82, time is 1730851486.25 2024-11-06T00:04:46Z- AHRS_M2 msg: 1730851486.61 epoch sec; seqNo:122 2024-11-06T00:04:46Z- AHRS_M2 msg: 0.13 phi; -0.05 theta; 5.52 psi 2024-11-06T00:04:46Z- handleDepth()- Depth_Keller msg: 1730851486.62 epoch sec; seqNo:128; depth -0.05 2024-11-06T00:04:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851486.64 epoch sec; seqNo:128; 4061392.15 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:46Z- waiting for 1730851487.82, time is 1730851486.64 2024-11-06T00:04:47Z- AHRS_M2 msg: 1730851487.01 epoch sec; seqNo:123 2024-11-06T00:04:47Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.53 psi 2024-11-06T00:04:47Z- handleDepth()- Depth_Keller msg: 1730851487.02 epoch sec; seqNo:129; depth -0.08 2024-11-06T00:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851487.03 epoch sec; seqNo:129; 4061392.16 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:47Z- waiting for 1730851487.82, time is 1730851487.03 2024-11-06T00:04:47Z- AHRS_M2 msg: 1730851487.42 epoch sec; seqNo:124 2024-11-06T00:04:47Z- AHRS_M2 msg: 0.24 phi; 0.03 theta; 5.51 psi 2024-11-06T00:04:47Z- handleDepth()- Depth_Keller msg: 1730851487.43 epoch sec; seqNo:130; depth -0.06 2024-11-06T00:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851487.45 epoch sec; seqNo:130; 4061392.16 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:04:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:47Z- waiting for 1730851487.82, time is 1730851487.45 2024-11-06T00:04:47Z- AHRS_M2 msg: 1730851487.82 epoch sec; seqNo:125 2024-11-06T00:04:47Z- AHRS_M2 msg: 0.29 phi; 0.08 theta; 5.52 psi 2024-11-06T00:04:47Z- handleDepth()- Depth_Keller msg: 1730851487.83 epoch sec; seqNo:131; depth -0.05 2024-11-06T00:04:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851487.85 epoch sec; seqNo:131; 4061392.16 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851483.82 2024-11-06T00:04:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:47Z- waiting for 1730851487.82, time is 1730851487.85 2024-11-06T00:04:47Z- LcmTrn::updateTrn() >>>> pose time 1730851487.85, meas time 1730851486.24 <<<< 2024-11-06T00:04:47Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851487.85 2024-11-06T00:04:47Z- TerrainNav::Measurement type 1 from time = 1730851486.24 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:47Z- TerrainNav::motionUpdate() - currEstimate = (4061392, 594369.17, -0.05) 2024-11-06T00:04:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:47Z- publishEstimatesDecoder() - at 1730851487.85 sec 2024-11-06T00:04:47Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:47Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:47Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:47Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:48Z- AHRS_M2 msg: 1730851488.22 epoch sec; seqNo:126 2024-11-06T00:04:48Z- AHRS_M2 msg: 0.29 phi; 0.07 theta; 5.52 psi 2024-11-06T00:04:48Z- handleDepth()- Depth_Keller msg: 1730851488.23 epoch sec; seqNo:132; depth -0.05 2024-11-06T00:04:48Z- handleDVL() - DVL msg epochMillisec: 1730851488.26 2024-11-06T00:04:48Z- handleDvl() - RDI_Pathfinder msg: 1730851488.26 sec; seqNo:41; #beams:4 2024-11-06T00:04:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 106.52 , 86.22 , 92.99 , 97.05 2024-11-06T00:04:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , -0.16 , 0.08 2024-11-06T00:04:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851488.27 epoch sec; seqNo:132; 4061392.16 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:48Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:48Z- waiting for 1730851491.85, time is 1730851488.27 2024-11-06T00:04:48Z- AHRS_M2 msg: 1730851488.63 epoch sec; seqNo:127 2024-11-06T00:04:48Z- AHRS_M2 msg: 0.25 phi; 0.00 theta; 5.54 psi 2024-11-06T00:04:48Z- handleDepth()- Depth_Keller msg: 1730851488.64 epoch sec; seqNo:133; depth -0.08 2024-11-06T00:04:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851488.66 epoch sec; seqNo:133; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:48Z- waiting for 1730851491.85, time is 1730851488.66 2024-11-06T00:04:49Z- AHRS_M2 msg: 1730851489.03 epoch sec; seqNo:128 2024-11-06T00:04:49Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 5.51 psi 2024-11-06T00:04:49Z- handleDepth()- Depth_Keller msg: 1730851489.03 epoch sec; seqNo:134; depth -0.08 2024-11-06T00:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851489.07 epoch sec; seqNo:134; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:49Z- waiting for 1730851491.85, time is 1730851489.07 2024-11-06T00:04:49Z- AHRS_M2 msg: 1730851489.43 epoch sec; seqNo:129 2024-11-06T00:04:49Z- AHRS_M2 msg: 0.22 phi; 0.00 theta; 5.44 psi 