2024-11-06T19:44:50Z* 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 2024-11-06T19:44:50Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-06T19:44:50Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2024-11-06T19:44:50Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2024-11-06T19:44:50Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2024-11-06T19:44:50Z* depth config: Depth_Keller, depth, sea_water_pressure 2024-11-06T19:44:50Z* LCM timeout=0.20 sec 2024-11-06T19:44:50Z* TRN settings: 2024-11-06T19:44:50Z* period=4.00 sec 2024-11-06T19:44:50Z* coherence=0.90 sec 2024-11-06T19:44:50Z* map = PortTiles cfg = LRAUV_specs.cfg part= particles.cfg logdir= lrauv 2024-11-06T19:44:50Z* maptype = 2 filtertype = 2 weighting = 4 2024-11-06T19:44:50Z* lowgrade_filter = 0 allow reinit = 1 2024-11-06T19:44:50Z* cmd_estimate = estimate cmd_reinit = reinit 2024-11-06T19:44:50Z* LcmTrn::initTrn() version v1.0.3b0-518-g924cc45 - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-06T19:44:50Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-06T19:44:50Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-06T19:44:50Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-06T19:44:50Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2024-11-06T19:44:50Z* TerrainMapOctree::numTiles_ = 9. 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2024-11-06T19:44:50Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2024-11-06T19:44:51Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.497098 seconds. 2024-11-06T19:44:51Z* session directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.17/ 2024-11-06T19:44:51Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.17/ 2024-11-06T19:44:51Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to lrauv-TRN.17 OK 2024-11-06T19:44:51Z* parseSensorSpecs parsing sensor of type 1. 2024-11-06T19:44:51Z* Sensor 0 is of type 1. 2024-11-06T19:44:51Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55747efda0] 2024-11-06T19:44:51Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2024-11-06T19:44:51Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-06T19:44:51Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2024-11-06T19:44:51Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.17/ 2024-11-06T19:44:51Z- createFilter: Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/LRAUV_specs.cfg 2024-11-06T19:44:51Z- parseSensorSpecs parsing sensor of type 1. 2024-11-06T19:44:51Z- Sensor 0 is of type 1. 2024-11-06T19:44:51Z- Random noise generator initialized with 1730922291 2024-11-06T19:44:51Z- Vehicle name: LRAUV Number of sensors: 1 2024-11-06T19:44:51Z- Sensor #1: 2024-11-06T19:44:51Z- Sensor name: rdiDVL 2024-11-06T19:44:51Z- Sensor type: 1 2024-11-06T19:44:51Z- Number of beams per measurement: 4 2024-11-06T19:44:51Z- Sensor #1 to vehicle transformation information: 2024-11-06T19:44:51Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2024-11-06T19:44:51Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2024-11-06T19:44:51Z- 2024-11-06T19:44:51Z- setDistribToSave(0) 2024-11-06T19:44:51Z- setDistribToSave set to 0 2024-11-06T19:44:51Z- TerrainNav::TNavFilter initialized with type 2 2024-11-06T19:44:51Z- TerrainNav::initVariables finished. 2024-11-06T19:44:51Z- TerrainNav::Constructor finished. 2024-11-06T19:44:51Z- TerrainNav::modified weighting set to 4 2024-11-06T19:44:51Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn-lrauv.cfg 2024-11-06T19:44:51Z- LcmTrn::run() v1.0.3b0-518-g924cc45 using bursty timeouts of 50 and 150 msec 2024-11-06T19:44:51Z- AHRS_M2 msg: 1730922291.59 epoch sec; seqNo:5 2024-11-06T19:44:51Z- AHRS_M2 msg: 0.28 phi; 0.09 theta; 5.25 psi 2024-11-06T19:44:51Z- handleDepth()- Depth_Keller msg: 1730922291.60 epoch sec; seqNo:5; depth -0.03 2024-11-06T19:44:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922291.61 epoch sec; seqNo:5; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:44:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:51Z- Waiting for fresh data: AHRS(1730922291.59), Dvl(-1.00), Nav(1730922291.61), Depth(1730922291.60) 2024-11-06T19:44:52Z- AHRS_M2 msg: 1730922292.00 epoch sec; seqNo:6 2024-11-06T19:44:52Z- AHRS_M2 msg: 0.09 phi; 0.01 theta; 5.23 psi 2024-11-06T19:44:52Z- handleDepth()- Depth_Keller msg: 1730922292.00 epoch sec; seqNo:6; depth -0.11 2024-11-06T19:44:52Z- handleDVL() - DVL msg epochMillisec: 1730922292.02 2024-11-06T19:44:52Z- handleDvl() - RDI_Pathfinder msg: 1730922292.02 sec; seqNo:3; #beams:4 2024-11-06T19:44:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:44:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922292.06 epoch sec; seqNo:6; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:44:52Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:44:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:52Z- waiting for 1730922295.61, time is 1730922292.06 2024-11-06T19:44:52Z- AHRS_M2 msg: 1730922292.39 epoch sec; seqNo:7 2024-11-06T19:44:52Z- AHRS_M2 msg: -0.02 phi; -0.05 theta; 5.27 psi 2024-11-06T19:44:52Z- handleDepth()- Depth_Keller msg: 1730922292.41 epoch sec; seqNo:7; depth -0.13 2024-11-06T19:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922292.42 epoch sec; seqNo:7; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:44:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:52Z- waiting for 1730922295.61, time is 1730922292.42 2024-11-06T19:44:52Z- AHRS_M2 msg: 1730922292.80 epoch sec; seqNo:8 2024-11-06T19:44:52Z- AHRS_M2 msg: 0.04 phi; -0.03 theta; 5.35 psi 2024-11-06T19:44:52Z- handleDepth()- Depth_Keller msg: 1730922292.89 epoch sec; seqNo:8; depth -0.17 2024-11-06T19:44:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922292.89 epoch sec; seqNo:8; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.17 depth; utmZone: 10 2024-11-06T19:44:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:52Z- waiting for 1730922295.61, time is 1730922292.89 2024-11-06T19:44:53Z- AHRS_M2 msg: 1730922293.20 epoch sec; seqNo:9 2024-11-06T19:44:53Z- AHRS_M2 msg: 0.18 phi; -0.00 theta; 5.35 psi 2024-11-06T19:44:53Z- handleDepth()- Depth_Keller msg: 1730922293.21 epoch sec; seqNo:9; depth -0.12 2024-11-06T19:44:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922293.22 epoch sec; seqNo:9; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:44:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:53Z- waiting for 1730922295.61, time is 1730922293.22 2024-11-06T19:44:53Z- AHRS_M2 msg: 1730922293.61 epoch sec; seqNo:10 2024-11-06T19:44:53Z- AHRS_M2 msg: 0.27 phi; -0.05 theta; 5.33 psi 2024-11-06T19:44:53Z- handleDepth()- Depth_Keller msg: 1730922293.61 epoch sec; seqNo:10; depth -0.07 2024-11-06T19:44:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922293.62 epoch sec; seqNo:10; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:44:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:53Z- waiting for 1730922295.61, time is 1730922293.62 2024-11-06T19:44:54Z- AHRS_M2 msg: 1730922294.01 epoch sec; seqNo:11 2024-11-06T19:44:54Z- AHRS_M2 msg: 0.26 phi; -0.10 theta; 5.36 psi 2024-11-06T19:44:54Z- handleDepth()- Depth_Keller msg: 1730922294.02 epoch sec; seqNo:11; depth -0.06 2024-11-06T19:44:54Z- handleDVL() - DVL msg epochMillisec: 1730922294.04 2024-11-06T19:44:54Z- handleDvl() - RDI_Pathfinder msg: 1730922294.04 sec; seqNo:4; #beams:4 2024-11-06T19:44:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:44:54Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922294.05 epoch sec; seqNo:11; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:44:54Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:44:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:54Z- waiting for 1730922295.61, time is 1730922294.05 2024-11-06T19:44:54Z- AHRS_M2 msg: 1730922294.41 epoch sec; seqNo:12 2024-11-06T19:44:54Z- AHRS_M2 msg: 0.19 phi; -0.10 theta; 5.40 psi 2024-11-06T19:44:54Z- handleDepth()- Depth_Keller msg: 1730922294.42 epoch sec; seqNo:12; depth -0.04 2024-11-06T19:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922294.44 epoch sec; seqNo:12; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:44:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:54Z- waiting for 1730922295.61, time is 1730922294.44 2024-11-06T19:44:54Z- AHRS_M2 msg: 1730922294.82 epoch sec; seqNo:13 2024-11-06T19:44:54Z- AHRS_M2 msg: 0.16 phi; -0.08 theta; 5.41 psi 2024-11-06T19:44:54Z- handleDepth()- Depth_Keller msg: 1730922294.83 epoch sec; seqNo:13; depth -0.03 2024-11-06T19:44:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922294.84 epoch sec; seqNo:13; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:44:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:54Z- waiting for 1730922295.61, time is 1730922294.84 2024-11-06T19:44:55Z- AHRS_M2 msg: 1730922295.23 epoch sec; seqNo:14 2024-11-06T19:44:55Z- AHRS_M2 msg: 0.13 phi; -0.08 theta; 5.41 psi 2024-11-06T19:44:55Z- handleDepth()- Depth_Keller msg: 1730922295.23 epoch sec; seqNo:14; depth -0.00 2024-11-06T19:44:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922295.25 epoch sec; seqNo:14; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.00 depth; utmZone: 10 2024-11-06T19:44:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:55Z- waiting for 1730922295.61, time is 1730922295.25 2024-11-06T19:44:55Z- AHRS_M2 msg: 1730922295.63 epoch sec; seqNo:15 2024-11-06T19:44:55Z- AHRS_M2 msg: 0.14 phi; -0.06 theta; 5.42 psi 2024-11-06T19:44:55Z- handleDepth()- Depth_Keller msg: 1730922295.64 epoch sec; seqNo:15; depth -0.02 2024-11-06T19:44:55Z- handleDVL() - DVL msg epochMillisec: 1730922295.64 2024-11-06T19:44:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:44:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:44:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:44:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:44:55Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:44:55Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:44:55Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:44:55Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:44:55Z- handleDvl() - RDI_Pathfinder msg: 1730922295.64 sec; seqNo:5; #beams:0 2024-11-06T19:44:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:44:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:44:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922295.65 epoch sec; seqNo:15; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:44:55Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:44:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922291.61 2024-11-06T19:44:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:55Z- waiting for 1730922295.61, time is 1730922295.65 2024-11-06T19:44:55Z- LcmTrn::updateTrn() >>>> pose time 1730922295.65, meas time 1730922295.64 <<<< 2024-11-06T19:44:55Z- LcmTrn::updateTrn() equating pose 1730922295.64 and meas times 1730922295.64 2024-11-06T19:44:55Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922295.64 2024-11-06T19:44:55Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.02) 2024-11-06T19:44:55Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:44:55Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:44:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:44:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:44:55Z- publishEstimatesDecoder() - at 1730922295.64 sec 2024-11-06T19:44:55Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:44:55Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:44:55Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:44:55Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:44:56Z- AHRS_M2 msg: 1730922296.03 epoch sec; seqNo:16 2024-11-06T19:44:56Z- AHRS_M2 msg: 0.21 phi; -0.02 theta; 5.43 psi 2024-11-06T19:44:56Z- handleDepth()- Depth_Keller msg: 1730922296.04 epoch sec; seqNo:16; depth -0.03 2024-11-06T19:44:56Z- handleDVL() - DVL msg epochMillisec: 1730922296.06 2024-11-06T19:44:56Z- handleDvl() - RDI_Pathfinder msg: 1730922296.06 sec; seqNo:6; #beams:4 2024-11-06T19:44:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:44:56Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922296.08 epoch sec; seqNo:16; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:44:56Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:44:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:56Z- waiting for 1730922299.64, time is 1730922296.08 2024-11-06T19:44:56Z- AHRS_M2 msg: 1730922296.44 epoch sec; seqNo:17 2024-11-06T19:44:56Z- AHRS_M2 msg: 0.27 phi; 0.04 theta; 5.45 psi 2024-11-06T19:44:56Z- handleDepth()- Depth_Keller msg: 1730922296.44 epoch sec; seqNo:17; depth -0.02 2024-11-06T19:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922296.46 epoch sec; seqNo:17; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:44:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:56Z- waiting for 1730922299.64, time is 1730922296.46 2024-11-06T19:44:56Z- AHRS_M2 msg: 1730922296.84 epoch sec; seqNo:18 2024-11-06T19:44:56Z- AHRS_M2 msg: 0.30 phi; 0.06 theta; 5.49 psi 2024-11-06T19:44:56Z- handleDepth()- Depth_Keller msg: 1730922296.85 epoch sec; seqNo:18; depth -0.05 2024-11-06T19:44:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922296.86 epoch sec; seqNo:18; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:44:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:56Z- waiting for 1730922299.64, time is 1730922296.86 2024-11-06T19:44:57Z- AHRS_M2 msg: 1730922297.25 epoch sec; seqNo:19 2024-11-06T19:44:57Z- AHRS_M2 msg: 0.30 phi; 0.01 theta; 5.49 psi 2024-11-06T19:44:57Z- handleDepth()- Depth_Keller msg: 1730922297.26 epoch sec; seqNo:19; depth -0.06 2024-11-06T19:44:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922297.28 epoch sec; seqNo:19; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:44:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:57Z- waiting for 1730922299.64, time is 1730922297.28 2024-11-06T19:44:57Z- AHRS_M2 msg: 1730922297.65 epoch sec; seqNo:20 2024-11-06T19:44:57Z- AHRS_M2 msg: 0.24 phi; -0.07 theta; 5.50 psi 2024-11-06T19:44:57Z- handleDepth()- Depth_Keller msg: 1730922297.65 epoch sec; seqNo:20; depth -0.08 2024-11-06T19:44:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922297.68 epoch sec; seqNo:20; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:44:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:57Z- waiting for 1730922299.64, time is 1730922297.68 2024-11-06T19:44:58Z- AHRS_M2 msg: 1730922298.05 epoch sec; seqNo:21 2024-11-06T19:44:58Z- AHRS_M2 msg: 0.16 phi; -0.15 theta; 5.56 psi 2024-11-06T19:44:58Z- handleDepth()- Depth_Keller msg: 1730922298.06 epoch sec; seqNo:21; depth -0.12 2024-11-06T19:44:58Z- handleDVL() - DVL msg epochMillisec: 1730922298.11 2024-11-06T19:44:58Z- handleDvl() - RDI_Pathfinder msg: 1730922298.11 sec; seqNo:7; #beams:4 2024-11-06T19:44:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:44:58Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922298.14 epoch sec; seqNo:21; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:44:58Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:44:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:58Z- waiting for 1730922299.64, time is 1730922298.14 2024-11-06T19:44:58Z- AHRS_M2 msg: 1730922298.45 epoch sec; seqNo:22 2024-11-06T19:44:58Z- AHRS_M2 msg: 0.17 phi; -0.21 theta; 5.53 psi 2024-11-06T19:44:58Z- handleDepth()- Depth_Keller msg: 1730922298.46 epoch sec; seqNo:22; depth -0.10 2024-11-06T19:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922298.50 epoch sec; seqNo:22; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:44:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:58Z- waiting for 1730922299.64, time is 1730922298.50 2024-11-06T19:44:58Z- AHRS_M2 msg: 1730922298.86 epoch sec; seqNo:23 2024-11-06T19:44:58Z- AHRS_M2 msg: 0.18 phi; -0.18 theta; 5.45 psi 2024-11-06T19:44:58Z- handleDepth()- Depth_Keller msg: 1730922298.87 epoch sec; seqNo:23; depth -0.07 2024-11-06T19:44:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922298.88 epoch sec; seqNo:23; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:44:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:59Z- waiting for 1730922299.64, time is 1730922298.88 2024-11-06T19:44:59Z- AHRS_M2 msg: 1730922299.26 epoch sec; seqNo:24 2024-11-06T19:44:59Z- AHRS_M2 msg: 0.17 phi; -0.08 theta; 5.41 psi 2024-11-06T19:44:59Z- handleDepth()- Depth_Keller msg: 1730922299.27 epoch sec; seqNo:24; depth -0.07 2024-11-06T19:44:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922299.32 epoch sec; seqNo:24; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:44:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:59Z- waiting for 1730922299.64, time is 1730922299.32 2024-11-06T19:44:59Z- AHRS_M2 msg: 1730922299.67 epoch sec; seqNo:25 2024-11-06T19:44:59Z- AHRS_M2 msg: 0.18 phi; 0.02 theta; 5.41 psi 2024-11-06T19:44:59Z- handleDepth()- Depth_Keller msg: 1730922299.68 epoch sec; seqNo:25; depth -0.09 2024-11-06T19:44:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922299.69 epoch sec; seqNo:25; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:44:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:44:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922295.64 2024-11-06T19:44:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:44:59Z- waiting for 1730922299.64, time is 1730922299.69 2024-11-06T19:44:59Z- LcmTrn::updateTrn() >>>> pose time 1730922299.69, meas time 1730922298.11 <<<< 2024-11-06T19:44:59Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922299.69 2024-11-06T19:44:59Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:44:59Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:44:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:44:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:44:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:44:59Z- publishEstimatesDecoder() - at 