2024-11-06T00:04:49Z- handleDepth()- Depth_Keller msg: 1730851489.44 epoch sec; seqNo:135; depth -0.07 2024-11-06T00:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851489.46 epoch sec; seqNo:135; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:49Z- waiting for 1730851491.85, time is 1730851489.46 2024-11-06T00:04:49Z- AHRS_M2 msg: 1730851489.84 epoch sec; seqNo:130 2024-11-06T00:04:49Z- AHRS_M2 msg: 0.20 phi; 0.05 theta; 5.46 psi 2024-11-06T00:04:49Z- handleDepth()- Depth_Keller msg: 1730851489.84 epoch sec; seqNo:136; depth -0.07 2024-11-06T00:04:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851489.85 epoch sec; seqNo:136; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:50Z- waiting for 1730851491.85, time is 1730851489.85 2024-11-06T00:04:50Z- AHRS_M2 msg: 1730851490.24 epoch sec; seqNo:131 2024-11-06T00:04:50Z- AHRS_M2 msg: 0.23 phi; 0.04 theta; 5.51 psi 2024-11-06T00:04:50Z- handleDepth()- Depth_Keller msg: 1730851490.26 epoch sec; seqNo:137; depth -0.07 2024-11-06T00:04:50Z- handleDVL() - DVL msg epochMillisec: 1730851490.28 2024-11-06T00:04:50Z- handleDvl() - RDI_Pathfinder msg: 1730851490.28 sec; seqNo:42; #beams:4 2024-11-06T00:04:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 112.34 , 85.27 , 96.10 , 97.45 2024-11-06T00:04:50Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , 0.01 , 0.28 2024-11-06T00:04:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851490.29 epoch sec; seqNo:137; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:50Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:50Z- waiting for 1730851491.85, time is 1730851490.29 2024-11-06T00:04:50Z- AHRS_M2 msg: 1730851490.65 epoch sec; seqNo:132 2024-11-06T00:04:50Z- AHRS_M2 msg: 0.25 phi; -0.04 theta; 5.48 psi 2024-11-06T00:04:50Z- handleDepth()- Depth_Keller msg: 1730851490.65 epoch sec; seqNo:138; depth -0.07 2024-11-06T00:04:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851490.68 epoch sec; seqNo:138; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:50Z- waiting for 1730851491.85, time is 1730851490.68 2024-11-06T00:04:51Z- AHRS_M2 msg: 1730851491.05 epoch sec; seqNo:133 2024-11-06T00:04:51Z- AHRS_M2 msg: 0.24 phi; 0.00 theta; 5.42 psi 2024-11-06T00:04:51Z- handleDepth()- Depth_Keller msg: 1730851491.06 epoch sec; seqNo:139; depth -0.03 2024-11-06T00:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851491.07 epoch sec; seqNo:139; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:51Z- waiting for 1730851491.85, time is 1730851491.07 2024-11-06T00:04:51Z- AHRS_M2 msg: 1730851491.47 epoch sec; seqNo:134 2024-11-06T00:04:51Z- AHRS_M2 msg: 0.19 phi; 0.06 theta; 5.37 psi 2024-11-06T00:04:51Z- handleDepth()- Depth_Keller msg: 1730851491.47 epoch sec; seqNo:140; depth -0.04 2024-11-06T00:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851491.48 epoch sec; seqNo:140; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:51Z- waiting for 1730851491.85, time is 1730851491.48 2024-11-06T00:04:51Z- AHRS_M2 msg: 1730851491.86 epoch sec; seqNo:135 2024-11-06T00:04:51Z- AHRS_M2 msg: 0.13 phi; -0.00 theta; 5.33 psi 2024-11-06T00:04:51Z- handleDepth()- Depth_Keller msg: 1730851491.87 epoch sec; seqNo:141; depth -0.08 2024-11-06T00:04:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851491.89 epoch sec; seqNo:141; 4061392.53 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851487.85 2024-11-06T00:04:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:52Z- waiting for 1730851491.85, time is 1730851491.89 2024-11-06T00:04:52Z- LcmTrn::updateTrn() >>>> pose time 1730851491.89, meas time 1730851490.28 <<<< 2024-11-06T00:04:52Z- LcmTrn::updateTrn() measUpdate first last update time: 1730851491.89 2024-11-06T00:04:52Z- TerrainNav::Measurement type 1 from time = 1730851490.28 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:52Z- TerrainNav::motionUpdate() - currEstimate = (4061393, 594367.95, -0.08) 2024-11-06T00:04:52Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:52Z- publishEstimatesDecoder() - at 1730851491.89 sec 2024-11-06T00:04:52Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:52Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:52Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:52Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:52Z- AHRS_M2 msg: 1730851492.26 epoch sec; seqNo:136 2024-11-06T00:04:52Z- AHRS_M2 msg: 0.15 phi; -0.15 theta; 5.38 psi 2024-11-06T00:04:52Z- handleDepth()- Depth_Keller msg: 1730851492.27 epoch sec; seqNo:142; depth -0.11 2024-11-06T00:04:52Z- handleDVL() - DVL msg epochMillisec: 1730851492.30 2024-11-06T00:04:52Z- handleDvl() - RDI_Pathfinder msg: 1730851492.30 sec; seqNo:43; #beams:4 