1730922299.69 sec 2024-11-06T19:44:59Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:44:59Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:44:59Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:44:59Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:00Z- AHRS_M2 msg: 1730922300.07 epoch sec; seqNo:26 2024-11-06T19:45:00Z- AHRS_M2 msg: 0.25 phi; 0.09 theta; 5.42 psi 2024-11-06T19:45:00Z- handleDepth()- Depth_Keller msg: 1730922300.08 epoch sec; seqNo:26; depth -0.09 2024-11-06T19:45:00Z- handleDVL() - DVL msg epochMillisec: 1730922300.12 2024-11-06T19:45:00Z- handleDvl() - RDI_Pathfinder msg: 1730922300.12 sec; seqNo:8; #beams:4 2024-11-06T19:45:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:00Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922300.16 epoch sec; seqNo:26; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:00Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:00Z- waiting for 1730922303.69, time is 1730922300.16 2024-11-06T19:45:00Z- handleDepth()- Depth_Keller msg: 1730922300.49 epoch sec; seqNo:27; depth -0.03 2024-11-06T19:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922300.52 epoch sec; seqNo:27; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:45:00Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:45:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:00Z- waiting for 1730922303.69, time is 1730922300.52 2024-11-06T19:45:00Z- AHRS_M2 msg: 1730922300.88 epoch sec; seqNo:27 2024-11-06T19:45:00Z- AHRS_M2 msg: 0.27 phi; 0.04 theta; 5.46 psi 2024-11-06T19:45:00Z- handleDepth()- Depth_Keller msg: 1730922300.89 epoch sec; seqNo:28; depth -0.08 2024-11-06T19:45:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922300.91 epoch sec; seqNo:28; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:01Z- waiting for 1730922303.69, time is 1730922300.91 2024-11-06T19:45:01Z- AHRS_M2 msg: 1730922301.28 epoch sec; seqNo:28 2024-11-06T19:45:01Z- AHRS_M2 msg: 0.19 phi; -0.01 theta; 5.40 psi 2024-11-06T19:45:01Z- handleDepth()- Depth_Keller msg: 1730922301.30 epoch sec; seqNo:29; depth -0.08 2024-11-06T19:45:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922301.31 epoch sec; seqNo:29; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:01Z- waiting for 1730922303.69, time is 1730922301.31 2024-11-06T19:45:01Z- AHRS_M2 msg: 1730922301.68 epoch sec; seqNo:29 2024-11-06T19:45:01Z- AHRS_M2 msg: 0.13 phi; -0.03 theta; 5.40 psi 2024-11-06T19:45:01Z- handleDepth()- Depth_Keller msg: 1730922301.69 epoch sec; seqNo:30; depth -0.09 2024-11-06T19:45:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922301.71 epoch sec; seqNo:30; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:01Z- waiting for 1730922303.69, time is 1730922301.71 2024-11-06T19:45:02Z- AHRS_M2 msg: 1730922302.09 epoch sec; seqNo:30 2024-11-06T19:45:02Z- AHRS_M2 msg: 0.17 phi; -0.00 theta; 5.45 psi 2024-11-06T19:45:02Z- handleDepth()- Depth_Keller msg: 1730922302.10 epoch sec; seqNo:31; depth -0.11 2024-11-06T19:45:02Z- handleDVL() - DVL msg epochMillisec: 1730922302.12 2024-11-06T19:45:02Z- handleDvl() - RDI_Pathfinder msg: 1730922302.12 sec; seqNo:9; #beams:4 2024-11-06T19:45:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:02Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922302.16 epoch sec; seqNo:31; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:02Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:02Z- waiting for 1730922303.69, time is 1730922302.16 2024-11-06T19:45:02Z- AHRS_M2 msg: 1730922302.49 epoch sec; seqNo:31 2024-11-06T19:45:02Z- AHRS_M2 msg: 0.25 phi; 0.01 theta; 5.44 psi 2024-11-06T19:45:02Z- handleDepth()- Depth_Keller msg: 1730922302.51 epoch sec; seqNo:32; depth -0.10 2024-11-06T19:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922302.53 epoch sec; seqNo:32; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:02Z- waiting for 1730922303.69, time is 1730922302.53 2024-11-06T19:45:02Z- AHRS_M2 msg: 1730922302.90 epoch sec; seqNo:32 2024-11-06T19:45:02Z- AHRS_M2 msg: 0.29 phi; -0.04 theta; 5.41 psi 2024-11-06T19:45:02Z- handleDepth()- Depth_Keller msg: 1730922302.90 epoch sec; seqNo:33; depth -0.10 2024-11-06T19:45:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922302.92 epoch sec; seqNo:33; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:03Z- waiting for 1730922303.69, time is 1730922302.92 2024-11-06T19:45:03Z- AHRS_M2 msg: 1730922303.30 epoch sec; seqNo:33 2024-11-06T19:45:03Z- AHRS_M2 msg: 0.28 phi; -0.07 theta; 5.40 psi 2024-11-06T19:45:03Z- handleDepth()- Depth_Keller msg: 1730922303.31 epoch sec; seqNo:34; depth -0.09 2024-11-06T19:45:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922303.32 epoch sec; seqNo:34; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:03Z- waiting for 1730922303.69, time is 1730922303.32 2024-11-06T19:45:03Z- AHRS_M2 msg: 1730922303.71 epoch sec; seqNo:34 2024-11-06T19:45:03Z- AHRS_M2 msg: 0.22 phi; -0.06 theta; 5.43 psi 2024-11-06T19:45:03Z- handleDepth()- Depth_Keller msg: 1730922303.71 epoch sec; seqNo:35; depth -0.10 2024-11-06T19:45:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922303.73 epoch sec; seqNo:35; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922299.69 2024-11-06T19:45:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:03Z- waiting for 1730922303.69, time is 1730922303.73 2024-11-06T19:45:03Z- LcmTrn::updateTrn() >>>> pose time 1730922303.73, meas time 1730922302.12 <<<< 2024-11-06T19:45:03Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922303.73 2024-11-06T19:45:03Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:03Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.10) 2024-11-06T19:45:03Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:03Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:03Z- publishEstimatesDecoder() - at 1730922303.73 sec 2024-11-06T19:45:03Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:03Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:03Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:03Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:04Z- AHRS_M2 msg: 1730922304.11 epoch sec; seqNo:35 2024-11-06T19:45:04Z- AHRS_M2 msg: 0.17 phi; -0.05 theta; 5.45 psi 2024-11-06T19:45:04Z- handleDepth()- Depth_Keller msg: 1730922304.12 epoch sec; seqNo:36; depth -0.14 2024-11-06T19:45:04Z- handleDVL() - DVL msg epochMillisec: 1730922304.15 2024-11-06T19:45:04Z- handleDvl() - RDI_Pathfinder msg: 1730922304.15 sec; seqNo:10; #beams:4 2024-11-06T19:45:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:04Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922304.16 epoch sec; seqNo:36; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:45:04Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:04Z- waiting for 1730922307.73, time is 1730922304.16 2024-11-06T19:45:04Z- AHRS_M2 msg: 1730922304.51 epoch sec; seqNo:36 2024-11-06T19:45:04Z- AHRS_M2 msg: 0.22 phi; -0.08 theta; 5.43 psi 2024-11-06T19:45:04Z- handleDepth()- Depth_Keller msg: 1730922304.52 epoch sec; seqNo:37; depth -0.10 2024-11-06T19:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922304.53 epoch sec; seqNo:37; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:04Z- waiting for 1730922307.73, time is 1730922304.53 2024-11-06T19:45:04Z- AHRS_M2 msg: 1730922304.93 epoch sec; seqNo:37 2024-11-06T19:45:04Z- AHRS_M2 msg: 0.25 phi; -0.09 theta; 5.41 psi 2024-11-06T19:45:04Z- handleDepth()- Depth_Keller msg: 1730922304.93 epoch sec; seqNo:38; depth -0.10 2024-11-06T19:45:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922304.94 epoch sec; seqNo:38; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:05Z- waiting for 1730922307.73, time is 1730922304.94 2024-11-06T19:45:05Z- AHRS_M2 msg: 1730922305.32 epoch sec; seqNo:38 2024-11-06T19:45:05Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 5.42 psi 2024-11-06T19:45:05Z- handleDepth()- Depth_Keller msg: 1730922305.33 epoch sec; seqNo:39; depth -0.10 2024-11-06T19:45:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922305.35 epoch sec; seqNo:39; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:05Z- waiting for 1730922307.73, time is 1730922305.35 2024-11-06T19:45:05Z- AHRS_M2 msg: 1730922305.73 epoch sec; seqNo:39 2024-11-06T19:45:05Z- AHRS_M2 msg: 0.18 phi; -0.04 theta; 5.44 psi 2024-11-06T19:45:05Z- handleDepth()- Depth_Keller msg: 1730922305.74 epoch sec; seqNo:40; depth -0.10 2024-11-06T19:45:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922305.80 epoch sec; seqNo:40; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:05Z- waiting for 1730922307.73, time is 1730922305.80 2024-11-06T19:45:06Z- AHRS_M2 msg: 1730922306.15 epoch sec; seqNo:40 2024-11-06T19:45:06Z- AHRS_M2 msg: 0.23 phi; -0.01 theta; 5.44 psi 2024-11-06T19:45:06Z- handleDepth()- Depth_Keller msg: 1730922306.17 epoch sec; seqNo:41; depth -0.10 2024-11-06T19:45:06Z- handleDVL() - DVL msg epochMillisec: 1730922306.23 2024-11-06T19:45:06Z- handleDvl() - RDI_Pathfinder msg: 1730922306.23 sec; seqNo:11; #beams:4 2024-11-06T19:45:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:06Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922306.25 epoch sec; seqNo:41; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:06Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:06Z- waiting for 1730922307.73, time is 1730922306.25 2024-11-06T19:45:06Z- AHRS_M2 msg: 1730922306.54 epoch sec; seqNo:41 2024-11-06T19:45:06Z- AHRS_M2 msg: 0.29 phi; 0.00 theta; 5.45 psi 2024-11-06T19:45:06Z- handleDepth()- Depth_Keller msg: 1730922306.55 epoch sec; seqNo:42; depth -0.09 2024-11-06T19:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922306.57 epoch sec; seqNo:42; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:06Z- waiting for 1730922307.73, time is 1730922306.57 2024-11-06T19:45:06Z- AHRS_M2 msg: 1730922306.94 epoch sec; seqNo:42 2024-11-06T19:45:06Z- AHRS_M2 msg: 0.29 phi; -0.02 theta; 5.42 psi 2024-11-06T19:45:06Z- handleDepth()- Depth_Keller msg: 1730922306.94 epoch sec; seqNo:43; depth -0.09 2024-11-06T19:45:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922306.97 epoch sec; seqNo:43; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:07Z- waiting for 1730922307.73, time is 1730922306.97 2024-11-06T19:45:07Z- AHRS_M2 msg: 1730922307.34 epoch sec; seqNo:43 2024-11-06T19:45:07Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 5.40 psi 2024-11-06T19:45:07Z- handleDepth()- Depth_Keller msg: 1730922307.35 epoch sec; seqNo:44; depth -0.09 2024-11-06T19:45:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922307.37 epoch sec; seqNo:44; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:07Z- waiting for 1730922307.73, time is 1730922307.37 2024-11-06T19:45:07Z- AHRS_M2 msg: 1730922307.79 epoch sec; seqNo:44 2024-11-06T19:45:07Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.44 psi 2024-11-06T19:45:07Z- handleDepth()- Depth_Keller msg: 1730922307.82 epoch sec; seqNo:45; depth -0.07 2024-11-06T19:45:07Z- handleDVL() - DVL msg epochMillisec: 1730922307.87 2024-11-06T19:45:07Z- handleDvl() - RDI_Pathfinder msg: 1730922307.87 sec; seqNo:12; #beams:4 2024-11-06T19:45:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922303.73 2024-11-06T19:45:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:07Z- waiting for 1730922307.73, time is 1730922307.87 2024-11-06T19:45:07Z- LcmTrn::updateTrn() >>>> pose time 1730922307.79, meas time 1730922307.87 <<<< 2024-11-06T19:45:07Z- LcmTrn::updateTrn() equating pose 1730922307.87 and meas times 1730922307.87 2024-11-06T19:45:07Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922307.87 2024-11-06T19:45:07Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:45:07Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:07Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:07Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:07Z- publishEstimatesDecoder() - at 1730922307.87 sec 2024-11-06T19:45:07Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:07Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:07Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:07Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922307.95 epoch sec; seqNo:45; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:08Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:45:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:08Z- waiting for 1730922311.87, time is 1730922307.95 2024-11-06T19:45:08Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:45:08Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:45:08Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:45:08Z- AHRS_M2 msg: 1730922308.14 epoch sec; seqNo:45 2024-11-06T19:45:08Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.44 psi 2024-11-06T19:45:08Z- handleDepth()- Depth_Keller msg: 1730922308.18 epoch sec; seqNo:46; depth -0.08 2024-11-06T19:45:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922308.23 epoch sec; seqNo:46; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:08Z- waiting for 1730922311.87, time is 1730922308.23 2024-11-06T19:45:08Z- AHRS_M2 msg: 1730922308.55 epoch sec; seqNo:46 2024-11-06T19:45:08Z- AHRS_M2 msg: 0.21 phi; 0.03 theta; 5.41 psi 2024-11-06T19:45:08Z- handleDepth()- Depth_Keller msg: 1730922308.59 epoch sec; seqNo:47; depth -0.07 2024-11-06T19:45:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922308.61 epoch sec; seqNo:47; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:08Z- waiting for 1730922311.87, time is 1730922308.61 2024-11-06T19:45:08Z- AHRS_M2 msg: 1730922308.96 epoch sec; seqNo:47 2024-11-06T19:45:08Z- AHRS_M2 msg: 0.27 phi; -0.02 theta; 5.45 psi 2024-11-06T19:45:08Z- handleDepth()- Depth_Keller msg: 1730922308.97 epoch sec; seqNo:48; depth -0.05 2024-11-06T19:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922308.99 epoch sec; seqNo:48; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:09Z- waiting for 1730922311.87, time is 1730922308.99 2024-11-06T19:45:09Z- AHRS_M2 msg: 1730922309.37 epoch sec; seqNo:48 2024-11-06T19:45:09Z- AHRS_M2 msg: 0.28 phi; -0.08 theta; 5.46 psi 2024-11-06T19:45:09Z- handleDepth()- Depth_Keller msg: 1730922309.38 epoch sec; seqNo:49; depth -0.04 2024-11-06T19:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922309.40 epoch sec; seqNo:49; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:09Z- waiting for 1730922311.87, time is 1730922309.40 2024-11-06T19:45:09Z- AHRS_M2 msg: 1730922309.81 epoch sec; seqNo:49 2024-11-06T19:45:09Z- AHRS_M2 msg: 0.22 phi; -0.15 theta; 5.44 psi 2024-11-06T19:45:09Z- handleDepth()- Depth_Keller msg: 1730922309.82 epoch sec; seqNo:50; depth -0.06 2024-11-06T19:45:09Z- handleDVL() - DVL msg epochMillisec: 1730922309.87 2024-11-06T19:45:09Z- handleDvl() - RDI_Pathfinder msg: 1730922309.87 sec; seqNo:13; #beams:4 2024-11-06T19:45:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922309.91 epoch sec; seqNo:50; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:09Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:09Z- waiting for 1730922311.87, time is 1730922309.91 2024-11-06T19:45:10Z- AHRS_M2 msg: 1730922310.17 epoch sec; seqNo:50 2024-11-06T19:45:10Z- AHRS_M2 msg: 0.17 phi; -0.18 theta; 5.49 psi 2024-11-06T19:45:10Z- handleDepth()- Depth_Keller msg: 1730922310.18 epoch sec; seqNo:51; depth -0.09 2024-11-06T19:45:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922310.21 epoch sec; seqNo:51; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:10Z- waiting for 1730922311.87, time is 1730922310.21 2024-11-06T19:45:10Z- AHRS_M2 msg: 1730922310.58 epoch sec; seqNo:51 2024-11-06T19:45:10Z- AHRS_M2 msg: 0.19 phi; -0.16 theta; 5.51 psi 2024-11-06T19:45:10Z- handleDepth()- Depth_Keller msg: 1730922310.59 epoch sec; seqNo:52; depth -0.10 2024-11-06T19:45:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922310.60 epoch sec; seqNo:52; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:10Z- waiting for 1730922311.87, time is 1730922310.60 2024-11-06T19:45:10Z- AHRS_M2 msg: 1730922310.98 epoch sec; seqNo:52 2024-11-06T19:45:10Z- AHRS_M2 msg: 0.21 phi; -0.13 theta; 5.48 psi 2024-11-06T19:45:10Z- handleDepth()- Depth_Keller msg: 1730922310.99 epoch sec; seqNo:53; depth -0.06 2024-11-06T19:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922311.01 epoch sec; seqNo:53; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:11Z- waiting for 1730922311.87, time is 1730922311.01 2024-11-06T19:45:11Z- AHRS_M2 msg: 1730922311.38 epoch sec; seqNo:53 2024-11-06T19:45:11Z- AHRS_M2 msg: 0.20 phi; -0.14 theta; 5.44 psi 2024-11-06T19:45:11Z- handleDepth()- Depth_Keller msg: 1730922311.39 epoch sec; seqNo:54; depth -0.07 2024-11-06T19:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922311.41 epoch sec; seqNo:54; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:11Z- waiting for 1730922311.87, time is 1730922311.41 2024-11-06T19:45:11Z- AHRS_M2 msg: 1730922311.81 epoch sec; seqNo:54 2024-11-06T19:45:11Z- AHRS_M2 msg: 0.19 phi; -0.16 theta; 5.47 psi 2024-11-06T19:45:11Z- handleDepth()- Depth_Keller msg: 1730922311.81 epoch sec; seqNo:55; depth -0.04 2024-11-06T19:45:11Z- handleDVL() - DVL msg epochMillisec: 1730922311.85 2024-11-06T19:45:11Z- handleDvl() - RDI_Pathfinder msg: 1730922311.85 sec; seqNo:14; #beams:4 2024-11-06T19:45:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922311.86 epoch sec; seqNo:55; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:11Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:11Z- waiting for 1730922311.87, time is 1730922311.86 2024-11-06T19:45:12Z- AHRS_M2 msg: 1730922312.19 epoch sec; seqNo:55 2024-11-06T19:45:12Z- AHRS_M2 msg: 0.19 phi; -0.13 theta; 5.53 psi 2024-11-06T19:45:12Z- handleDepth()- Depth_Keller msg: 1730922312.20 epoch sec; seqNo:56; depth -0.08 2024-11-06T19:45:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922312.21 epoch sec; seqNo:56; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922307.87 2024-11-06T19:45:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:12Z- waiting for 1730922311.87, time is 1730922312.21 2024-11-06T19:45:12Z- LcmTrn::updateTrn() >>>> pose time 1730922312.21, meas time 1730922311.85 <<<< 2024-11-06T19:45:12Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922312.21 2024-11-06T19:45:12Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:12Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.08) 2024-11-06T19:45:12Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:12Z- publishEstimatesDecoder() - at 1730922312.21 sec 2024-11-06T19:45:12Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:12Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:12Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:12Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:12Z- AHRS_M2 msg: 1730922312.59 epoch sec; seqNo:56 2024-11-06T19:45:12Z- AHRS_M2 msg: 0.21 phi; -0.11 theta; 5.52 psi 2024-11-06T19:45:12Z- handleDepth()- Depth_Keller msg: 1730922312.61 epoch sec; seqNo:57; depth -0.08 2024-11-06T19:45:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922312.62 epoch sec; seqNo:57; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:12Z- waiting for 1730922316.21, time is 1730922312.62 2024-11-06T19:45:13Z- AHRS_M2 msg: 1730922313.00 epoch sec; seqNo:57 2024-11-06T19:45:13Z- AHRS_M2 msg: 0.23 phi; -0.11 theta; 5.53 psi 2024-11-06T19:45:13Z- handleDepth()- Depth_Keller msg: 1730922313.01 epoch sec; seqNo:58; depth -0.08 2024-11-06T19:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922313.01 epoch sec; seqNo:58; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:13Z- waiting for 1730922316.21, time is 1730922313.01 2024-11-06T19:45:13Z- AHRS_M2 msg: 1730922313.40 epoch sec; seqNo:58 2024-11-06T19:45:13Z- AHRS_M2 msg: 0.26 phi; -0.10 theta; 5.53 psi 2024-11-06T19:45:13Z- handleDepth()- Depth_Keller msg: 1730922313.41 epoch sec; seqNo:59; depth -0.07 2024-11-06T19:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922313.41 epoch sec; seqNo:59; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:13Z- waiting for 1730922316.21, time is 1730922313.41 2024-11-06T19:45:13Z- AHRS_M2 msg: 1730922313.82 epoch sec; seqNo:59 2024-11-06T19:45:13Z- AHRS_M2 msg: 0.25 phi; -0.06 theta; 5.50 psi 2024-11-06T19:45:13Z- handleDepth()- Depth_Keller msg: 1730922313.83 epoch sec; seqNo:60; depth -0.06 2024-11-06T19:45:13Z- handleDVL() - DVL msg epochMillisec: 1730922313.85 2024-11-06T19:45:13Z- handleDvl() - RDI_Pathfinder msg: 1730922313.85 sec; seqNo:15; #beams:4 2024-11-06T19:45:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922313.88 epoch sec; seqNo:60; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:13Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:13Z- waiting for 1730922316.21, time is 1730922313.88 2024-11-06T19:45:14Z- AHRS_M2 msg: 1730922314.21 epoch sec; seqNo:60 2024-11-06T19:45:14Z- AHRS_M2 msg: 0.24 phi; -0.01 theta; 5.51 psi 2024-11-06T19:45:14Z- handleDepth()- Depth_Keller msg: 1730922314.24 epoch sec; seqNo:61; depth -0.09 2024-11-06T19:45:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922314.25 epoch sec; seqNo:61; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:14Z- waiting for 1730922316.21, time is 1730922314.25 2024-11-06T19:45:14Z- AHRS_M2 msg: 1730922314.61 epoch sec; seqNo:61 2024-11-06T19:45:14Z- AHRS_M2 msg: 0.19 phi; 0.04 theta; 5.56 psi 2024-11-06T19:45:14Z- handleDepth()- Depth_Keller msg: 1730922314.62 epoch sec; seqNo:62; depth -0.10 2024-11-06T19:45:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922314.65 epoch sec; seqNo:62; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:14Z- waiting for 1730922316.21, time is 1730922314.65 2024-11-06T19:45:15Z- AHRS_M2 msg: 1730922315.02 epoch sec; seqNo:62 2024-11-06T19:45:15Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.57 psi 2024-11-06T19:45:15Z- handleDepth()- Depth_Keller msg: 1730922315.02 epoch sec; seqNo:63; depth -0.13 2024-11-06T19:45:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922315.03 epoch sec; seqNo:63; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:45:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:15Z- waiting for 1730922316.21, time is 1730922315.03 2024-11-06T19:45:15Z- AHRS_M2 msg: 1730922315.42 epoch sec; seqNo:63 2024-11-06T19:45:15Z- AHRS_M2 msg: 0.20 phi; -0.11 theta; 5.55 psi 2024-11-06T19:45:15Z- handleDepth()- Depth_Keller msg: 1730922315.43 epoch sec; seqNo:64; depth -0.12 2024-11-06T19:45:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922315.44 epoch sec; seqNo:64; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:45:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:15Z- waiting for 1730922316.21, time is 1730922315.44 2024-11-06T19:45:15Z- AHRS_M2 msg: 1730922315.83 epoch sec; seqNo:64 2024-11-06T19:45:15Z- AHRS_M2 msg: 0.27 phi; -0.10 theta; 5.51 psi 2024-11-06T19:45:15Z- handleDepth()- Depth_Keller msg: 1730922315.87 epoch sec; seqNo:65; depth -0.10 2024-11-06T19:45:15Z- handleDVL() - DVL msg epochMillisec: 1730922315.91 2024-11-06T19:45:15Z- handleDvl() - RDI_Pathfinder msg: 1730922315.91 sec; seqNo:16; #beams:4 2024-11-06T19:45:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922315.96 epoch sec; seqNo:65; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:15Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:15Z- waiting for 1730922316.21, time is 1730922315.96 2024-11-06T19:45:16Z- AHRS_M2 msg: 1730922316.23 epoch sec; seqNo:65 2024-11-06T19:45:16Z- AHRS_M2 msg: 0.32 phi; -0.01 theta; 5.52 psi 2024-11-06T19:45:16Z- handleDepth()- Depth_Keller msg: 1730922316.24 epoch sec; seqNo:66; depth -0.10 2024-11-06T19:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922316.28 epoch sec; seqNo:66; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922312.21 2024-11-06T19:45:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:16Z- waiting for 1730922316.21, time is 1730922316.28 2024-11-06T19:45:16Z- LcmTrn::updateTrn() >>>> pose time 1730922316.28, meas time 1730922315.91 <<<< 2024-11-06T19:45:16Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922316.28 2024-11-06T19:45:16Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:16Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.10) 2024-11-06T19:45:16Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:16Z- publishEstimatesDecoder() - at 1730922316.28 sec 2024-11-06T19:45:16Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:16Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:16Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:16Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:16Z- AHRS_M2 msg: 1730922316.64 epoch sec; seqNo:66 2024-11-06T19:45:16Z- AHRS_M2 msg: 0.31 phi; 0.06 theta; 5.57 psi 2024-11-06T19:45:16Z- handleDepth()- Depth_Keller msg: 1730922316.65 epoch sec; seqNo:67; depth -0.09 2024-11-06T19:45:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922316.67 epoch sec; seqNo:67; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:16Z- waiting for 1730922320.28, time is 1730922316.67 2024-11-06T19:45:17Z- AHRS_M2 msg: 1730922317.04 epoch sec; seqNo:67 2024-11-06T19:45:17Z- AHRS_M2 msg: 0.28 phi; 0.01 theta; 5.57 psi 2024-11-06T19:45:17Z- handleDepth()- Depth_Keller msg: 1730922317.05 epoch sec; seqNo:68; depth -0.06 2024-11-06T19:45:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922317.07 epoch sec; seqNo:68; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:17Z- waiting for 1730922320.28, time is 1730922317.07 2024-11-06T19:45:17Z- AHRS_M2 msg: 1730922317.44 epoch sec; seqNo:68 2024-11-06T19:45:17Z- AHRS_M2 msg: 0.22 phi; -0.05 theta; 5.56 psi 2024-11-06T19:45:17Z- handleDepth()- Depth_Keller msg: 1730922317.45 epoch sec; seqNo:69; depth -0.04 2024-11-06T19:45:17Z- handleDVL() - DVL msg epochMillisec: 1730922317.45 2024-11-06T19:45:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:45:17Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:45:17Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:45:17Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:45:17Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:45:17Z- handleDvl() - RDI_Pathfinder msg: 1730922317.45 sec; seqNo:17; #beams:0 2024-11-06T19:45:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922317.49 epoch sec; seqNo:69; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:17Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:17Z- waiting for 1730922320.28, time is 1730922317.49 2024-11-06T19:45:17Z- AHRS_M2 msg: 1730922317.85 epoch sec; seqNo:69 2024-11-06T19:45:17Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 5.58 psi 2024-11-06T19:45:17Z- handleDepth()- Depth_Keller msg: 1730922317.86 epoch sec; seqNo:70; depth -0.07 2024-11-06T19:45:17Z- handleDVL() - DVL msg epochMillisec: 1730922317.91 2024-11-06T19:45:17Z- handleDvl() - RDI_Pathfinder msg: 1730922317.91 sec; seqNo:18; #beams:4 2024-11-06T19:45:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922317.96 epoch sec; seqNo:70; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:18Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:18Z- waiting for 1730922320.28, time is 1730922317.96 2024-11-06T19:45:18Z- AHRS_M2 msg: 1730922318.25 epoch sec; seqNo:70 2024-11-06T19:45:18Z- AHRS_M2 msg: 0.11 phi; -0.02 theta; 5.55 psi 2024-11-06T19:45:18Z- handleDepth()- Depth_Keller msg: 1730922318.26 epoch sec; seqNo:71; depth -0.08 2024-11-06T19:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922318.28 epoch sec; seqNo:71; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:18Z- waiting for 1730922320.28, time is 1730922318.28 2024-11-06T19:45:18Z- AHRS_M2 msg: 1730922318.66 epoch sec; seqNo:71 2024-11-06T19:45:18Z- AHRS_M2 msg: 0.09 phi; -0.03 theta; 5.51 psi 2024-11-06T19:45:18Z- handleDepth()- Depth_Keller msg: 1730922318.66 epoch sec; seqNo:72; depth -0.06 2024-11-06T19:45:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922318.69 epoch sec; seqNo:72; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:18Z- waiting for 1730922320.28, time is 1730922318.69 2024-11-06T19:45:19Z- AHRS_M2 msg: 1730922319.06 epoch sec; seqNo:72 2024-11-06T19:45:19Z- AHRS_M2 msg: 0.17 phi; -0.01 theta; 5.53 psi 2024-11-06T19:45:19Z- handleDepth()- Depth_Keller msg: 1730922319.07 epoch sec; seqNo:73; depth -0.09 2024-11-06T19:45:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922319.10 epoch sec; seqNo:73; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:19Z- waiting for 1730922320.28, time is 1730922319.10 2024-11-06T19:45:19Z- AHRS_M2 msg: 1730922319.46 epoch sec; seqNo:73 2024-11-06T19:45:19Z- AHRS_M2 msg: 0.32 phi; 0.03 theta; 5.54 psi 2024-11-06T19:45:19Z- handleDepth()- Depth_Keller msg: 1730922319.47 epoch sec; seqNo:74; depth -0.08 2024-11-06T19:45:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922319.49 epoch sec; seqNo:74; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:19Z- waiting for 1730922320.28, time is 1730922319.49 2024-11-06T19:45:19Z- AHRS_M2 msg: 1730922319.87 epoch sec; seqNo:74 2024-11-06T19:45:19Z- AHRS_M2 msg: 0.33 phi; 0.03 theta; 5.54 psi 2024-11-06T19:45:19Z- handleDepth()- Depth_Keller msg: 1730922319.88 epoch sec; seqNo:75; depth -0.09 2024-11-06T19:45:19Z- handleDVL() - DVL msg epochMillisec: 1730922319.92 2024-11-06T19:45:19Z- handleDvl() - RDI_Pathfinder msg: 1730922319.92 sec; seqNo:19; #beams:4 2024-11-06T19:45:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922319.96 epoch sec; seqNo:75; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:20Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:20Z- waiting for 1730922320.28, time is 1730922319.96 2024-11-06T19:45:20Z- AHRS_M2 msg: 1730922320.27 epoch sec; seqNo:75 2024-11-06T19:45:20Z- AHRS_M2 msg: 0.26 phi; 0.01 theta; 5.57 psi 2024-11-06T19:45:20Z- handleDepth()- Depth_Keller msg: 1730922320.28 epoch sec; seqNo:76; depth -0.11 2024-11-06T19:45:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922320.31 epoch sec; seqNo:76; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922316.28 2024-11-06T19:45:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:20Z- waiting for 1730922320.28, time is 1730922320.31 2024-11-06T19:45:20Z- LcmTrn::updateTrn() >>>> pose time 1730922320.31, meas time 1730922319.92 <<<< 2024-11-06T19:45:20Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922320.31 2024-11-06T19:45:20Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:20Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.11) 2024-11-06T19:45:20Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:20Z- publishEstimatesDecoder() - at 1730922320.31 sec 2024-11-06T19:45:20Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:20Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:20Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:20Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:20Z- AHRS_M2 msg: 1730922320.67 epoch sec; seqNo:76 2024-11-06T19:45:20Z- AHRS_M2 msg: 0.22 phi; -0.03 theta; 5.55 psi 2024-11-06T19:45:20Z- handleDepth()- Depth_Keller msg: 1730922320.69 epoch sec; seqNo:77; depth -0.11 2024-11-06T19:45:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922320.70 epoch sec; seqNo:77; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:20Z- waiting for 1730922324.31, time is 1730922320.70 2024-11-06T19:45:21Z- AHRS_M2 msg: 1730922321.08 epoch sec; seqNo:77 2024-11-06T19:45:21Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 5.52 psi 2024-11-06T19:45:21Z- handleDepth()- Depth_Keller msg: 1730922321.09 epoch sec; seqNo:78; depth -0.11 2024-11-06T19:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922321.10 epoch sec; seqNo:78; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:21Z- waiting for 1730922324.31, time is 1730922321.10 2024-11-06T19:45:21Z- AHRS_M2 msg: 1730922321.48 epoch sec; seqNo:78 2024-11-06T19:45:21Z- AHRS_M2 msg: 0.13 phi; -0.03 theta; 5.49 psi 2024-11-06T19:45:21Z- handleDepth()- Depth_Keller msg: 1730922321.49 epoch sec; seqNo:79; depth -0.12 2024-11-06T19:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922321.50 epoch sec; seqNo:79; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:45:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:21Z- waiting for 1730922324.31, time is 1730922321.50 2024-11-06T19:45:21Z- AHRS_M2 msg: 1730922321.88 epoch sec; seqNo:79 2024-11-06T19:45:21Z- AHRS_M2 msg: 0.18 phi; -0.05 theta; 5.49 psi 2024-11-06T19:45:21Z- handleDepth()- Depth_Keller msg: 1730922321.89 epoch sec; seqNo:80; depth -0.11 2024-11-06T19:45:21Z- handleDVL() - DVL msg epochMillisec: 1730922321.91 2024-11-06T19:45:21Z- handleDvl() - RDI_Pathfinder msg: 1730922321.91 sec; seqNo:20; #beams:4 2024-11-06T19:45:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:21Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922321.95 epoch sec; seqNo:80; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:22Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:22Z- waiting for 1730922324.31, time is 1730922321.95 2024-11-06T19:45:22Z- AHRS_M2 msg: 1730922322.29 epoch sec; seqNo:80 2024-11-06T19:45:22Z- AHRS_M2 msg: 0.25 phi; -0.06 theta; 5.52 psi 2024-11-06T19:45:22Z- handleDepth()- Depth_Keller msg: 1730922322.30 epoch sec; seqNo:81; depth -0.10 2024-11-06T19:45:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922322.31 epoch sec; seqNo:81; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:22Z- waiting for 1730922324.31, time is 1730922322.31 2024-11-06T19:45:22Z- AHRS_M2 msg: 1730922322.69 epoch sec; seqNo:81 2024-11-06T19:45:22Z- AHRS_M2 msg: 0.33 phi; -0.00 theta; 5.52 psi 2024-11-06T19:45:22Z- handleDepth()- Depth_Keller msg: 1730922322.71 epoch sec; seqNo:82; depth -0.05 2024-11-06T19:45:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922322.72 epoch sec; seqNo:82; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:22Z- waiting for 1730922324.31, time is 1730922322.72 2024-11-06T19:45:23Z- AHRS_M2 msg: 1730922323.10 epoch sec; seqNo:82 2024-11-06T19:45:23Z- AHRS_M2 msg: 0.36 phi; 0.10 theta; 5.51 psi 2024-11-06T19:45:23Z- handleDepth()- Depth_Keller msg: 1730922323.11 epoch sec; seqNo:83; depth -0.04 2024-11-06T19:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922323.12 epoch sec; seqNo:83; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:23Z- waiting for 1730922324.31, time is 1730922323.12 2024-11-06T19:45:23Z- AHRS_M2 msg: 1730922323.50 epoch sec; seqNo:83 2024-11-06T19:45:23Z- AHRS_M2 msg: 0.29 phi; 0.09 theta; 5.53 psi 2024-11-06T19:45:23Z- handleDepth()- Depth_Keller msg: 1730922323.51 epoch sec; seqNo:84; depth -0.07 2024-11-06T19:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922323.52 epoch sec; seqNo:84; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:23Z- waiting for 1730922324.31, time is 1730922323.52 2024-11-06T19:45:23Z- AHRS_M2 msg: 1730922323.90 epoch sec; seqNo:84 2024-11-06T19:45:23Z- AHRS_M2 msg: 0.23 phi; -0.01 theta; 5.55 psi 2024-11-06T19:45:23Z- handleDepth()- Depth_Keller msg: 1730922323.91 epoch sec; seqNo:85; depth -0.06 2024-11-06T19:45:23Z- handleDVL() - DVL msg epochMillisec: 1730922323.94 2024-11-06T19:45:23Z- handleDvl() - RDI_Pathfinder msg: 1730922323.94 sec; seqNo:21; #beams:4 2024-11-06T19:45:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922323.95 epoch sec; seqNo:85; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:24Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:24Z- waiting for 1730922324.31, time is 1730922323.95 2024-11-06T19:45:24Z- AHRS_M2 msg: 1730922324.31 epoch sec; seqNo:85 2024-11-06T19:45:24Z- AHRS_M2 