2024-11-06T00:04:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 110.78 , 85.07 , 95.90 , 94.54 2024-11-06T00:04:52Z- handleDvl() - RDI_Pathfinder msg: velocities -0.44 , -0.22 , 0.32 2024-11-06T00:04:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851492.31 epoch sec; seqNo:142; 4061392.15 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.11 depth; utmZone: 10 2024-11-06T00:04:52Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:52Z- waiting for 1730851495.89, time is 1730851492.31 2024-11-06T00:04:52Z- AHRS_M2 msg: 1730851492.67 epoch sec; seqNo:137 2024-11-06T00:04:52Z- AHRS_M2 msg: 0.26 phi; -0.14 theta; 5.43 psi 2024-11-06T00:04:52Z- handleDepth()- Depth_Keller msg: 1730851492.67 epoch sec; seqNo:143; depth -0.08 2024-11-06T00:04:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851492.69 epoch sec; seqNo:143; 4061392.15 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:04:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:52Z- waiting for 1730851495.89, time is 1730851492.69 2024-11-06T00:04:53Z- AHRS_M2 msg: 1730851493.11 epoch sec; seqNo:138 2024-11-06T00:04:53Z- AHRS_M2 msg: 0.38 phi; -0.05 theta; 5.43 psi 2024-11-06T00:04:53Z- handleDepth()- Depth_Keller msg: 1730851493.12 epoch sec; seqNo:144; depth -0.05 2024-11-06T00:04:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851493.14 epoch sec; seqNo:144; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:53Z- waiting for 1730851495.89, time is 1730851493.14 2024-11-06T00:04:53Z- AHRS_M2 msg: 1730851493.49 epoch sec; seqNo:139 2024-11-06T00:04:53Z- AHRS_M2 msg: 0.36 phi; -0.04 theta; 5.44 psi 2024-11-06T00:04:53Z- handleDepth()- Depth_Keller msg: 1730851493.51 epoch sec; seqNo:145; depth -0.05 2024-11-06T00:04:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851493.52 epoch sec; seqNo:145; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:53Z- waiting for 1730851495.89, time is 1730851493.52 2024-11-06T00:04:53Z- AHRS_M2 msg: 1730851493.90 epoch sec; seqNo:140 2024-11-06T00:04:53Z- AHRS_M2 msg: 0.23 phi; -0.05 theta; 5.44 psi 2024-11-06T00:04:53Z- handleDepth()- Depth_Keller msg: 1730851493.93 epoch sec; seqNo:146; depth -0.01 2024-11-06T00:04:53Z- handleDVL() - DVL msg epochMillisec: 1730851493.99 2024-11-06T00:04:53Z- handleDvl() - RDI_Pathfinder msg: 1730851493.99 sec; seqNo:44; #beams:4 2024-11-06T00:04:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 128.44 , 82.44 , 95.97 , 102.73 2024-11-06T00:04:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.11 , 0.23 , -0.32 2024-11-06T00:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851494.00 epoch sec; seqNo:146; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:54Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:54Z- waiting for 1730851495.89, time is 1730851494.00 2024-11-06T00:04:54Z- AHRS_M2 msg: 1730851494.30 epoch sec; seqNo:141 2024-11-06T00:04:54Z- AHRS_M2 msg: 0.16 phi; 0.00 theta; 5.48 psi 2024-11-06T00:04:54Z- handleDepth()- Depth_Keller msg: 1730851494.31 epoch sec; seqNo:147; depth -0.00 2024-11-06T00:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851494.32 epoch sec; seqNo:147; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.00 depth; utmZone: 10 2024-11-06T00:04:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:54Z- waiting for 1730851495.89, time is 1730851494.32 2024-11-06T00:04:54Z- AHRS_M2 msg: 1730851494.71 epoch sec; seqNo:142 2024-11-06T00:04:54Z- AHRS_M2 msg: 0.15 phi; 0.08 theta; 5.47 psi 2024-11-06T00:04:54Z- handleDepth()- Depth_Keller msg: 1730851494.72 epoch sec; seqNo:148; depth -0.01 2024-11-06T00:04:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851494.73 epoch sec; seqNo:148; 4061391.77 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:04:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:54Z- waiting for 1730851495.89, time is 1730851494.73 2024-11-06T00:04:55Z- AHRS_M2 msg: 1730851495.11 epoch sec; seqNo:143 2024-11-06T00:04:55Z- AHRS_M2 msg: 0.17 phi; 0.05 theta; 5.47 psi 2024-11-06T00:04:55Z- handleDepth()- Depth_Keller msg: 1730851495.12 epoch sec; seqNo:149; depth -0.04 2024-11-06T00:04:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851495.14 epoch sec; seqNo:149; 4061392.15 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:04:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:55Z- waiting for 1730851495.89, time is 1730851495.14 2024-11-06T00:04:55Z- AHRS_M2 msg: 1730851495.51 epoch sec; seqNo:144 2024-11-06T00:04:55Z- AHRS_M2 msg: 0.22 phi; -0.12 theta; 5.47 psi 2024-11-06T00:04:55Z- handleDepth()- Depth_Keller msg: 1730851495.52 epoch sec; seqNo:150; depth -0.07 2024-11-06T00:04:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851495.53 epoch sec; seqNo:150; 