msg: 0.21 phi; -0.05 theta; 5.54 psi 2024-11-06T19:45:24Z- handleDepth()- Depth_Keller msg: 1730922324.32 epoch sec; seqNo:86; depth -0.07 2024-11-06T19:45:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922324.35 epoch sec; seqNo:86; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922320.31 2024-11-06T19:45:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:24Z- waiting for 1730922324.31, time is 1730922324.35 2024-11-06T19:45:24Z- LcmTrn::updateTrn() >>>> pose time 1730922324.35, meas time 1730922323.94 <<<< 2024-11-06T19:45:24Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922324.35 2024-11-06T19:45:24Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:24Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:45:24Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:24Z- publishEstimatesDecoder() - at 1730922324.35 sec 2024-11-06T19:45:24Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:24Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:24Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:24Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:24Z- AHRS_M2 msg: 1730922324.71 epoch sec; seqNo:86 2024-11-06T19:45:24Z- AHRS_M2 msg: 0.20 phi; -0.03 theta; 5.53 psi 2024-11-06T19:45:24Z- handleDepth()- Depth_Keller msg: 1730922324.72 epoch sec; seqNo:87; depth -0.10 2024-11-06T19:45:24Z- handleDVL() - DVL msg epochMillisec: 1730922324.72 2024-11-06T19:45:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:45:24Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:45:24Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:45:24Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:45:24Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:45:24Z- handleDvl() - RDI_Pathfinder msg: 1730922324.72 sec; seqNo:22; #beams:0 2024-11-06T19:45:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:24Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922324.73 epoch sec; seqNo:87; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:24Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:24Z- waiting for 1730922328.35, time is 1730922324.73 2024-11-06T19:45:25Z- AHRS_M2 msg: 1730922325.12 epoch sec; seqNo:87 2024-11-06T19:45:25Z- AHRS_M2 msg: 0.21 phi; -0.07 theta; 5.52 psi 2024-11-06T19:45:25Z- handleDepth()- Depth_Keller msg: 1730922325.12 epoch sec; seqNo:88; depth -0.13 2024-11-06T19:45:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922325.13 epoch sec; seqNo:88; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:45:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:25Z- waiting for 1730922328.35, time is 1730922325.13 2024-11-06T19:45:25Z- AHRS_M2 msg: 1730922325.52 epoch sec; seqNo:88 2024-11-06T19:45:25Z- AHRS_M2 msg: 0.23 phi; -0.16 theta; 5.49 psi 2024-11-06T19:45:25Z- handleDepth()- Depth_Keller msg: 1730922325.54 epoch sec; seqNo:89; depth -0.12 2024-11-06T19:45:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922325.56 epoch sec; seqNo:89; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:45:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:25Z- waiting for 1730922328.35, time is 1730922325.56 2024-11-06T19:45:25Z- AHRS_M2 msg: 1730922325.93 epoch sec; seqNo:89 2024-11-06T19:45:25Z- AHRS_M2 msg: 0.22 phi; -0.10 theta; 5.53 psi 2024-11-06T19:45:25Z- handleDepth()- Depth_Keller msg: 1730922325.95 epoch sec; seqNo:90; depth -0.11 2024-11-06T19:45:26Z- handleDVL() - DVL msg epochMillisec: 1730922326.00 2024-11-06T19:45:26Z- handleDvl() - RDI_Pathfinder msg: 1730922326.00 sec; seqNo:23; #beams:4 2024-11-06T19:45:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:26Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922326.03 epoch sec; seqNo:90; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:26Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:26Z- waiting for 1730922328.35, time is 1730922326.03 2024-11-06T19:45:26Z- AHRS_M2 msg: 1730922326.34 epoch sec; seqNo:90 2024-11-06T19:45:26Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 5.53 psi 2024-11-06T19:45:26Z- handleDepth()- Depth_Keller msg: 1730922326.35 epoch sec; seqNo:91; depth -0.10 2024-11-06T19:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922326.39 epoch sec; seqNo:91; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:26Z- waiting for 1730922328.35, time is 1730922326.39 2024-11-06T19:45:26Z- AHRS_M2 msg: 1730922326.74 epoch sec; seqNo:91 2024-11-06T19:45:26Z- AHRS_M2 msg: 0.19 phi; -0.02 theta; 5.49 psi 2024-11-06T19:45:26Z- handleDepth()- Depth_Keller msg: 1730922326.75 epoch sec; seqNo:92; depth -0.11 2024-11-06T19:45:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922326.76 epoch sec; seqNo:92; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:26Z- waiting for 1730922328.35, time is 1730922326.76 2024-11-06T19:45:27Z- AHRS_M2 msg: 1730922327.14 epoch sec; seqNo:92 2024-11-06T19:45:27Z- AHRS_M2 msg: 0.21 phi; 0.01 theta; 5.48 psi 2024-11-06T19:45:27Z- handleDepth()- Depth_Keller msg: 1730922327.14 epoch sec; seqNo:93; depth -0.09 2024-11-06T19:45:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922327.18 epoch sec; seqNo:93; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:27Z- waiting for 1730922328.35, time is 1730922327.18 2024-11-06T19:45:27Z- AHRS_M2 msg: 1730922327.54 epoch sec; seqNo:93 2024-11-06T19:45:27Z- AHRS_M2 msg: 0.25 phi; -0.01 theta; 5.50 psi 2024-11-06T19:45:27Z- handleDepth()- Depth_Keller msg: 1730922327.55 epoch sec; seqNo:94; depth -0.08 2024-11-06T19:45:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922327.57 epoch sec; seqNo:94; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:27Z- waiting for 1730922328.35, time is 1730922327.57 2024-11-06T19:45:27Z- AHRS_M2 msg: 1730922327.95 epoch sec; seqNo:94 2024-11-06T19:45:27Z- AHRS_M2 msg: 0.22 phi; 0.02 theta; 5.49 psi 2024-11-06T19:45:27Z- handleDepth()- Depth_Keller msg: 1730922327.96 epoch sec; seqNo:95; depth -0.07 2024-11-06T19:45:28Z- handleDVL() - DVL msg epochMillisec: 1730922328.01 2024-11-06T19:45:28Z- handleDvl() - RDI_Pathfinder msg: 1730922328.01 sec; seqNo:24; #beams:4 2024-11-06T19:45:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:28Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922328.06 epoch sec; seqNo:95; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:28Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:28Z- waiting for 1730922328.35, time is 1730922328.06 2024-11-06T19:45:28Z- AHRS_M2 msg: 1730922328.35 epoch sec; seqNo:95 2024-11-06T19:45:28Z- AHRS_M2 msg: 0.24 phi; 0.05 theta; 5.45 psi 2024-11-06T19:45:28Z- handleDepth()- Depth_Keller msg: 1730922328.36 epoch sec; seqNo:96; depth -0.06 2024-11-06T19:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922328.37 epoch sec; seqNo:96; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922324.35 2024-11-06T19:45:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:28Z- waiting for 1730922328.35, time is 1730922328.37 2024-11-06T19:45:28Z- LcmTrn::updateTrn() >>>> pose time 1730922328.37, meas time 1730922328.01 <<<< 2024-11-06T19:45:28Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922328.37 2024-11-06T19:45:28Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:28Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.06) 2024-11-06T19:45:28Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:28Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:28Z- publishEstimatesDecoder() - at 1730922328.37 sec 2024-11-06T19:45:28Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:28Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:28Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:28Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:28Z- AHRS_M2 msg: 1730922328.75 epoch sec; seqNo:96 2024-11-06T19:45:28Z- AHRS_M2 msg: 0.27 phi; 0.03 theta; 5.46 psi 2024-11-06T19:45:28Z- handleDepth()- Depth_Keller msg: 1730922328.76 epoch sec; seqNo:97; depth -0.07 2024-11-06T19:45:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922328.79 epoch sec; seqNo:97; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:28Z- waiting for 1730922332.37, time is 1730922328.79 2024-11-06T19:45:29Z- AHRS_M2 msg: 1730922329.16 epoch sec; seqNo:97 2024-11-06T19:45:29Z- AHRS_M2 msg: 0.25 phi; -0.04 theta; 5.46 psi 2024-11-06T19:45:29Z- handleDepth()- Depth_Keller msg: 1730922329.16 epoch sec; seqNo:98; depth -0.08 2024-11-06T19:45:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922329.20 epoch sec; seqNo:98; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:29Z- waiting for 1730922332.37, time is 1730922329.20 2024-11-06T19:45:29Z- AHRS_M2 msg: 1730922329.56 epoch sec; seqNo:98 2024-11-06T19:45:29Z- AHRS_M2 msg: 0.20 phi; -0.06 theta; 5.46 psi 2024-11-06T19:45:29Z- handleDepth()- Depth_Keller msg: 1730922329.58 epoch sec; seqNo:99; depth -0.09 2024-11-06T19:45:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922329.63 epoch sec; seqNo:99; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:29Z- waiting for 1730922332.37, time is 1730922329.63 2024-11-06T19:45:29Z- AHRS_M2 msg: 1730922329.97 epoch sec; seqNo:99 2024-11-06T19:45:29Z- AHRS_M2 msg: 0.17 phi; -0.09 theta; 5.44 psi 2024-11-06T19:45:29Z- handleDepth()- Depth_Keller msg: 1730922329.98 epoch sec; seqNo:100; depth -0.12 2024-11-06T19:45:30Z- handleDVL() - DVL msg epochMillisec: 1730922330.03 2024-11-06T19:45:30Z- handleDvl() - RDI_Pathfinder msg: 1730922330.03 sec; seqNo:25; #beams:4 2024-11-06T19:45:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:30Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922330.06 epoch sec; seqNo:100; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:45:30Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:30Z- waiting for 1730922332.37, time is 1730922330.06 2024-11-06T19:45:30Z- handleDepth()- Depth_Keller msg: 1730922330.39 epoch sec; seqNo:101; depth -0.11 2024-11-06T19:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922330.41 epoch sec; seqNo:101; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:30Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:45:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:30Z- waiting for 1730922332.37, time is 1730922330.41 2024-11-06T19:45:30Z- AHRS_M2 msg: 1730922330.78 epoch sec; seqNo:100 2024-11-06T19:45:30Z- AHRS_M2 msg: 0.26 phi; -0.06 theta; 5.48 psi 2024-11-06T19:45:30Z- handleDepth()- Depth_Keller msg: 1730922330.78 epoch sec; seqNo:102; depth -0.10 2024-11-06T19:45:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922330.79 epoch sec; seqNo:102; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:30Z- waiting for 1730922332.37, time is 1730922330.79 2024-11-06T19:45:31Z- AHRS_M2 msg: 1730922331.18 epoch sec; seqNo:101 2024-11-06T19:45:31Z- AHRS_M2 msg: 0.33 phi; -0.01 theta; 5.50 psi 2024-11-06T19:45:31Z- handleDepth()- Depth_Keller msg: 1730922331.18 epoch sec; seqNo:103; depth -0.08 2024-11-06T19:45:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922331.20 epoch sec; seqNo:103; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:31Z- waiting for 1730922332.37, time is 1730922331.20 2024-11-06T19:45:31Z- AHRS_M2 msg: 1730922331.58 epoch sec; seqNo:102 2024-11-06T19:45:31Z- AHRS_M2 msg: 0.36 phi; -0.04 theta; 5.50 psi 2024-11-06T19:45:31Z- handleDepth()- Depth_Keller msg: 1730922331.59 epoch sec; seqNo:104; depth -0.07 2024-11-06T19:45:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922331.60 epoch sec; seqNo:104; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:31Z- waiting for 1730922332.37, time is 1730922331.60 2024-11-06T19:45:31Z- AHRS_M2 msg: 1730922331.99 epoch sec; seqNo:103 2024-11-06T19:45:31Z- AHRS_M2 msg: 0.28 phi; -0.07 theta; 5.47 psi 2024-11-06T19:45:32Z- handleDepth()- Depth_Keller msg: 1730922332.00 epoch sec; seqNo:105; depth -0.04 2024-11-06T19:45:32Z- handleDVL() - DVL msg epochMillisec: 1730922332.03 2024-11-06T19:45:32Z- handleDvl() - RDI_Pathfinder msg: 1730922332.03 sec; seqNo:26; #beams:4 2024-11-06T19:45:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:32Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922332.05 epoch sec; seqNo:105; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:32Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:32Z- waiting for 1730922332.37, time is 1730922332.05 2024-11-06T19:45:32Z- AHRS_M2 msg: 1730922332.40 epoch sec; seqNo:104 2024-11-06T19:45:32Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 5.46 psi 2024-11-06T19:45:32Z- handleDepth()- Depth_Keller msg: 1730922332.40 epoch sec; seqNo:106; depth -0.05 2024-11-06T19:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922332.41 epoch sec; seqNo:106; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922328.37 2024-11-06T19:45:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:32Z- waiting for 1730922332.37, time is 1730922332.41 2024-11-06T19:45:32Z- LcmTrn::updateTrn() >>>> pose time 1730922332.41, meas time 1730922332.03 <<<< 2024-11-06T19:45:32Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922332.41 2024-11-06T19:45:32Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:32Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.05) 2024-11-06T19:45:32Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:32Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:32Z- publishEstimatesDecoder() - at 1730922332.41 sec 2024-11-06T19:45:32Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:32Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:32Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:32Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:32Z- AHRS_M2 msg: 1730922332.81 epoch sec; seqNo:105 2024-11-06T19:45:32Z- AHRS_M2 msg: 0.12 phi; 0.07 theta; 5.45 psi 2024-11-06T19:45:32Z- handleDepth()- Depth_Keller msg: 1730922332.81 epoch sec; seqNo:107; depth -0.09 2024-11-06T19:45:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922332.82 epoch sec; seqNo:107; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:32Z- waiting for 1730922336.41, time is 1730922332.82 2024-11-06T19:45:33Z- AHRS_M2 msg: 1730922333.20 epoch sec; seqNo:106 2024-11-06T19:45:33Z- AHRS_M2 msg: 0.22 phi; 0.12 theta; 5.43 psi 2024-11-06T19:45:33Z- handleDepth()- Depth_Keller msg: 1730922333.21 epoch sec; seqNo:108; depth -0.08 2024-11-06T19:45:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922333.22 epoch sec; seqNo:108; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:33Z- waiting for 1730922336.41, time is 1730922333.22 2024-11-06T19:45:33Z- AHRS_M2 msg: 1730922333.60 epoch sec; seqNo:107 2024-11-06T19:45:33Z- AHRS_M2 msg: 0.33 phi; 0.10 theta; 5.46 psi 2024-11-06T19:45:33Z- handleDepth()- Depth_Keller msg: 1730922333.61 epoch sec; seqNo:109; depth -0.06 2024-11-06T19:45:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922333.62 epoch sec; seqNo:109; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:33Z- waiting for 1730922336.41, time is 1730922333.62 2024-11-06T19:45:34Z- AHRS_M2 msg: 1730922334.01 epoch sec; seqNo:108 2024-11-06T19:45:34Z- AHRS_M2 msg: 0.31 phi; 0.03 theta; 5.46 psi 2024-11-06T19:45:34Z- handleDepth()- Depth_Keller msg: 1730922334.01 epoch sec; seqNo:110; depth -0.09 2024-11-06T19:45:34Z- handleDVL() - DVL msg epochMillisec: 1730922334.03 2024-11-06T19:45:34Z- handleDvl() - RDI_Pathfinder msg: 1730922334.03 sec; seqNo:27; #beams:4 2024-11-06T19:45:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:34Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922334.07 epoch sec; seqNo:110; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:34Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:34Z- waiting for 1730922336.41, time is 1730922334.07 2024-11-06T19:45:34Z- AHRS_M2 msg: 1730922334.41 epoch sec; seqNo:109 2024-11-06T19:45:34Z- AHRS_M2 msg: 0.25 phi; -0.03 theta; 5.41 psi 2024-11-06T19:45:34Z- handleDepth()- Depth_Keller msg: 1730922334.42 epoch sec; seqNo:111; depth -0.12 2024-11-06T19:45:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922334.43 epoch sec; seqNo:111; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:45:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:34Z- waiting for 1730922336.41, time is 1730922334.43 2024-11-06T19:45:34Z- AHRS_M2 msg: 1730922334.82 epoch sec; seqNo:110 2024-11-06T19:45:34Z- AHRS_M2 msg: 0.19 phi; -0.04 theta; 5.40 psi 2024-11-06T19:45:34Z- handleDepth()- Depth_Keller msg: 1730922334.83 epoch sec; seqNo:112; depth -0.10 2024-11-06T19:45:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922334.84 epoch sec; seqNo:112; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:34Z- waiting for 1730922336.41, time is 1730922334.84 2024-11-06T19:45:35Z- AHRS_M2 msg: 1730922335.22 epoch sec; seqNo:111 2024-11-06T19:45:35Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 5.40 psi 2024-11-06T19:45:35Z- handleDepth()- Depth_Keller msg: 1730922335.23 epoch sec; seqNo:113; depth -0.12 2024-11-06T19:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922335.25 epoch sec; seqNo:113; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:45:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:35Z- waiting for 1730922336.41, time is 1730922335.25 2024-11-06T19:45:35Z- AHRS_M2 msg: 1730922335.62 epoch sec; seqNo:112 2024-11-06T19:45:35Z- AHRS_M2 msg: 0.19 phi; -0.03 theta; 5.39 psi 2024-11-06T19:45:35Z- handleDepth()- Depth_Keller msg: 1730922335.63 epoch sec; seqNo:114; depth -0.13 2024-11-06T19:45:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922335.66 epoch sec; seqNo:114; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:45:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:35Z- waiting for 1730922336.41, time is 1730922335.66 2024-11-06T19:45:36Z- handleDepth()- Depth_Keller msg: 1730922336.05 epoch sec; seqNo:115; depth -0.10 2024-11-06T19:45:36Z- handleDVL() - DVL msg epochMillisec: 1730922336.09 