4061392.15 north; 594367.95 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:55Z- waiting for 1730851495.89, time is 1730851495.53 2024-11-06T00:04:55Z- AHRS_M2 msg: 1730851495.96 epoch sec; seqNo:145 2024-11-06T00:04:55Z- AHRS_M2 msg: 0.29 phi; -0.16 theta; 5.48 psi 2024-11-06T00:04:55Z- handleDepth()- Depth_Keller msg: 1730851495.97 epoch sec; seqNo:151; depth -0.02 2024-11-06T00:04:56Z- handleDVL() - DVL msg epochMillisec: 1730851495.99 2024-11-06T00:04:56Z- handleDvl() - RDI_Pathfinder msg: 1730851495.99 sec; seqNo:45; #beams:4 2024-11-06T00:04:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 103.88 , 89.00 , 97.93 , 97.93 2024-11-06T00:04:56Z- handleDvl() - RDI_Pathfinder msg: velocities -0.48 , 0.20 , -0.08 2024-11-06T00:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851496.01 epoch sec; seqNo:151; 4061392.16 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.02 depth; utmZone: 10 2024-11-06T00:04:56Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851491.89 2024-11-06T00:04:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:56Z- waiting for 1730851495.89, time is 1730851496.01 2024-11-06T00:04:56Z- LcmTrn::updateTrn() >>>> pose time 1730851496.01, meas time 1730851495.99 <<<< 2024-11-06T00:04:56Z- LcmTrn::updateTrn() equating pose 1730851495.99 and meas times 1730851495.99 2024-11-06T00:04:56Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730851495.99 2024-11-06T00:04:56Z- TerrainNav::motionUpdate() - currEstimate = (4061392, 594369.17, -0.02) 2024-11-06T00:04:56Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:04:56Z- TerrainNav::Measurement type 1 from time = 1730851495.99 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:04:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:04:56Z- publishEstimatesDecoder() - at 1730851495.99 sec 2024-11-06T00:04:56Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:04:56Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:04:56Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:04:56Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:04:56Z- AHRS_M2 msg: 1730851496.32 epoch sec; seqNo:146 2024-11-06T00:04:56Z- AHRS_M2 msg: 0.34 phi; 0.01 theta; 5.50 psi 2024-11-06T00:04:56Z- handleDepth()- Depth_Keller msg: 1730851496.33 epoch sec; seqNo:152; depth -0.05 2024-11-06T00:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851496.35 epoch sec; seqNo:152; 4061392.16 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:56Z- waiting for 1730851499.99, time is 1730851496.35 2024-11-06T00:04:56Z- AHRS_M2 msg: 1730851496.72 epoch sec; seqNo:147 2024-11-06T00:04:56Z- AHRS_M2 msg: 0.27 phi; 0.12 theta; 5.48 psi 2024-11-06T00:04:56Z- handleDepth()- Depth_Keller msg: 1730851496.74 epoch sec; seqNo:153; depth -0.05 2024-11-06T00:04:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851496.75 epoch sec; seqNo:153; 4061391.78 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:56Z- waiting for 1730851499.99, time is 1730851496.75 2024-11-06T00:04:57Z- AHRS_M2 msg: 1730851497.13 epoch sec; seqNo:148 2024-11-06T00:04:57Z- AHRS_M2 msg: 0.16 phi; 0.10 theta; 5.46 psi 2024-11-06T00:04:57Z- handleDepth()- Depth_Keller msg: 1730851497.14 epoch sec; seqNo:154; depth -0.05 2024-11-06T00:04:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851497.15 epoch sec; seqNo:154; 4061391.78 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:57Z- waiting for 1730851499.99, time is 1730851497.15 2024-11-06T00:04:57Z- AHRS_M2 msg: 1730851497.54 epoch sec; seqNo:149 2024-11-06T00:04:57Z- AHRS_M2 msg: 0.12 phi; 0.01 theta; 5.43 psi 2024-11-06T00:04:57Z- handleDepth()- Depth_Keller msg: 1730851497.54 epoch sec; seqNo:155; depth -0.05 2024-11-06T00:04:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851497.56 epoch sec; seqNo:155; 4061391.78 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:04:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:57Z- waiting for 1730851499.99, time is 1730851497.56 2024-11-06T00:04:57Z- AHRS_M2 msg: 1730851497.97 epoch sec; seqNo:150 2024-11-06T00:04:57Z- AHRS_M2 msg: 0.17 phi; -0.02 theta; 5.47 psi 2024-11-06T00:04:57Z- handleDepth()- Depth_Keller msg: 1730851497.97 epoch sec; seqNo:156; depth -0.03 2024-11-06T00:04:58Z- handleDVL() - DVL msg epochMillisec: 1730851498.00 2024-11-06T00:04:58Z- handleDvl() - RDI_Pathfinder msg: 1730851498.00 sec; seqNo:46; #beams:4 2024-11-06T00:04:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 100.03 , 0.00 , 100.03 , 89.20 2024-11-06T00:04:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.11 , 0.07 2024-11-06T00:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851498.02 epoch sec; seqNo:156; 4061391.78 north; 594369.17 