2024-11-06T19:45:36Z- handleDvl() - RDI_Pathfinder msg: 1730922336.09 sec; seqNo:28; #beams:4 2024-11-06T19:45:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:36Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922336.11 epoch sec; seqNo:115; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:36Z- waiting for 1730922336.41, time is 1730922336.11 2024-11-06T19:45:36Z- AHRS_M2 msg: 1730922336.43 epoch sec; seqNo:113 2024-11-06T19:45:36Z- AHRS_M2 msg: 0.31 phi; -0.07 theta; 5.41 psi 2024-11-06T19:45:36Z- handleDepth()- Depth_Keller msg: 1730922336.45 epoch sec; seqNo:116; depth -0.09 2024-11-06T19:45:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922336.47 epoch sec; seqNo:116; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922332.41 2024-11-06T19:45:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:36Z- waiting for 1730922336.41, time is 1730922336.47 2024-11-06T19:45:36Z- LcmTrn::updateTrn() >>>> pose time 1730922336.47, meas time 1730922336.09 <<<< 2024-11-06T19:45:36Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922336.47 2024-11-06T19:45:36Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:36Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:45:36Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:36Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:36Z- publishEstimatesDecoder() - at 1730922336.47 sec 2024-11-06T19:45:36Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:36Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:36Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:36Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:36Z- AHRS_M2 msg: 1730922336.84 epoch sec; seqNo:114 2024-11-06T19:45:36Z- AHRS_M2 msg: 0.30 phi; -0.05 theta; 5.38 psi 2024-11-06T19:45:36Z- handleDepth()- Depth_Keller msg: 1730922336.84 epoch sec; seqNo:117; depth -0.07 2024-11-06T19:45:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922336.85 epoch sec; seqNo:117; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:36Z- waiting for 1730922340.47, time is 1730922336.85 2024-11-06T19:45:37Z- AHRS_M2 msg: 1730922337.24 epoch sec; seqNo:115 2024-11-06T19:45:37Z- AHRS_M2 msg: 0.23 phi; 0.02 theta; 5.37 psi 2024-11-06T19:45:37Z- handleDepth()- Depth_Keller msg: 1730922337.25 epoch sec; seqNo:118; depth -0.07 2024-11-06T19:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922337.27 epoch sec; seqNo:118; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:37Z- waiting for 1730922340.47, time is 1730922337.27 2024-11-06T19:45:37Z- AHRS_M2 msg: 1730922337.65 epoch sec; seqNo:116 2024-11-06T19:45:37Z- AHRS_M2 msg: 0.19 phi; 0.04 theta; 5.40 psi 2024-11-06T19:45:37Z- handleDepth()- Depth_Keller msg: 1730922337.66 epoch sec; seqNo:119; depth -0.09 2024-11-06T19:45:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922337.68 epoch sec; seqNo:119; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:37Z- waiting for 1730922340.47, time is 1730922337.68 2024-11-06T19:45:38Z- handleDepth()- Depth_Keller msg: 1730922338.06 epoch sec; seqNo:120; depth -0.10 2024-11-06T19:45:38Z- handleDVL() - DVL msg epochMillisec: 1730922338.10 2024-11-06T19:45:38Z- handleDvl() - RDI_Pathfinder msg: 1730922338.10 sec; seqNo:29; #beams:4 2024-11-06T19:45:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:38Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922338.14 epoch sec; seqNo:120; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:38Z- waiting for 1730922340.47, time is 1730922338.14 2024-11-06T19:45:38Z- AHRS_M2 msg: 1730922338.45 epoch sec; seqNo:117 2024-11-06T19:45:38Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 5.33 psi 2024-11-06T19:45:38Z- handleDepth()- Depth_Keller msg: 1730922338.46 epoch sec; seqNo:121; depth -0.11 2024-11-06T19:45:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922338.50 epoch sec; seqNo:121; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:38Z- waiting for 1730922340.47, time is 1730922338.50 2024-11-06T19:45:38Z- AHRS_M2 msg: 1730922338.86 epoch sec; seqNo:118 2024-11-06T19:45:38Z- AHRS_M2 msg: 0.18 phi; -0.07 theta; 5.32 psi 2024-11-06T19:45:38Z- handleDepth()- Depth_Keller msg: 1730922338.87 epoch sec; seqNo:122; depth -0.10 2024-11-06T19:45:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922338.88 epoch sec; seqNo:122; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:39Z- waiting for 1730922340.47, time is 1730922338.88 2024-11-06T19:45:39Z- AHRS_M2 msg: 1730922339.26 epoch sec; seqNo:119 2024-11-06T19:45:39Z- AHRS_M2 msg: 0.18 phi; -0.04 theta; 5.33 psi 2024-11-06T19:45:39Z- handleDepth()- Depth_Keller msg: 1730922339.27 epoch sec; seqNo:123; depth -0.09 2024-11-06T19:45:39Z- handleDVL() - DVL msg epochMillisec: 1730922339.27 2024-11-06T19:45:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:45:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:45:39Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:45:39Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:45:39Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:45:39Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:45:39Z- handleDvl() - RDI_Pathfinder msg: 1730922339.27 sec; seqNo:30; #beams:0 2024-11-06T19:45:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:39Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922339.29 epoch sec; seqNo:123; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:39Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:39Z- waiting for 1730922340.47, time is 1730922339.29 2024-11-06T19:45:39Z- AHRS_M2 msg: 1730922339.66 epoch sec; seqNo:120 2024-11-06T19:45:39Z- AHRS_M2 msg: 0.25 phi; 0.01 theta; 5.35 psi 2024-11-06T19:45:39Z- handleDepth()- Depth_Keller msg: 1730922339.67 epoch sec; seqNo:124; depth -0.07 2024-11-06T19:45:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922339.70 epoch sec; seqNo:124; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:39Z- waiting for 1730922340.47, time is 1730922339.70 2024-11-06T19:45:40Z- AHRS_M2 msg: 1730922340.07 epoch sec; seqNo:121 2024-11-06T19:45:40Z- AHRS_M2 msg: 0.33 phi; 0.03 theta; 5.34 psi 2024-11-06T19:45:40Z- handleDepth()- Depth_Keller msg: 1730922340.08 epoch sec; seqNo:125; depth -0.05 2024-11-06T19:45:40Z- handleDVL() - DVL msg epochMillisec: 1730922340.09 2024-11-06T19:45:40Z- handleDvl() - RDI_Pathfinder msg: 1730922340.09 sec; seqNo:31; #beams:4 2024-11-06T19:45:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:40Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922340.13 epoch sec; seqNo:125; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:40Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:40Z- waiting for 1730922340.47, time is 1730922340.13 2024-11-06T19:45:40Z- AHRS_M2 msg: 1730922340.47 epoch sec; seqNo:122 2024-11-06T19:45:40Z- AHRS_M2 msg: 0.29 phi; 0.01 theta; 5.35 psi 2024-11-06T19:45:40Z- handleDepth()- Depth_Keller msg: 1730922340.47 epoch sec; seqNo:126; depth -0.04 2024-11-06T19:45:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922340.49 epoch sec; seqNo:126; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922336.47 2024-11-06T19:45:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:40Z- waiting for 1730922340.47, time is 1730922340.49 2024-11-06T19:45:40Z- LcmTrn::updateTrn() >>>> pose time 1730922340.49, meas time 1730922340.09 <<<< 2024-11-06T19:45:40Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922340.49 2024-11-06T19:45:40Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:40Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.04) 2024-11-06T19:45:40Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:40Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:40Z- publishEstimatesDecoder() - at 1730922340.49 sec 2024-11-06T19:45:40Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:40Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:40Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:40Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:40Z- AHRS_M2 msg: 1730922340.88 epoch sec; seqNo:123 2024-11-06T19:45:40Z- AHRS_M2 msg: 0.18 phi; -0.03 theta; 5.35 psi 2024-11-06T19:45:40Z- handleDepth()- Depth_Keller msg: 1730922340.88 epoch sec; seqNo:127; depth -0.06 2024-11-06T19:45:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922340.90 epoch sec; seqNo:127; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:41Z- waiting for 1730922344.49, time is 1730922340.90 2024-11-06T19:45:41Z- AHRS_M2 msg: 1730922341.28 epoch sec; seqNo:124 2024-11-06T19:45:41Z- AHRS_M2 msg: 0.08 phi; -0.07 theta; 5.31 psi 2024-11-06T19:45:41Z- handleDepth()- Depth_Keller msg: 1730922341.29 epoch sec; seqNo:128; depth -0.07 2024-11-06T19:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922341.30 epoch sec; seqNo:128; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:41Z- waiting for 1730922344.49, time is 1730922341.30 2024-11-06T19:45:41Z- AHRS_M2 msg: 1730922341.68 epoch sec; seqNo:125 2024-11-06T19:45:41Z- AHRS_M2 msg: 0.06 phi; -0.08 theta; 5.29 psi 2024-11-06T19:45:41Z- handleDepth()- Depth_Keller msg: 1730922341.69 epoch sec; seqNo:129; depth -0.09 2024-11-06T19:45:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922341.71 epoch sec; seqNo:129; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:41Z- waiting for 1730922344.49, time is 1730922341.71 2024-11-06T19:45:42Z- AHRS_M2 msg: 1730922342.09 epoch sec; seqNo:126 2024-11-06T19:45:42Z- AHRS_M2 msg: 0.18 phi; -0.06 theta; 5.30 psi 2024-11-06T19:45:42Z- handleDepth()- Depth_Keller msg: 1730922342.10 epoch sec; seqNo:130; depth -0.09 2024-11-06T19:45:42Z- handleDVL() - DVL msg epochMillisec: 1730922342.17 2024-11-06T19:45:42Z- handleDvl() - RDI_Pathfinder msg: 1730922342.17 sec; seqNo:32; #beams:4 2024-11-06T19:45:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:42Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922342.22 epoch sec; seqNo:130; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:42Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:42Z- waiting for 1730922344.49, time is 1730922342.22 2024-11-06T19:45:42Z- AHRS_M2 msg: 1730922342.49 epoch sec; seqNo:127 2024-11-06T19:45:42Z- AHRS_M2 msg: 0.34 phi; -0.06 theta; 5.32 psi 2024-11-06T19:45:42Z- handleDepth()- Depth_Keller msg: 1730922342.51 epoch sec; seqNo:131; depth -0.07 2024-11-06T19:45:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922342.53 epoch sec; seqNo:131; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:42Z- waiting for 1730922344.49, time is 1730922342.53 2024-11-06T19:45:42Z- AHRS_M2 msg: 1730922342.89 epoch sec; seqNo:128 2024-11-06T19:45:42Z- AHRS_M2 msg: 0.39 phi; -0.09 theta; 5.36 psi 2024-11-06T19:45:42Z- handleDepth()- Depth_Keller msg: 1730922342.90 epoch sec; seqNo:132; depth -0.09 2024-11-06T19:45:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922342.91 epoch sec; seqNo:132; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:43Z- waiting for 1730922344.49, time is 1730922342.91 2024-11-06T19:45:43Z- AHRS_M2 msg: 1730922343.31 epoch sec; seqNo:129 2024-11-06T19:45:43Z- AHRS_M2 msg: 0.13 phi; 0.00 theta; 5.29 psi 2024-11-06T19:45:43Z- handleDepth()- Depth_Keller msg: 1730922343.32 epoch sec; seqNo:133; depth -0.09 2024-11-06T19:45:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922343.33 epoch sec; seqNo:133; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:43Z- waiting for 1730922344.49, time is 1730922343.33 2024-11-06T19:45:43Z- AHRS_M2 msg: 1730922343.71 epoch sec; seqNo:130 2024-11-06T19:45:43Z- AHRS_M2 msg: 0.07 phi; 0.00 theta; 5.30 psi 2024-11-06T19:45:43Z- handleDepth()- Depth_Keller msg: 1730922343.72 epoch sec; seqNo:134; depth -0.12 2024-11-06T19:45:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922343.73 epoch sec; seqNo:134; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:45:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:43Z- waiting for 1730922344.49, time is 1730922343.73 2024-11-06T19:45:44Z- AHRS_M2 msg: 1730922344.11 epoch sec; seqNo:131 2024-11-06T19:45:44Z- AHRS_M2 msg: 0.17 phi; -0.03 theta; 5.32 psi 2024-11-06T19:45:44Z- handleDepth()- Depth_Keller msg: 1730922344.11 epoch sec; seqNo:135; depth -0.11 2024-11-06T19:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922344.17 epoch sec; seqNo:135; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:45:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:44Z- waiting for 1730922344.49, time is 1730922344.17 2024-11-06T19:45:44Z- AHRS_M2 msg: 1730922344.52 epoch sec; seqNo:132 2024-11-06T19:45:44Z- AHRS_M2 msg: 0.29 phi; 0.02 theta; 5.31 psi 2024-11-06T19:45:44Z- handleDepth()- Depth_Keller msg: 1730922344.52 epoch sec; seqNo:136; depth -0.07 2024-11-06T19:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922344.53 epoch sec; seqNo:136; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922340.49 2024-11-06T19:45:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:44Z- waiting for 1730922344.49, time is 1730922344.53 2024-11-06T19:45:44Z- LcmTrn::updateTrn() >>>> pose time 1730922344.53, meas time 1730922342.17 <<<< 2024-11-06T19:45:44Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922344.53 2024-11-06T19:45:44Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:44Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:45:44Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:44Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:44Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:44Z- publishEstimatesDecoder() - at 1730922344.53 sec 2024-11-06T19:45:44Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:44Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:44Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:44Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:44Z- AHRS_M2 msg: 1730922344.91 epoch sec; seqNo:133 2024-11-06T19:45:44Z- AHRS_M2 msg: 0.31 phi; 0.04 theta; 5.30 psi 2024-11-06T19:45:44Z- handleDepth()- Depth_Keller msg: 1730922344.92 epoch sec; seqNo:137; depth -0.06 2024-11-06T19:45:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922344.95 epoch sec; seqNo:137; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:45Z- waiting for 1730922348.53, time is 1730922344.95 2024-11-06T19:45:45Z- AHRS_M2 msg: 1730922345.32 epoch sec; seqNo:134 2024-11-06T19:45:45Z- AHRS_M2 msg: 0.25 phi; 0.01 theta; 5.32 psi 2024-11-06T19:45:45Z- handleDepth()- Depth_Keller msg: 1730922345.34 epoch sec; seqNo:138; depth -0.08 2024-11-06T19:45:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922345.36 epoch sec; seqNo:138; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:45Z- waiting for 1730922348.53, time is 1730922345.36 2024-11-06T19:45:45Z- AHRS_M2 msg: 1730922345.73 epoch sec; seqNo:135 2024-11-06T19:45:45Z- AHRS_M2 msg: 0.18 phi; -0.01 theta; 5.32 psi 2024-11-06T19:45:45Z- handleDepth()- Depth_Keller msg: 1730922345.73 epoch sec; seqNo:139; depth -0.09 2024-11-06T19:45:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922345.82 epoch sec; seqNo:139; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:45Z- waiting for 1730922348.53, time is 1730922345.82 2024-11-06T19:45:46Z- AHRS_M2 msg: 1730922346.13 epoch sec; seqNo:136 2024-11-06T19:45:46Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 5.29 psi 2024-11-06T19:45:46Z- handleDepth()- Depth_Keller msg: 1730922346.13 epoch sec; seqNo:140; depth -0.10 2024-11-06T19:45:46Z- handleDVL() - DVL msg epochMillisec: 1730922346.17 2024-11-06T19:45:46Z- handleDvl() - RDI_Pathfinder msg: 1730922346.17 sec; seqNo:33; #beams:4 2024-11-06T19:45:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:46Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922346.22 epoch sec; seqNo:140; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:46Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:46Z- waiting for 1730922348.53, time is 1730922346.22 2024-11-06T19:45:46Z- AHRS_M2 msg: 1730922346.53 epoch sec; seqNo:137 2024-11-06T19:45:46Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 5.31 psi 2024-11-06T19:45:46Z- handleDepth()- Depth_Keller msg: 1730922346.54 epoch sec; seqNo:141; depth -0.10 2024-11-06T19:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922346.58 epoch sec; seqNo:141; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:46Z- waiting for 1730922348.53, time is 1730922346.58 2024-11-06T19:45:46Z- AHRS_M2 msg: 1730922346.93 epoch sec; seqNo:138 2024-11-06T19:45:46Z- AHRS_M2 msg: 0.26 phi; -0.05 theta; 5.31 psi 2024-11-06T19:45:46Z- handleDepth()- Depth_Keller msg: 1730922346.94 epoch sec; seqNo:142; depth -0.09 2024-11-06T19:45:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922346.95 epoch sec; seqNo:142; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:47Z- waiting for 1730922348.53, time is 1730922346.95 2024-11-06T19:45:47Z- AHRS_M2 msg: 1730922347.34 epoch sec; seqNo:139 2024-11-06T19:45:47Z- AHRS_M2 msg: 0.30 phi; -0.08 theta; 5.31 psi 2024-11-06T19:45:47Z- handleDepth()- Depth_Keller msg: 1730922347.35 epoch sec; seqNo:143; depth -0.10 2024-11-06T19:45:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922347.36 epoch sec; seqNo:143; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:47Z- waiting for 1730922348.53, time is 1730922347.36 2024-11-06T19:45:47Z- AHRS_M2 msg: 1730922347.76 epoch sec; seqNo:140 2024-11-06T19:45:47Z- AHRS_M2 msg: 0.28 phi; -0.10 theta; 5.34 psi 2024-11-06T19:45:47Z- handleDepth()- Depth_Keller msg: 1730922347.82 epoch sec; seqNo:144; depth -0.09 2024-11-06T19:45:47Z- handleDVL() - DVL msg epochMillisec: 1730922347.87 2024-11-06T19:45:47Z- handleDvl() - RDI_Pathfinder msg: 1730922347.87 sec; seqNo:34; #beams:4 2024-11-06T19:45:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:47Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922347.89 epoch sec; seqNo:144; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:47Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:47Z- waiting for 1730922348.53, time is 1730922347.89 2024-11-06T19:45:48Z- AHRS_M2 msg: 1730922348.15 epoch sec; seqNo:141 2024-11-06T19:45:48Z- AHRS_M2 msg: 0.25 phi; -0.01 theta; 5.35 psi 2024-11-06T19:45:48Z- handleDepth()- Depth_Keller msg: 1730922348.15 epoch sec; seqNo:145; depth -0.09 2024-11-06T19:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922348.17 epoch sec; seqNo:145; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:48Z- waiting for 1730922348.53, time is 1730922348.17 2024-11-06T19:45:48Z- AHRS_M2 msg: 1730922348.55 epoch sec; seqNo:142 2024-11-06T19:45:48Z- AHRS_M2 msg: 0.21 phi; 0.10 theta; 5.33 psi 2024-11-06T19:45:48Z- handleDepth()- Depth_Keller msg: 1730922348.56 epoch sec; seqNo:146; depth -0.07 2024-11-06T19:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922348.57 epoch sec; seqNo:146; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922344.53 2024-11-06T19:45:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:48Z- waiting for 1730922348.53, time is 1730922348.57 2024-11-06T19:45:48Z- LcmTrn::updateTrn() >>>> pose time 1730922348.57, meas time 1730922347.87 <<<< 2024-11-06T19:45:48Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922348.57 2024-11-06T19:45:48Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:48Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:45:48Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:48Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:48Z- publishEstimatesDecoder() - at 1730922348.57 sec 2024-11-06T19:45:48Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:48Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:48Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:48Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:48Z- AHRS_M2 msg: 1730922348.95 epoch sec; seqNo:143 2024-11-06T19:45:48Z- AHRS_M2 msg: 0.17 phi; 0.08 theta; 5.33 psi 2024-11-06T19:45:48Z- handleDepth()- Depth_Keller msg: 1730922348.96 epoch sec; seqNo:147; depth -0.06 2024-11-06T19:45:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922348.98 epoch sec; seqNo:147; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:49Z- waiting for 1730922352.57, time is 1730922348.98 2024-11-06T19:45:49Z- AHRS_M2 msg: 1730922349.36 epoch sec; seqNo:144 2024-11-06T19:45:49Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 5.33 psi 2024-11-06T19:45:49Z- handleDepth()- Depth_Keller msg: 1730922349.37 epoch sec; seqNo:148; depth -0.10 2024-11-06T19:45:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922349.38 epoch sec; seqNo:148; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:49Z- waiting for 1730922352.57, time is 1730922349.38 2024-11-06T19:45:49Z- AHRS_M2 msg: 1730922349.81 epoch sec; seqNo:145 2024-11-06T19:45:49Z- AHRS_M2 msg: 0.19 phi; -0.14 theta; 5.31 psi 2024-11-06T19:45:49Z- handleDepth()- Depth_Keller msg: 1730922349.82 epoch sec; seqNo:149; depth -0.09 2024-11-06T19:45:49Z- handleDVL() - DVL msg epochMillisec: 1730922349.85 2024-11-06T19:45:49Z- handleDvl() - RDI_Pathfinder msg: 1730922349.85 sec; seqNo:35; #beams:4 2024-11-06T19:45:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:49Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922349.86 epoch sec; seqNo:149; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:49Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:49Z- waiting for 1730922352.57, time is 1730922349.86 2024-11-06T19:45:50Z- AHRS_M2 msg: 1730922350.17 epoch sec; seqNo:146 2024-11-06T19:45:50Z- AHRS_M2 msg: 0.21 phi; -0.14 theta; 5.31 psi 2024-11-06T19:45:50Z- handleDepth()- Depth_Keller msg: 1730922350.17 epoch sec; seqNo:150; depth -0.07 2024-11-06T19:45:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922350.18 epoch sec; seqNo:150; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:45:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:50Z- waiting for 1730922352.57, time is 1730922350.18 2024-11-06T19:45:50Z- AHRS_M2 msg: 1730922350.57 epoch sec; seqNo:147 2024-11-06T19:45:50Z- AHRS_M2 msg: 0.27 phi; -0.07 theta; 5.33 psi 2024-11-06T19:45:50Z- handleDepth()- Depth_Keller msg: 1730922350.58 epoch sec; seqNo:151; depth -0.08 2024-11-06T19:45:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922350.59 epoch sec; seqNo:151; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:50Z- waiting for 1730922352.57, time is 1730922350.59 2024-11-06T19:45:50Z- AHRS_M2 msg: 1730922350.98 epoch sec; seqNo:148 2024-11-06T19:45:50Z- AHRS_M2 msg: 0.32 phi; 0.02 theta; 5.33 psi 2024-11-06T19:45:50Z- handleDepth()- Depth_Keller msg: 1730922350.99 epoch sec; seqNo:152; depth -0.05 2024-11-06T19:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922351.01 epoch sec; seqNo:152; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:51Z- waiting for 1730922352.57, time is 1730922351.01 2024-11-06T19:45:51Z- AHRS_M2 msg: 1730922351.38 epoch sec; seqNo:149 2024-11-06T19:45:51Z- AHRS_M2 msg: 0.28 phi; 0.05 theta; 5.33 psi 2024-11-06T19:45:51Z- handleDepth()- Depth_Keller msg: 1730922351.39 epoch sec; seqNo:153; depth -0.05 2024-11-06T19:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922351.43 epoch sec; seqNo:153; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:51Z- waiting for 1730922352.57, time is 1730922351.43 2024-11-06T19:45:51Z- AHRS_M2 msg: 1730922351.82 epoch sec; seqNo:150 2024-11-06T19:45:51Z- AHRS_M2 msg: 0.18 phi; 0.02 theta; 5.33 psi 2024-11-06T19:45:51Z- handleDepth()- Depth_Keller msg: 1730922351.83 epoch sec; seqNo:154; depth -0.05 2024-11-06T19:45:51Z- handleDVL() - DVL msg epochMillisec: 1730922351.88 2024-11-06T19:45:51Z- handleDvl() - RDI_Pathfinder msg: 1730922351.88 sec; seqNo:36; #beams:4 2024-11-06T19:45:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922351.91 epoch sec; seqNo:154; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:51Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:51Z- waiting for 1730922352.57, time is 1730922351.91 2024-11-06T19:45:52Z- AHRS_M2 msg: 1730922352.19 epoch sec; seqNo:151 2024-11-06T19:45:52Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 5.33 psi 2024-11-06T19:45:52Z- handleDepth()- Depth_Keller msg: 1730922352.21 epoch sec; seqNo:155; depth -0.01 2024-11-06T19:45:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922352.24 epoch sec; seqNo:155; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:45:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:52Z- waiting for 1730922352.57, time is 1730922352.24 2024-11-06T19:45:52Z- AHRS_M2 msg: 1730922352.59 epoch sec; seqNo:152 2024-11-06T19:45:52Z- AHRS_M2 msg: 0.14 phi; -0.03 theta; 5.31 psi 2024-11-06T19:45:52Z- handleDepth()- Depth_Keller msg: 1730922352.60 epoch sec; seqNo:156; depth -0.03 2024-11-06T19:45:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922352.63 epoch sec; seqNo:156; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:45:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922348.57 2024-11-06T19:45:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:52Z- waiting for 1730922352.57, time is 1730922352.63 2024-11-06T19:45:52Z- LcmTrn::updateTrn() >>>> pose time 1730922352.63, meas time 1730922351.88 <<<< 2024-11-06T19:45:52Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922352.63 2024-11-06T19:45:52Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:52Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.03) 2024-11-06T19:45:52Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:52Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:52Z- publishEstimatesDecoder() - at 1730922352.63 sec 2024-11-06T19:45:52Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:52Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:52Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:52Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:53Z- AHRS_M2 msg: 1730922352.99 epoch sec; seqNo:153 2024-11-06T19:45:53Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 5.29 psi 2024-11-06T19:45:53Z- handleDepth()- Depth_Keller msg: 1730922353.00 epoch sec; seqNo:157; depth -0.04 2024-11-06T19:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922353.04 epoch sec; seqNo:157; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:53Z- waiting for 1730922356.63, time is 1730922353.04 2024-11-06T19:45:53Z- AHRS_M2 msg: 1730922353.40 epoch sec; seqNo:154 2024-11-06T19:45:53Z- AHRS_M2 msg: 0.20 phi; -0.10 theta; 5.30 psi 2024-11-06T19:45:53Z- handleDepth()- Depth_Keller msg: 1730922353.41 epoch sec; seqNo:158; depth -0.03 2024-11-06T19:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922353.43 epoch sec; seqNo:158; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:45:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:53Z- waiting for 1730922356.63, time is 1730922353.43 2024-11-06T19:45:53Z- AHRS_M2 msg: 1730922353.82 epoch sec; seqNo:155 2024-11-06T19:45:53Z- AHRS_M2 msg: 0.29 phi; -0.12 theta; 5.31 psi 2024-11-06T19:45:53Z- handleDepth()- Depth_Keller msg: 1730922353.84 epoch sec; seqNo:159; depth -0.02 2024-11-06T19:45:53Z- handleDVL() - DVL msg epochMillisec: 1730922353.88 2024-11-06T19:45:53Z- handleDvl() - RDI_Pathfinder msg: 1730922353.88 sec; seqNo:37; #beams:4 2024-11-06T19:45:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922353.91 epoch sec; seqNo:159; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:45:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:45:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:53Z- waiting for 1730922356.63, time is 1730922353.91 2024-11-06T19:45:54Z- AHRS_M2 msg: 1730922354.22 epoch sec; seqNo:156 2024-11-06T19:45:54Z- AHRS_M2 msg: 0.32 phi; -0.11 theta; 5.34 psi 2024-11-06T19:45:54Z- handleDepth()- Depth_Keller msg: 1730922354.23 epoch sec; seqNo:160; depth -0.05 2024-11-06T19:45:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922354.30 epoch sec; seqNo:160; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:54Z- waiting for 1730922356.63, time is 1730922354.30 2024-11-06T19:45:54Z- AHRS_M2 msg: 1730922354.63 epoch sec; seqNo:157 2024-11-06T19:45:54Z- AHRS_M2 msg: 0.27 phi; -0.10 theta; 5.35 psi 2024-11-06T19:45:54Z- handleDepth()- Depth_Keller msg: 1730922354.64 epoch sec; seqNo:161; depth -0.10 2024-11-06T19:45:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922354.68 epoch sec; seqNo:161; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:54Z- waiting for 1730922356.63, time is 1730922354.68 2024-11-06T19:45:55Z- AHRS_M2 msg: 1730922355.03 epoch sec; seqNo:158 2024-11-06T19:45:55Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 5.33 psi 2024-11-06T19:45:55Z- handleDepth()- Depth_Keller msg: 1730922355.04 epoch sec; seqNo:162; depth -0.10 2024-11-06T19:45:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922355.06 epoch sec; seqNo:162; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:55Z- waiting for 1730922356.63, time is 1730922355.06 2024-11-06T19:45:55Z- AHRS_M2 msg: 1730922355.43 epoch sec; seqNo:159 2024-11-06T19:45:55Z- AHRS_M2 msg: 0.17 phi; -0.08 theta; 5.28 psi 2024-11-06T19:45:55Z- handleDepth()- Depth_Keller msg: 1730922355.46 epoch sec; seqNo:163; depth -0.09 2024-11-06T19:45:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922355.48 epoch sec; seqNo:163; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:55Z- waiting for 1730922356.63, time is 1730922355.48 2024-11-06T19:45:55Z- AHRS_M2 msg: 1730922355.84 epoch sec; seqNo:160 2024-11-06T19:45:55Z- AHRS_M2 msg: 0.14 phi; -0.13 theta; 5.31 psi 2024-11-06T19:45:55Z- handleDepth()- Depth_Keller msg: 1730922355.85 epoch sec; seqNo:164; depth -0.08 2024-11-06T19:45:55Z- handleDVL() - DVL msg epochMillisec: 1730922355.94 2024-11-06T19:45:55Z- handleDvl() - RDI_Pathfinder msg: 1730922355.94 sec; seqNo:38; #beams:4 2024-11-06T19:45:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:55Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:45:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:55Z- waiting for 1730922356.63, time is 1730922355.94 2024-11-06T19:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922356.02 epoch sec; seqNo:164; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:45:56Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:45:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:56Z- waiting for 1730922356.63, time is 1730922356.02 2024-11-06T19:45:56Z- AHRS_M2 msg: 1730922356.25 epoch sec; seqNo:161 2024-11-06T19:45:56Z- AHRS_M2 msg: 0.16 phi; -0.15 theta; 5.37 psi 2024-11-06T19:45:56Z- handleDepth()- Depth_Keller msg: 1730922356.27 epoch sec; seqNo:165; depth -0.10 2024-11-06T19:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922356.34 epoch sec; seqNo:165; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:45:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:56Z- waiting for 1730922356.63, time is 1730922356.34 2024-11-06T19:45:56Z- AHRS_M2 msg: 1730922356.65 epoch sec; seqNo:162 2024-11-06T19:45:56Z- AHRS_M2 msg: 0.25 phi; -0.16 theta; 5.37 psi 2024-11-06T19:45:56Z- handleDepth()- Depth_Keller msg: 1730922356.66 epoch sec; seqNo:166; depth -0.09 2024-11-06T19:45:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922356.71 epoch sec; seqNo:166; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922352.63 2024-11-06T19:45:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:56Z- waiting for 1730922356.63, time is 1730922356.71 2024-11-06T19:45:56Z- LcmTrn::updateTrn() >>>> pose time 1730922356.71, meas time 1730922355.94 <<<< 2024-11-06T19:45:56Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922356.71 2024-11-06T19:45:56Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:45:56Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:45:56Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:45:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:56Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:45:56Z- publishEstimatesDecoder() - at 1730922356.71 sec 2024-11-06T19:45:56Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:45:56Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:45:56Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:45:56Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:45:57Z- AHRS_M2 msg: 1730922357.05 epoch sec; seqNo:163 2024-11-06T19:45:57Z- AHRS_M2 msg: 0.32 phi; -0.16 theta; 5.35 psi 2024-11-06T19:45:57Z- handleDepth()- Depth_Keller msg: 1730922357.09 epoch sec; seqNo:167; depth -0.06 2024-11-06T19:45:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922357.15 epoch sec; seqNo:167; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:57Z- waiting for 1730922360.71, time is 1730922357.15 2024-11-06T19:45:57Z- AHRS_M2 msg: 1730922357.46 epoch sec; seqNo:164 2024-11-06T19:45:57Z- AHRS_M2 msg: 0.29 phi; -0.06 theta; 5.38 psi 2024-11-06T19:45:57Z- handleDepth()- Depth_Keller msg: 1730922357.50 epoch sec; seqNo:168; depth -0.09 2024-11-06T19:45:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922357.56 epoch sec; seqNo:168; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:45:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:57Z- waiting for 1730922360.71, time is 1730922357.56 2024-11-06T19:45:57Z- AHRS_M2 msg: 1730922357.89 epoch sec; seqNo:165 2024-11-06T19:45:57Z- AHRS_M2 msg: 0.25 phi; 0.04 theta; 5.39 psi 2024-11-06T19:45:57Z- handleDepth()- Depth_Keller msg: 1730922357.91 epoch sec; seqNo:169; depth -0.06 2024-11-06T19:45:58Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:45:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:58Z- waiting for 1730922360.71, time is 1730922357.89 2024-11-06T19:45:58Z- handleDVL() - DVL msg epochMillisec: 1730922358.06 2024-11-06T19:45:58Z- handleDvl() - RDI_Pathfinder msg: 1730922358.06 sec; seqNo:39; #beams:4 2024-11-06T19:45:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:45:58Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922358.19 epoch sec; seqNo:169; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:45:58Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:45:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:58Z- waiting for 1730922360.71, time is 1730922358.19 2024-11-06T19:45:58Z- AHRS_M2 msg: 1730922358.44 epoch sec; seqNo:166 2024-11-06T19:45:58Z- AHRS_M2 msg: 0.19 phi; 0.09 theta; 5.40 psi 2024-11-06T19:45:58Z- handleDepth()- Depth_Keller msg: 1730922358.47 epoch sec; seqNo:170; depth -0.02 2024-11-06T19:45:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922358.59 epoch sec; seqNo:170; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:45:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:58Z- waiting for 1730922360.71, time is 1730922358.59 2024-11-06T19:45:58Z- AHRS_M2 msg: 1730922358.85 epoch sec; seqNo:167 2024-11-06T19:45:58Z- AHRS_M2 msg: 0.17 phi; 0.06 theta; 5.40 psi 2024-11-06T19:45:58Z- handleDepth()- Depth_Keller msg: 1730922358.87 epoch sec; seqNo:171; depth -0.04 2024-11-06T19:45:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922358.91 epoch sec; seqNo:171; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:59Z- waiting for 1730922360.71, time is 1730922358.91 2024-11-06T19:45:59Z- AHRS_M2 msg: 1730922359.31 epoch sec; seqNo:168 2024-11-06T19:45:59Z- AHRS_M2 msg: 0.17 phi; 0.01 theta; 5.37 psi 2024-11-06T19:45:59Z- handleDepth()- Depth_Keller msg: 1730922359.33 epoch sec; seqNo:172; depth -0.04 2024-11-06T19:45:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922359.40 epoch sec; seqNo:172; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:45:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:45:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:59Z- waiting for 1730922360.71, time is 1730922359.40 2024-11-06T19:45:59Z- AHRS_M2 msg: 1730922359.69 epoch sec; seqNo:169 2024-11-06T19:45:59Z- AHRS_M2 msg: 0.18 phi; -0.03 theta; 5.35 psi 2024-11-06T19:45:59Z- handleDepth()- Depth_Keller msg: 