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:58Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:58Z- waiting for 1730851499.99, time is 1730851498.02 2024-11-06T00:04:58Z- AHRS_M2 msg: 1730851498.34 epoch sec; seqNo:151 2024-11-06T00:04:58Z- AHRS_M2 msg: 0.26 phi; 0.01 theta; 5.53 psi 2024-11-06T00:04:58Z- handleDepth()- Depth_Keller msg: 1730851498.35 epoch sec; seqNo:157; depth -0.03 2024-11-06T00:04:58Z- handleDVL() - DVL msg epochMillisec: 1730851498.35 2024-11-06T00:04:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:04:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:04:58Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:04:58Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:04:58Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:04:58Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:04:58Z- handleDvl() - RDI_Pathfinder msg: 1730851498.35 sec; seqNo:47; #beams:0 2024-11-06T00:04:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:04:58Z- handleDvl() - RDI_Pathfinder msg: velocities -0.61 , -0.11 , 0.07 2024-11-06T00:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851498.37 epoch sec; seqNo:157; 4061391.42 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:04:58Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:04:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:58Z- waiting for 1730851499.99, time is 1730851498.37 2024-11-06T00:04:58Z- AHRS_M2 msg: 1730851498.75 epoch sec; seqNo:152 2024-11-06T00:04:58Z- AHRS_M2 msg: 0.30 phi; 0.03 theta; 5.52 psi 2024-11-06T00:04:58Z- handleDepth()- Depth_Keller msg: 1730851498.76 epoch sec; seqNo:158; depth -0.07 2024-11-06T00:04:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851498.77 epoch sec; seqNo:158; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:58Z- waiting for 1730851499.99, time is 1730851498.77 2024-11-06T00:04:59Z- AHRS_M2 msg: 1730851499.15 epoch sec; seqNo:153 2024-11-06T00:04:59Z- AHRS_M2 msg: 0.31 phi; 0.01 theta; 5.51 psi 2024-11-06T00:04:59Z- handleDepth()- Depth_Keller msg: 1730851499.17 epoch sec; seqNo:159; depth -0.07 2024-11-06T00:04:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851499.19 epoch sec; seqNo:159; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:04:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:59Z- waiting for 1730851499.99, time is 1730851499.19 2024-11-06T00:04:59Z- AHRS_M2 msg: 1730851499.56 epoch sec; seqNo:154 2024-11-06T00:04:59Z- AHRS_M2 msg: 0.29 phi; -0.03 theta; 5.53 psi 2024-11-06T00:04:59Z- handleDepth()- Depth_Keller msg: 1730851499.56 epoch sec; seqNo:160; depth -0.10 2024-11-06T00:04:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851499.58 epoch sec; seqNo:160; 4061390.66 north; 594370.41 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:04:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:04:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:04:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:04:59Z- waiting for 1730851499.99, time is 1730851499.58 2024-11-06T00:04:59Z- AHRS_M2 msg: 1730851499.98 epoch sec; seqNo:155 2024-11-06T00:04:59Z- AHRS_M2 msg: 0.25 phi; -0.08 theta; 5.56 psi 2024-11-06T00:04:59Z- handleDepth()- Depth_Keller msg: 1730851499.99 epoch sec; seqNo:161; depth -0.08 2024-11-06T00:05:00Z- handleDVL() - DVL msg epochMillisec: 1730851500.04 2024-11-06T00:05:00Z- handleDvl() - RDI_Pathfinder msg: 1730851500.04 sec; seqNo:48; #beams:4 2024-11-06T00:05:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 114.98 , 82.50 , 96.04 , 96.04 2024-11-06T00:05:00Z- handleDvl() - RDI_Pathfinder msg: velocities -0.11 , 0.20 , -0.06 2024-11-06T00:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851500.11 epoch sec; seqNo:161; 4061390.66 north; 594370.41 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:05:00Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:05:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851495.99 2024-11-06T00:05:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:00Z- waiting for 1730851499.99, time is 1730851500.11 2024-11-06T00:05:00Z- LcmTrn::updateTrn() >>>> pose time 1730851500.11, meas time 1730851500.04 <<<< 2024-11-06T00:05:00Z- LcmTrn::updateTrn() equating pose 1730851500.04 and meas times 1730851500.04 2024-11-06T00:05:00Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730851500.04 2024-11-06T00:05:00Z- TerrainNav::motionUpdate() - currEstimate = (4061391, 594370.41, -0.08) 2024-11-06T00:05:00Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:05:00Z- TerrainNav::Measurement type 1 from time = 1730851500.