1730922359.71 epoch sec; seqNo:173; depth -0.05 2024-11-06T19:45:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922359.84 epoch sec; seqNo:173; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:45:59Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:45:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:45:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:45:59Z- waiting for 1730922360.71, time is 1730922359.84 2024-11-06T19:46:00Z- AHRS_M2 msg: 1730922360.06 epoch sec; seqNo:170 2024-11-06T19:46:00Z- AHRS_M2 msg: 0.23 phi; -0.03 theta; 5.39 psi 2024-11-06T19:46:00Z- handleDepth()- Depth_Keller msg: 1730922360.10 epoch sec; seqNo:174; depth -0.05 2024-11-06T19:46:00Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:46:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:00Z- waiting for 1730922360.71, time is 1730922360.06 2024-11-06T19:46:00Z- handleDVL() - DVL msg epochMillisec: 1730922360.24 2024-11-06T19:46:00Z- handleDvl() - RDI_Pathfinder msg: 1730922360.24 sec; seqNo:40; #beams:4 2024-11-06T19:46:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:00Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922360.33 epoch sec; seqNo:174; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:00Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:46:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:00Z- waiting for 1730922360.71, time is 1730922360.33 2024-11-06T19:46:00Z- AHRS_M2 msg: 1730922360.53 epoch sec; seqNo:171 2024-11-06T19:46:00Z- AHRS_M2 msg: 0.28 phi; -0.02 theta; 5.41 psi 2024-11-06T19:46:00Z- handleDepth()- Depth_Keller msg: 1730922360.55 epoch sec; seqNo:175; depth -0.05 2024-11-06T19:46:00Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:46:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:00Z- waiting for 1730922360.71, time is 1730922360.53 2024-11-06T19:46:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922360.73 epoch sec; seqNo:175; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:00Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:46:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922356.71 2024-11-06T19:46:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:00Z- waiting for 1730922360.71, time is 1730922360.73 2024-11-06T19:46:00Z- LcmTrn::updateTrn() >>>> pose time 1730922360.73, meas time 1730922360.24 <<<< 2024-11-06T19:46:00Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922360.73 2024-11-06T19:46:00Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:00Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.05) 2024-11-06T19:46:00Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:00Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:00Z- publishEstimatesDecoder() - at 1730922360.73 sec 2024-11-06T19:46:00Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:00Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:00Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:00Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:00Z- AHRS_M2 msg: 1730922360.94 epoch sec; seqNo:172 2024-11-06T19:46:00Z- AHRS_M2 msg: 0.27 phi; -0.04 theta; 5.41 psi 2024-11-06T19:46:00Z- handleDepth()- Depth_Keller msg: 1730922360.96 epoch sec; seqNo:176; depth -0.09 2024-11-06T19:46:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922361.03 epoch sec; seqNo:176; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:01Z- waiting for 1730922364.73, time is 1730922361.03 2024-11-06T19:46:01Z- AHRS_M2 msg: 1730922361.29 epoch sec; seqNo:173 2024-11-06T19:46:01Z- AHRS_M2 msg: 0.24 phi; -0.07 theta; 5.40 psi 2024-11-06T19:46:01Z- handleDepth()- Depth_Keller msg: 1730922361.32 epoch sec; seqNo:177; depth -0.13 2024-11-06T19:46:01Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:01Z- waiting for 1730922364.73, time is 1730922361.29 2024-11-06T19:46:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922361.46 epoch sec; seqNo:177; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:46:01Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:46:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:01Z- waiting for 1730922364.73, time is 1730922361.46 2024-11-06T19:46:01Z- AHRS_M2 msg: 1730922361.70 epoch sec; seqNo:174 2024-11-06T19:46:01Z- AHRS_M2 msg: 0.24 phi; -0.06 theta; 5.41 psi 2024-11-06T19:46:01Z- handleDepth()- Depth_Keller msg: 1730922361.76 epoch sec; seqNo:178; depth -0.11 2024-11-06T19:46:01Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:01Z- waiting for 1730922364.73, time is 1730922361.70 2024-11-06T19:46:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922361.87 epoch sec; seqNo:178; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:02Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:46:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:02Z- waiting for 1730922364.73, time is 1730922361.87 2024-11-06T19:46:02Z- AHRS_M2 msg: 1730922362.10 epoch sec; seqNo:175 2024-11-06T19:46:02Z- AHRS_M2 msg: 0.27 phi; -0.01 theta; 5.44 psi 2024-11-06T19:46:02Z- handleDepth()- Depth_Keller msg: 1730922362.16 epoch sec; seqNo:179; depth -0.09 2024-11-06T19:46:02Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:02Z- waiting for 1730922364.73, time is 1730922362.10 2024-11-06T19:46:02Z- handleDVL() - DVL msg epochMillisec: 1730922362.26 2024-11-06T19:46:02Z- handleDvl() - RDI_Pathfinder msg: 1730922362.26 sec; seqNo:41; #beams:4 2024-11-06T19:46:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:02Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922362.38 epoch sec; seqNo:179; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:02Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:02Z- waiting for 1730922364.73, time is 1730922362.38 2024-11-06T19:46:02Z- AHRS_M2 msg: 1730922362.58 epoch sec; seqNo:176 2024-11-06T19:46:02Z- AHRS_M2 msg: 0.28 phi; -0.01 theta; 5.44 psi 2024-11-06T19:46:02Z- handleDepth()- Depth_Keller msg: 1730922362.67 epoch sec; seqNo:180; depth -0.05 2024-11-06T19:46:02Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:02Z- waiting for 1730922364.73, time is 1730922362.58 2024-11-06T19:46:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922362.76 epoch sec; seqNo:180; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:02Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:46:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:02Z- waiting for 1730922364.73, time is 1730922362.76 2024-11-06T19:46:03Z- AHRS_M2 msg: 1730922363.03 epoch sec; seqNo:177 2024-11-06T19:46:03Z- AHRS_M2 msg: 0.25 phi; -0.05 theta; 5.42 psi 2024-11-06T19:46:03Z- handleDepth()- Depth_Keller msg: 1730922363.05 epoch sec; seqNo:181; depth -0.05 2024-11-06T19:46:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922363.12 epoch sec; seqNo:181; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:03Z- waiting for 1730922364.73, time is 1730922363.12 2024-11-06T19:46:03Z- AHRS_M2 msg: 1730922363.39 epoch sec; seqNo:178 2024-11-06T19:46:03Z- AHRS_M2 msg: 0.21 phi; -0.02 theta; 5.45 psi 2024-11-06T19:46:03Z- handleDepth()- Depth_Keller msg: 1730922363.39 epoch sec; seqNo:182; depth -0.04 2024-11-06T19:46:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922363.46 epoch sec; seqNo:182; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:46:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:03Z- waiting for 1730922364.73, time is 1730922363.46 2024-11-06T19:46:03Z- AHRS_M2 msg: 1730922363.86 epoch sec; seqNo:179 2024-11-06T19:46:03Z- AHRS_M2 msg: 0.22 phi; 0.02 theta; 5.45 psi 2024-11-06T19:46:03Z- handleDepth()- Depth_Keller msg: 1730922363.89 epoch sec; seqNo:183; depth -0.03 2024-11-06T19:46:04Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:04Z- waiting for 1730922364.73, time is 1730922363.86 2024-11-06T19:46:04Z- handleDVL() - DVL msg epochMillisec: 1730922363.99 2024-11-06T19:46:04Z- handleDvl() - RDI_Pathfinder msg: 1730922363.99 sec; seqNo:42; #beams:4 2024-11-06T19:46:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:04Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922364.13 epoch sec; seqNo:183; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:04Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:04Z- waiting for 1730922364.73, time is 1730922364.13 2024-11-06T19:46:04Z- AHRS_M2 msg: 1730922364.32 epoch sec; seqNo:180 2024-11-06T19:46:04Z- AHRS_M2 msg: 0.24 phi; 0.01 theta; 5.47 psi 2024-11-06T19:46:04Z- handleDepth()- Depth_Keller msg: 1730922364.36 epoch sec; seqNo:184; depth -0.01 2024-11-06T19:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922364.41 epoch sec; seqNo:184; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:46:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:04Z- waiting for 1730922364.73, time is 1730922364.41 2024-11-06T19:46:04Z- AHRS_M2 msg: 1730922364.73 epoch sec; seqNo:181 2024-11-06T19:46:04Z- AHRS_M2 msg: 0.25 phi; 0.01 theta; 5.49 psi 2024-11-06T19:46:04Z- handleDepth()- Depth_Keller msg: 1730922364.75 epoch sec; seqNo:185; depth -0.01 2024-11-06T19:46:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922364.78 epoch sec; seqNo:185; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:46:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922360.73 2024-11-06T19:46:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:04Z- waiting for 1730922364.73, time is 1730922364.78 2024-11-06T19:46:04Z- LcmTrn::updateTrn() >>>> pose time 1730922364.78, meas time 1730922363.99 <<<< 2024-11-06T19:46:04Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922364.78 2024-11-06T19:46:04Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:04Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.01) 2024-11-06T19:46:04Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:04Z- publishEstimatesDecoder() - at 1730922364.78 sec 2024-11-06T19:46:04Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:04Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:04Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:04Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:05Z- AHRS_M2 msg: 1730922365.13 epoch sec; seqNo:182 2024-11-06T19:46:05Z- AHRS_M2 msg: 0.24 phi; -0.01 theta; 5.49 psi 2024-11-06T19:46:05Z- handleDepth()- Depth_Keller msg: 1730922365.13 epoch sec; seqNo:186; depth -0.02 2024-11-06T19:46:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922365.16 epoch sec; seqNo:186; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:46:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:05Z- waiting for 1730922368.78, time is 1730922365.16 2024-11-06T19:46:05Z- AHRS_M2 msg: 1730922365.50 epoch sec; seqNo:183 2024-11-06T19:46:05Z- AHRS_M2 msg: 0.18 phi; -0.07 theta; 5.49 psi 2024-11-06T19:46:05Z- handleDepth()- Depth_Keller msg: 1730922365.55 epoch sec; seqNo:187; depth -0.04 2024-11-06T19:46:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922365.59 epoch sec; seqNo:187; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:46:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:05Z- waiting for 1730922368.78, time is 1730922365.59 2024-11-06T19:46:05Z- AHRS_M2 msg: 1730922365.93 epoch sec; seqNo:184 2024-11-06T19:46:05Z- AHRS_M2 msg: 0.13 phi; -0.12 theta; 5.48 psi 2024-11-06T19:46:05Z- handleDepth()- Depth_Keller msg: 1730922365.95 epoch sec; seqNo:188; depth -0.04 2024-11-06T19:46:06Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:06Z- waiting for 1730922368.78, time is 1730922365.93 2024-11-06T19:46:06Z- handleDVL() - DVL msg epochMillisec: 1730922366.05 2024-11-06T19:46:06Z- handleDvl() - RDI_Pathfinder msg: 1730922366.05 sec; seqNo:43; #beams:4 2024-11-06T19:46:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:06Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922366.15 epoch sec; seqNo:188; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:46:06Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:06Z- waiting for 1730922368.78, time is 1730922366.15 2024-11-06T19:46:06Z- AHRS_M2 msg: 1730922366.38 epoch sec; seqNo:185 2024-11-06T19:46:06Z- AHRS_M2 msg: 0.13 phi; -0.12 theta; 5.48 psi 2024-11-06T19:46:06Z- handleDepth()- Depth_Keller msg: 1730922366.43 epoch sec; seqNo:189; depth -0.06 2024-11-06T19:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922366.50 epoch sec; seqNo:189; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:06Z- waiting for 1730922368.78, time is 1730922366.50 2024-11-06T19:46:06Z- AHRS_M2 msg: 1730922366.77 epoch sec; seqNo:186 2024-11-06T19:46:06Z- AHRS_M2 msg: 0.18 phi; -0.14 theta; 5.50 psi 2024-11-06T19:46:06Z- handleDepth()- Depth_Keller msg: 1730922366.79 epoch sec; seqNo:190; depth -0.07 2024-11-06T19:46:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922366.82 epoch sec; seqNo:190; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:06Z- waiting for 1730922368.78, time is 1730922366.82 2024-11-06T19:46:07Z- AHRS_M2 msg: 1730922367.16 epoch sec; seqNo:187 2024-11-06T19:46:07Z- AHRS_M2 msg: 0.26 phi; -0.16 theta; 5.51 psi 2024-11-06T19:46:07Z- handleDepth()- Depth_Keller msg: 1730922367.18 epoch sec; seqNo:191; depth -0.09 2024-11-06T19:46:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922367.22 epoch sec; seqNo:191; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:07Z- waiting for 1730922368.78, time is 1730922367.22 2024-11-06T19:46:07Z- AHRS_M2 msg: 1730922367.58 epoch sec; seqNo:188 2024-11-06T19:46:07Z- AHRS_M2 msg: 0.32 phi; -0.10 theta; 5.52 psi 2024-11-06T19:46:07Z- handleDepth()- Depth_Keller msg: 1730922367.59 epoch sec; seqNo:192; depth -0.08 2024-11-06T19:46:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922367.63 epoch sec; seqNo:192; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:07Z- waiting for 1730922368.78, time is 1730922367.63 2024-11-06T19:46:07Z- AHRS_M2 msg: 1730922367.97 epoch sec; seqNo:189 2024-11-06T19:46:07Z- AHRS_M2 msg: 0.29 phi; -0.02 theta; 5.53 psi 2024-11-06T19:46:07Z- handleDepth()- Depth_Keller msg: 1730922367.99 epoch sec; seqNo:193; depth -0.08 2024-11-06T19:46:08Z- handleDVL() - DVL msg epochMillisec: 1730922368.06 2024-11-06T19:46:08Z- handleDvl() - RDI_Pathfinder msg: 1730922368.06 sec; seqNo:44; #beams:4 2024-11-06T19:46:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:08Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:08Z- waiting for 1730922368.78, time is 1730922368.06 2024-11-06T19:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922368.14 epoch sec; seqNo:193; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:08Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:46:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:08Z- waiting for 1730922368.78, time is 1730922368.14 2024-11-06T19:46:08Z- AHRS_M2 msg: 1730922368.38 epoch sec; seqNo:190 2024-11-06T19:46:08Z- AHRS_M2 msg: 0.23 phi; -0.06 theta; 5.53 psi 2024-11-06T19:46:08Z- handleDepth()- Depth_Keller msg: 1730922368.42 epoch sec; seqNo:194; depth -0.07 2024-11-06T19:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922368.47 epoch sec; seqNo:194; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:08Z- waiting for 1730922368.78, time is 1730922368.47 2024-11-06T19:46:08Z- AHRS_M2 msg: 1730922368.79 epoch sec; seqNo:191 2024-11-06T19:46:08Z- AHRS_M2 msg: 0.17 phi; -0.12 theta; 5.53 psi 2024-11-06T19:46:08Z- handleDepth()- Depth_Keller msg: 1730922368.81 epoch sec; seqNo:195; depth -0.09 2024-11-06T19:46:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922368.83 epoch sec; seqNo:195; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922364.78 2024-11-06T19:46:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:08Z- waiting for 1730922368.78, time is 1730922368.83 2024-11-06T19:46:08Z- LcmTrn::updateTrn() >>>> pose time 1730922368.83, meas time 1730922368.06 <<<< 2024-11-06T19:46:08Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922368.83 2024-11-06T19:46:08Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:08Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:46:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:08Z- publishEstimatesDecoder() - at 1730922368.83 sec 2024-11-06T19:46:08Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:08Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:08Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:08Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:09Z- AHRS_M2 msg: 1730922369.20 epoch sec; seqNo:192 2024-11-06T19:46:09Z- AHRS_M2 msg: 0.11 phi; -0.09 theta; 5.53 psi 2024-11-06T19:46:09Z- handleDepth()- Depth_Keller msg: 1730922369.23 epoch sec; seqNo:196; depth -0.09 2024-11-06T19:46:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922369.29 epoch sec; seqNo:196; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:09Z- waiting for 1730922372.83, time is 1730922369.29 2024-11-06T19:46:09Z- AHRS_M2 msg: 1730922369.60 epoch sec; seqNo:193 2024-11-06T19:46:09Z- AHRS_M2 msg: 0.14 phi; -0.02 theta; 5.55 psi 2024-11-06T19:46:09Z- handleDepth()- Depth_Keller msg: 1730922369.65 epoch sec; seqNo:197; depth -0.06 2024-11-06T19:46:09Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:09Z- waiting for 1730922372.83, time is 1730922369.60 2024-11-06T19:46:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922369.71 epoch sec; seqNo:197; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:09Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:46:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:09Z- waiting for 1730922372.83, time is 1730922369.71 2024-11-06T19:46:10Z- handleDepth()- Depth_Keller msg: 1730922370.03 epoch sec; seqNo:198; depth -0.06 2024-11-06T19:46:10Z- handleDVL() - DVL msg epochMillisec: 1730922370.10 2024-11-06T19:46:10Z- handleDvl() - RDI_Pathfinder msg: 1730922370.10 sec; seqNo:45; #beams:4 2024-11-06T19:46:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922370.12 epoch sec; seqNo:198; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:10Z- waiting for 