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:05:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:05:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:05:00Z- publishEstimatesDecoder() - at 1730851500.04 sec 2024-11-06T00:05:00Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:05:00Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:05:00Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:05:00Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:05:00Z- AHRS_M2 msg: 1730851500.36 epoch sec; seqNo:156 2024-11-06T00:05:00Z- AHRS_M2 msg: 0.20 phi; -0.04 theta; 5.55 psi 2024-11-06T00:05:00Z- handleDepth()- Depth_Keller msg: 1730851500.38 epoch sec; seqNo:162; depth -0.08 2024-11-06T00:05:00Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T00:05:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:00Z- waiting for 1730851504.04, time is 1730851500.36 2024-11-06T00:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851500.52 epoch sec; seqNo:162; 4061390.66 north; 594370.41 east; 36.69 lat; -121.94 lon; -0.08 depth; utmZone: 10 2024-11-06T00:05:00Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T00:05:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:00Z- waiting for 1730851504.04, time is 1730851500.52 2024-11-06T00:05:00Z- AHRS_M2 msg: 1730851500.77 epoch sec; seqNo:157 2024-11-06T00:05:00Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 5.56 psi 2024-11-06T00:05:00Z- handleDepth()- Depth_Keller msg: 1730851500.77 epoch sec; seqNo:163; depth -0.10 2024-11-06T00:05:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851500.79 epoch sec; seqNo:163; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:05:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:00Z- waiting for 1730851504.04, time is 1730851500.79 2024-11-06T00:05:01Z- AHRS_M2 msg: 1730851501.17 epoch sec; seqNo:158 2024-11-06T00:05:01Z- AHRS_M2 msg: 0.15 phi; -0.10 theta; 5.57 psi 2024-11-06T00:05:01Z- handleDepth()- Depth_Keller msg: 1730851501.18 epoch sec; seqNo:164; depth -0.07 2024-11-06T00:05:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851501.22 epoch sec; seqNo:164; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:05:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:01Z- waiting for 1730851504.04, time is 1730851501.22 2024-11-06T00:05:01Z- AHRS_M2 msg: 1730851501.58 epoch sec; seqNo:159 2024-11-06T00:05:01Z- AHRS_M2 msg: 0.20 phi; -0.08 theta; 5.60 psi 2024-11-06T00:05:01Z- handleDepth()- Depth_Keller msg: 1730851501.59 epoch sec; seqNo:165; depth -0.05 2024-11-06T00:05:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851501.60 epoch sec; seqNo:165; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:05:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:01Z- waiting for 1730851504.04, time is 1730851501.60 2024-11-06T00:05:01Z- AHRS_M2 msg: 1730851501.98 epoch sec; seqNo:160 2024-11-06T00:05:01Z- AHRS_M2 msg: 0.30 phi; 0.01 theta; 5.63 psi 2024-11-06T00:05:02Z- handleDepth()- Depth_Keller msg: 1730851502.00 epoch sec; seqNo:166; depth -0.04 2024-11-06T00:05:02Z- handleDVL() - DVL msg epochMillisec: 1730851502.03 2024-11-06T00:05:02Z- handleDvl() - RDI_Pathfinder msg: 1730851502.03 sec; seqNo:49; #beams:4 2024-11-06T00:05:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 105.37 , 87.78 , 90.48 , 99.96 2024-11-06T00:05:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.11 , -0.37 2024-11-06T00:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851502.07 epoch sec; seqNo:166; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:05:02Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:05:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:02Z- waiting for 1730851504.04, time is 1730851502.07 2024-11-06T00:05:02Z- AHRS_M2 msg: 1730851502.38 epoch sec; seqNo:161 2024-11-06T00:05:02Z- AHRS_M2 msg: 0.36 phi; 0.07 theta; 5.60 psi 2024-11-06T00:05:02Z- handleDepth()- Depth_Keller msg: 1730851502.39 epoch sec; seqNo:167; depth -0.04 2024-11-06T00:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851502.42 epoch sec; seqNo:167; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.04 depth; utmZone: 10 2024-11-06T00:05:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:02Z- waiting for 1730851504.04, time is 1730851502.42 2024-11-06T00:05:02Z- AHRS_M2 msg: 1730851502.79 epoch sec; seqNo:162 2024-11-06T00:05:02Z- AHRS_M2 msg: 0.33 phi; 0.07 theta; 5.69 psi 2024-11-06T00:05:02Z- handleDepth()- Depth_Keller msg: 1730851502.81 epoch sec; seqNo:168; depth -0.03 2024-11-06T00:05:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851502.82 epoch sec; seqNo:168; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:05:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:02Z- waiting for 1730851504.04, time is 1730851502.82 2024-11-06T00:05:03Z- AHRS_M2 msg: 1730851503.19 epoch sec; seqNo:163 2024-11-06T00:05:03Z- AHRS_M2 msg: 0.26 phi; 0.03 theta; 5.65 psi 2024-11-06T00:05:03Z- handleDepth()- Depth_Keller msg: 1730851503.20 epoch sec; seqNo:169; depth -0.06 2024-11-06T00:05:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851503.22 epoch sec; seqNo:169; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:05:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:03Z- waiting for 1730851504.04, time is 1730851503.22 2024-11-06T00:05:03Z- AHRS_M2 msg: 1730851503.59 epoch sec; seqNo:164 2024-11-06T00:05:03Z- AHRS_M2 msg: 0.17 phi; 0.02 theta; 5.60 psi 2024-11-06T00:05:03Z- handleDepth()- Depth_Keller msg: 1730851503.60 epoch sec; seqNo:170; depth -0.06 2024-11-06T00:05:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851503.66 epoch sec; seqNo:170; 4061391.42 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:05:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:03Z- waiting for 1730851504.04, time is 1730851503.66 2024-11-06T00:05:04Z- AHRS_M2 msg: 1730851504.00 epoch sec; seqNo:165 2024-11-06T00:05:04Z- AHRS_M2 msg: 0.18 phi; 0.04 theta; 5.66 psi 2024-11-06T00:05:04Z- handleDepth()- Depth_Keller msg: 1730851504.01 epoch sec; seqNo:171; depth -0.09 2024-11-06T00:05:04Z- handleDVL() - DVL msg epochMillisec: 1730851504.04 2024-11-06T00:05:04Z- handleDvl() - RDI_Pathfinder msg: 1730851504.04 sec; seqNo:50; #beams:4 2024-11-06T00:05:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 116.33 , 85.21 , 101.45 , 94.68 2024-11-06T00:05:04Z- handleDvl() - RDI_Pathfinder msg: velocities -0.43 , 0.00 , 0.48 2024-11-06T00:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851504.07 epoch sec; seqNo:171; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.09 depth; utmZone: 10 2024-11-06T00:05:04Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:05:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851500.04 2024-11-06T00:05:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:04Z- waiting for 1730851504.04, time is 1730851504.07 2024-11-06T00:05:04Z- LcmTrn::updateTrn() >>>> pose time 1730851504.07, meas time 1730851504.04 <<<< 2024-11-06T00:05:04Z- LcmTrn::updateTrn() equating pose 1730851504.04 and meas times 1730851504.04 2024-11-06T00:05:04Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730851504.04 2024-11-06T00:05:04Z- TerrainNav::motionUpdate() - currEstimate = (4061391, 594370.40, -0.09) 2024-11-06T00:05:04Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T00:05:04Z- TerrainNav::Measurement type 1 from time = 1730851504.04 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2024-11-06T00:05:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:05:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T00:05:04Z- publishEstimatesDecoder() - at 1730851504.04 sec 2024-11-06T00:05:04Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T00:05:04Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T00:05:04Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T00:05:04Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T00:05:04Z- AHRS_M2 msg: 1730851504.40 epoch sec; seqNo:166 2024-11-06T00:05:04Z- AHRS_M2 msg: 0.29 phi; 0.00 theta; 5.71 psi 2024-11-06T00:05:04Z- handleDepth()- Depth_Keller msg: 1730851504.41 epoch sec; seqNo:172; depth -0.10 2024-11-06T00:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851504.43 epoch sec; seqNo:172; 4061391.04 north; 594370.40 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:05:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:04Z- waiting for 1730851508.04, time is 1730851504.43 2024-11-06T00:05:04Z- AHRS_M2 msg: 1730851504.81 epoch sec; seqNo:167 2024-11-06T00:05:04Z- AHRS_M2 msg: 0.34 phi; -0.08 theta; 5.72 psi 2024-11-06T00:05:04Z- handleDepth()- Depth_Keller msg: 1730851504.81 epoch sec; seqNo:173; depth -0.10 2024-11-06T00:05:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851504.82 epoch sec; seqNo:173; 4061390.66 north; 594370.41 east; 36.69 lat; -121.94 lon; -0.10 depth; utmZone: 10 2024-11-06T00:05:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:04Z- waiting for 1730851508.04, time is 1730851504.82 2024-11-06T00:05:05Z- AHRS_M2 msg: 1730851505.21 epoch sec; seqNo:168 2024-11-06T00:05:05Z- AHRS_M2 msg: 0.31 phi; -0.08 theta; 5.73 psi 2024-11-06T00:05:05Z- handleDepth()- Depth_Keller msg: 1730851505.22 epoch sec; seqNo:174; depth -0.06 2024-11-06T00:05:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851505.23 epoch sec; seqNo:174; 4061390.66 north; 594370.41 east; 36.69 lat; -121.94 lon; -0.06 depth; utmZone: 10 2024-11-06T00:05:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:05Z- waiting for 1730851508.04, time is 1730851505.23 2024-11-06T00:05:05Z- AHRS_M2 msg: 1730851505.62 epoch sec; seqNo:169 2024-11-06T00:05:05Z- AHRS_M2 msg: 0.24 phi; -0.04 theta; 5.72 psi 2024-11-06T00:05:05Z- handleDepth()- Depth_Keller msg: 1730851505.62 epoch sec; seqNo:175; depth -0.07 2024-11-06T00:05:05Z- handleDVL() - DVL msg epochMillisec: 1730851505.62 2024-11-06T00:05:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:05:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:05:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T00:05:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T00:05:05Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T00:05:05Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T00:05:05Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T00:05:05Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T00:05:05Z- handleDvl() - RDI_Pathfinder msg: 1730851505.62 sec; seqNo:51; #beams:0 2024-11-06T00:05:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T00:05:05Z- handleDvl() - RDI_Pathfinder msg: velocities -0.43 , 0.00 , 0.48 2024-11-06T00:05:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851505.64 epoch sec; seqNo:175; 4061390.28 north; 594370.41 east; 36.69 lat; -121.94 lon; -0.07 depth; utmZone: 10 2024-11-06T00:05:05Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:05:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:05Z- waiting for 1730851508.04, time is 1730851505.64 2024-11-06T00:05:06Z- AHRS_M2 msg: 1730851506.02 epoch sec; seqNo:170 2024-11-06T00:05:06Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.69 psi 2024-11-06T00:05:06Z- handleDepth()- Depth_Keller msg: 1730851506.03 epoch sec; seqNo:176; depth -0.05 2024-11-06T00:05:06Z- handleDVL() - DVL msg epochMillisec: 1730851506.05 2024-11-06T00:05:06Z- handleDvl() - RDI_Pathfinder msg: 1730851506.05 sec; seqNo:52; #beams:4 2024-11-06T00:05:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 120.12 , 84.94 , 95.76 , 105.24 2024-11-06T00:05:06Z- handleDvl() - RDI_Pathfinder msg: velocities -0.38 , 0.43 , -0.73 2024-11-06T00:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851506.07 epoch sec; seqNo:176; 4061390.28 north; 594370.41 east; 36.69 lat; -121.94 lon; -0.05 depth; utmZone: 10 2024-11-06T00:05:06Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T00:05:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:06Z- waiting for 1730851508.04, time is 1730851506.07 2024-11-06T00:05:06Z- AHRS_M2 msg: 1730851506.42 epoch sec; seqNo:171 2024-11-06T00:05:06Z- AHRS_M2 msg: 0.20 phi; 0.01 theta; 5.72 psi 2024-11-06T00:05:06Z- handleDepth()- Depth_Keller msg: 1730851506.43 epoch sec; seqNo:177; depth -0.03 2024-11-06T00:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851506.44 epoch sec; seqNo:177; 4061390.29 north; 594371.63 east; 36.69 lat; -121.94 lon; -0.03 depth; utmZone: 10 2024-11-06T00:05:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:06Z- waiting for 1730851508.04, time is 1730851506.44 2024-11-06T00:05:06Z- AHRS_M2 msg: 1730851506.83 epoch sec; seqNo:172 2024-11-06T00:05:06Z- AHRS_M2 msg: 0.27 phi; -0.01 theta; 5.77 psi 2024-11-06T00:05:06Z- handleDepth()- Depth_Keller msg: 1730851506.84 epoch sec; seqNo:178; depth -0.01 2024-11-06T00:05:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851506.85 epoch sec; seqNo:178; 4061390.29 north; 594371.63 east; 36.69 lat; -121.94 lon; -0.01 depth; utmZone: 10 2024-11-06T00:05:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:06Z- waiting for 1730851508.04, time is 1730851506.85 2024-11-06T00:05:07Z- AHRS_M2 msg: 1730851507.23 epoch sec; seqNo:173 2024-11-06T00:05:07Z- AHRS_M2 msg: 0.29 phi; -0.00 theta; 5.76 psi 2024-11-06T00:05:07Z- handleDepth()- Depth_Keller msg: 1730851507.23 epoch sec; seqNo:179; depth 0.02 2024-11-06T00:05:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851507.25 epoch sec; seqNo:179; 4061390.29 north; 594371.63 east; 36.69 lat; -121.94 lon; 0.02 depth; utmZone: 10 2024-11-06T00:05:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:07Z- waiting for 1730851508.04, time is 1730851507.25 2024-11-06T00:05:07Z- AHRS_M2 msg: 1730851507.64 epoch sec; seqNo:174 2024-11-06T00:05:07Z- AHRS_M2 msg: 0.26 phi; 0.07 theta; 5.74 psi 2024-11-06T00:05:07Z- handleDepth()- Depth_Keller msg: 1730851507.64 epoch sec; seqNo:180; depth 0.03 2024-11-06T00:05:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730851507.65 epoch sec; seqNo:180; 4061390.29 north; 594371.63 east; 36.69 lat; -121.94 lon; 0.03 depth; utmZone: 10 2024-11-06T00:05:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T00:05:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730851504.04 2024-11-06T00:05:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T00:05:07Z- waiting for 1730851508.04, time is 1730851507.65