1730922372.83, time is 1730922370.12 2024-11-06T19:46:10Z- AHRS_M2 msg: 1730922370.41 epoch sec; seqNo:194 2024-11-06T19:46:10Z- AHRS_M2 msg: 0.29 phi; 0.02 theta; 5.52 psi 2024-11-06T19:46:10Z- handleDepth()- Depth_Keller msg: 1730922370.42 epoch sec; seqNo:199; depth -0.07 2024-11-06T19:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922370.44 epoch sec; seqNo:199; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:10Z- waiting for 1730922372.83, time is 1730922370.44 2024-11-06T19:46:10Z- AHRS_M2 msg: 1730922370.82 epoch sec; seqNo:195 2024-11-06T19:46:10Z- AHRS_M2 msg: 0.30 phi; 0.01 theta; 5.56 psi 2024-11-06T19:46:10Z- handleDepth()- Depth_Keller msg: 1730922370.83 epoch sec; seqNo:200; depth -0.07 2024-11-06T19:46:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922370.84 epoch sec; seqNo:200; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:10Z- waiting for 1730922372.83, time is 1730922370.84 2024-11-06T19:46:11Z- AHRS_M2 msg: 1730922371.23 epoch sec; seqNo:196 2024-11-06T19:46:11Z- AHRS_M2 msg: 0.26 phi; -0.04 theta; 5.60 psi 2024-11-06T19:46:11Z- handleDepth()- Depth_Keller msg: 1730922371.23 epoch sec; seqNo:201; depth -0.08 2024-11-06T19:46:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922371.27 epoch sec; seqNo:201; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:11Z- waiting for 1730922372.83, time is 1730922371.27 2024-11-06T19:46:11Z- AHRS_M2 msg: 1730922371.63 epoch sec; seqNo:197 2024-11-06T19:46:11Z- AHRS_M2 msg: 0.16 phi; -0.07 theta; 5.56 psi 2024-11-06T19:46:11Z- handleDepth()- Depth_Keller msg: 1730922371.65 epoch sec; seqNo:202; depth -0.09 2024-11-06T19:46:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922371.69 epoch sec; seqNo:202; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:11Z- waiting for 1730922372.83, time is 1730922371.69 2024-11-06T19:46:12Z- AHRS_M2 msg: 1730922372.03 epoch sec; seqNo:198 2024-11-06T19:46:12Z- AHRS_M2 msg: 0.12 phi; -0.07 theta; 5.57 psi 2024-11-06T19:46:12Z- handleDepth()- Depth_Keller msg: 1730922372.04 epoch sec; seqNo:203; depth -0.12 2024-11-06T19:46:12Z- handleDVL() - DVL msg epochMillisec: 1730922372.08 2024-11-06T19:46:12Z- handleDvl() - RDI_Pathfinder msg: 1730922372.08 sec; seqNo:46; #beams:4 2024-11-06T19:46:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:12Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922372.13 epoch sec; seqNo:203; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:46:12Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:12Z- waiting for 1730922372.83, time is 1730922372.13 2024-11-06T19:46:12Z- AHRS_M2 msg: 1730922372.43 epoch sec; seqNo:199 2024-11-06T19:46:12Z- AHRS_M2 msg: 0.17 phi; -0.04 theta; 5.63 psi 2024-11-06T19:46:12Z- handleDepth()- Depth_Keller msg: 1730922372.44 epoch sec; seqNo:204; depth -0.12 2024-11-06T19:46:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922372.46 epoch sec; seqNo:204; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:46:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:12Z- waiting for 1730922372.83, time is 1730922372.46 2024-11-06T19:46:12Z- AHRS_M2 msg: 1730922372.84 epoch sec; seqNo:200 2024-11-06T19:46:12Z- AHRS_M2 msg: 0.22 phi; -0.02 theta; 5.64 psi 2024-11-06T19:46:12Z- handleDepth()- Depth_Keller msg: 1730922372.85 epoch sec; seqNo:205; depth -0.09 2024-11-06T19:46:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922372.86 epoch sec; seqNo:205; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922368.83 2024-11-06T19:46:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:12Z- waiting for 1730922372.83, time is 1730922372.86 2024-11-06T19:46:12Z- LcmTrn::updateTrn() >>>> pose time 1730922372.86, meas time 1730922372.08 <<<< 2024-11-06T19:46:12Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922372.86 2024-11-06T19:46:12Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:13Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:46:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:13Z- publishEstimatesDecoder() - at 1730922372.86 sec 2024-11-06T19:46:13Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:13Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:13Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:13Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:13Z- AHRS_M2 msg: 1730922373.24 epoch sec; seqNo:201 2024-11-06T19:46:13Z- AHRS_M2 msg: 0.24 phi; -0.05 theta; 5.61 psi 2024-11-06T19:46:13Z- handleDepth()- Depth_Keller msg: 1730922373.25 epoch sec; seqNo:206; depth -0.09 2024-11-06T19:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922373.28 epoch sec; seqNo:206; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:13Z- waiting for 1730922376.86, time is 1730922373.28 2024-11-06T19:46:13Z- AHRS_M2 msg: 1730922373.64 epoch sec; seqNo:202 2024-11-06T19:46:13Z- AHRS_M2 msg: 0.22 phi; -0.07 theta; 5.60 psi 2024-11-06T19:46:13Z- handleDepth()- Depth_Keller msg: 1730922373.65 epoch sec; seqNo:207; depth -0.10 2024-11-06T19:46:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922373.66 epoch sec; seqNo:207; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:13Z- waiting for 1730922376.86, time is 1730922373.66 2024-11-06T19:46:14Z- AHRS_M2 msg: 1730922374.05 epoch sec; seqNo:203 2024-11-06T19:46:14Z- AHRS_M2 msg: 0.25 phi; -0.06 theta; 5.61 psi 2024-11-06T19:46:14Z- handleDepth()- Depth_Keller msg: 1730922374.06 epoch sec; seqNo:208; depth -0.08 2024-11-06T19:46:14Z- handleDVL() - DVL msg epochMillisec: 1730922374.09 2024-11-06T19:46:14Z- handleDvl() - RDI_Pathfinder msg: 1730922374.09 sec; seqNo:47; #beams:4 2024-11-06T19:46:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:14Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922374.10 epoch sec; seqNo:208; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:14Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:14Z- waiting for 1730922376.86, time is 1730922374.10 2024-11-06T19:46:14Z- AHRS_M2 msg: 1730922374.46 epoch sec; seqNo:204 2024-11-06T19:46:14Z- AHRS_M2 msg: 0.30 phi; -0.03 theta; 5.66 psi 2024-11-06T19:46:14Z- handleDepth()- Depth_Keller msg: 1730922374.46 epoch sec; seqNo:209; depth -0.05 2024-11-06T19:46:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922374.49 epoch sec; seqNo:209; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:14Z- waiting for 1730922376.86, time is 1730922374.49 2024-11-06T19:46:14Z- AHRS_M2 msg: 1730922374.86 epoch sec; seqNo:205 2024-11-06T19:46:14Z- AHRS_M2 msg: 0.30 phi; 0.04 theta; 5.66 psi 2024-11-06T19:46:14Z- handleDepth()- Depth_Keller msg: 1730922374.87 epoch sec; seqNo:210; depth -0.05 2024-11-06T19:46:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922374.89 epoch sec; seqNo:210; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:15Z- waiting for 1730922376.86, time is 1730922374.89 2024-11-06T19:46:15Z- AHRS_M2 msg: 1730922375.26 epoch sec; seqNo:206 2024-11-06T19:46:15Z- AHRS_M2 msg: 0.24 phi; 0.05 theta; 5.68 psi 2024-11-06T19:46:15Z- handleDepth()- Depth_Keller msg: 1730922375.29 epoch sec; seqNo:211; depth -0.10 2024-11-06T19:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922375.30 epoch sec; seqNo:211; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:15Z- waiting for 1730922376.86, time is 1730922375.30 2024-11-06T19:46:15Z- AHRS_M2 msg: 1730922375.68 epoch sec; seqNo:207 2024-11-06T19:46:15Z- AHRS_M2 msg: 0.24 phi; 0.02 theta; 5.67 psi 2024-11-06T19:46:15Z- handleDepth()- Depth_Keller msg: 1730922375.69 epoch sec; seqNo:212; depth -0.09 2024-11-06T19:46:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922375.71 epoch sec; seqNo:212; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:15Z- waiting for 1730922376.86, time is 1730922375.71 2024-11-06T19:46:16Z- AHRS_M2 msg: 1730922376.08 epoch sec; seqNo:208 2024-11-06T19:46:16Z- AHRS_M2 msg: 0.28 phi; 0.01 theta; 5.69 psi 2024-11-06T19:46:16Z- handleDepth()- Depth_Keller msg: 1730922376.09 epoch sec; seqNo:213; depth -0.09 2024-11-06T19:46:16Z- handleDVL() - DVL msg epochMillisec: 1730922376.12 2024-11-06T19:46:16Z- handleDvl() - RDI_Pathfinder msg: 1730922376.12 sec; seqNo:48; #beams:4 2024-11-06T19:46:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922376.15 epoch sec; seqNo:213; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:16Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:16Z- waiting for 1730922376.86, time is 1730922376.15 2024-11-06T19:46:16Z- AHRS_M2 msg: 1730922376.47 epoch sec; seqNo:209 2024-11-06T19:46:16Z- AHRS_M2 msg: 0.29 phi; -0.05 theta; 5.70 psi 2024-11-06T19:46:16Z- handleDepth()- Depth_Keller msg: 1730922376.48 epoch sec; seqNo:214; depth -0.11 2024-11-06T19:46:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922376.52 epoch sec; seqNo:214; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:16Z- waiting for 1730922376.86, time is 1730922376.52 2024-11-06T19:46:16Z- AHRS_M2 msg: 1730922376.88 epoch sec; seqNo:210 2024-11-06T19:46:16Z- AHRS_M2 msg: 0.27 phi; -0.11 theta; 5.68 psi 2024-11-06T19:46:16Z- handleDepth()- Depth_Keller msg: 1730922376.89 epoch sec; seqNo:215; depth -0.12 2024-11-06T19:46:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922376.92 epoch sec; seqNo:215; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:46:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922372.86 2024-11-06T19:46:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:17Z- waiting for 1730922376.86, time is 1730922376.92 2024-11-06T19:46:17Z- LcmTrn::updateTrn() >>>> pose time 1730922376.92, meas time 1730922376.12 <<<< 2024-11-06T19:46:17Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922376.92 2024-11-06T19:46:17Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:17Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.12) 2024-11-06T19:46:17Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:17Z- publishEstimatesDecoder() - at 1730922376.92 sec 2024-11-06T19:46:17Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:17Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:17Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:17Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:17Z- AHRS_M2 msg: 1730922377.28 epoch sec; seqNo:211 2024-11-06T19:46:17Z- AHRS_M2 msg: 0.23 phi; -0.10 theta; 5.68 psi 2024-11-06T19:46:17Z- handleDepth()- Depth_Keller msg: 1730922377.29 epoch sec; seqNo:216; depth -0.10 2024-11-06T19:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922377.31 epoch sec; seqNo:216; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:17Z- waiting for 1730922380.92, time is 1730922377.31 2024-11-06T19:46:17Z- AHRS_M2 msg: 1730922377.69 epoch sec; seqNo:212 2024-11-06T19:46:17Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 5.69 psi 2024-11-06T19:46:17Z- handleDepth()- Depth_Keller msg: 1730922377.70 epoch sec; seqNo:217; depth -0.11 2024-11-06T19:46:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922377.72 epoch sec; seqNo:217; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:17Z- waiting for 1730922380.92, time is 1730922377.72 2024-11-06T19:46:18Z- AHRS_M2 msg: 1730922378.09 epoch sec; seqNo:213 2024-11-06T19:46:18Z- AHRS_M2 msg: 0.17 phi; -0.08 theta; 5.68 psi 2024-11-06T19:46:18Z- handleDepth()- Depth_Keller msg: 1730922378.10 epoch sec; seqNo:218; depth -0.12 2024-11-06T19:46:18Z- handleDVL() - DVL msg epochMillisec: 1730922378.14 2024-11-06T19:46:18Z- handleDvl() - RDI_Pathfinder msg: 1730922378.14 sec; seqNo:49; #beams:4 2024-11-06T19:46:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922378.19 epoch sec; seqNo:218; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:46:18Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:18Z- waiting for 1730922380.92, time is 1730922378.19 2024-11-06T19:46:18Z- AHRS_M2 msg: 1730922378.49 epoch sec; seqNo:214 2024-11-06T19:46:18Z- AHRS_M2 msg: 0.15 phi; -0.13 theta; 5.68 psi 2024-11-06T19:46:18Z- handleDepth()- Depth_Keller msg: 1730922378.50 epoch sec; seqNo:219; depth -0.10 2024-11-06T19:46:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922378.52 epoch sec; seqNo:219; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:18Z- waiting for 1730922380.92, time is 1730922378.52 2024-11-06T19:46:18Z- AHRS_M2 msg: 1730922378.90 epoch sec; seqNo:215 2024-11-06T19:46:18Z- AHRS_M2 msg: 0.16 phi; -0.11 theta; 5.68 psi 2024-11-06T19:46:18Z- handleDepth()- Depth_Keller msg: 1730922378.91 epoch sec; seqNo:220; depth -0.09 2024-11-06T19:46:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922378.93 epoch sec; seqNo:220; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:19Z- waiting for 1730922380.92, time is 1730922378.93 2024-11-06T19:46:19Z- AHRS_M2 msg: 1730922379.30 epoch sec; seqNo:216 2024-11-06T19:46:19Z- AHRS_M2 msg: 0.25 phi; -0.01 theta; 5.68 psi 2024-11-06T19:46:19Z- handleDepth()- Depth_Keller msg: 1730922379.31 epoch sec; seqNo:221; depth -0.06 2024-11-06T19:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922379.32 epoch sec; seqNo:221; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:19Z- waiting for 1730922380.92, time is 1730922379.32 2024-11-06T19:46:19Z- AHRS_M2 msg: 1730922379.71 epoch sec; seqNo:217 2024-11-06T19:46:19Z- AHRS_M2 msg: 0.31 phi; 0.04 theta; 5.70 psi 2024-11-06T19:46:19Z- handleDepth()- Depth_Keller msg: 1730922379.71 epoch sec; seqNo:222; depth -0.05 2024-11-06T19:46:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922379.74 epoch sec; seqNo:222; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:19Z- waiting for 1730922380.92, time is 1730922379.74 2024-11-06T19:46:20Z- AHRS_M2 msg: 1730922380.11 epoch sec; seqNo:218 2024-11-06T19:46:20Z- AHRS_M2 msg: 0.34 phi; 0.03 theta; 5.69 psi 2024-11-06T19:46:20Z- handleDepth()- Depth_Keller msg: 1730922380.12 epoch sec; seqNo:223; depth -0.06 2024-11-06T19:46:20Z- handleDVL() - DVL msg epochMillisec: 1730922380.15 2024-11-06T19:46:20Z- handleDvl() - RDI_Pathfinder msg: 1730922380.15 sec; seqNo:50; #beams:4 2024-11-06T19:46:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:20Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922380.16 epoch sec; seqNo:223; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:20Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:20Z- waiting for 1730922380.92, time is 1730922380.16 2024-11-06T19:46:20Z- AHRS_M2 msg: 1730922380.52 epoch sec; seqNo:219 2024-11-06T19:46:20Z- AHRS_M2 msg: 0.31 phi; 0.02 theta; 5.68 psi 2024-11-06T19:46:20Z- handleDepth()- Depth_Keller msg: 1730922380.53 epoch sec; seqNo:224; depth -0.04 2024-11-06T19:46:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922380.55 epoch sec; seqNo:224; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:46:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:20Z- waiting for 1730922380.92, time is 1730922380.55 2024-11-06T19:46:20Z- AHRS_M2 msg: 1730922380.92 epoch sec; seqNo:220 2024-11-06T19:46:20Z- AHRS_M2 msg: 0.22 phi; 0.04 theta; 5.70 psi 2024-11-06T19:46:20Z- handleDepth()- Depth_Keller msg: 1730922380.93 epoch sec; seqNo:225; depth -0.06 2024-11-06T19:46:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922380.94 epoch sec; seqNo:225; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922376.92 2024-11-06T19:46:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:21Z- waiting for 1730922380.92, time is 1730922380.94 2024-11-06T19:46:21Z- LcmTrn::updateTrn() >>>> pose time 1730922380.94, meas time 1730922380.15 <<<< 2024-11-06T19:46:21Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922380.94 2024-11-06T19:46:21Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:21Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.06) 2024-11-06T19:46:21Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:21Z- publishEstimatesDecoder() - at 1730922380.94 sec 2024-11-06T19:46:21Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:21Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:21Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:21Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:21Z- AHRS_M2 msg: 1730922381.33 epoch sec; seqNo:221 2024-11-06T19:46:21Z- AHRS_M2 msg: 0.18 phi; 0.04 theta; 5.71 psi 2024-11-06T19:46:21Z- handleDepth()- Depth_Keller msg: 1730922381.34 epoch sec; seqNo:226; depth -0.07 2024-11-06T19:46:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922381.35 epoch sec; seqNo:226; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:21Z- waiting for 1730922384.94, time is 1730922381.35 2024-11-06T19:46:21Z- AHRS_M2 msg: 1730922381.73 epoch sec; seqNo:222 2024-11-06T19:46:21Z- AHRS_M2 msg: 0.25 phi; -0.04 theta; 5.74 psi 2024-11-06T19:46:21Z- handleDepth()- Depth_Keller msg: 1730922381.77 epoch sec; seqNo:227; depth -0.11 2024-11-06T19:46:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922381.81 epoch sec; seqNo:227; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:21Z- waiting for 1730922384.94, time is 1730922381.81 2024-11-06T19:46:22Z- AHRS_M2 msg: 1730922382.13 epoch sec; seqNo:223 2024-11-06T19:46:22Z- AHRS_M2 msg: 0.30 phi; -0.11 theta; 5.75 psi 2024-11-06T19:46:22Z- handleDepth()- Depth_Keller msg: 1730922382.14 epoch sec; seqNo:228; depth -0.10 2024-11-06T19:46:22Z- handleDVL() - DVL msg epochMillisec: 1730922382.17 2024-11-06T19:46:22Z- handleDvl() - RDI_Pathfinder msg: 1730922382.17 sec; seqNo:51; #beams:4 2024-11-06T19:46:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:22Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922382.18 epoch sec; seqNo:228; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:22Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:22Z- waiting for 1730922384.94, time is 1730922382.18 2024-11-06T19:46:22Z- AHRS_M2 msg: 1730922382.53 epoch sec; seqNo:224 2024-11-06T19:46:22Z- AHRS_M2 msg: 0.29 phi; -0.09 theta; 5.72 psi 2024-11-06T19:46:22Z- handleDepth()- Depth_Keller msg: 1730922382.54 epoch sec; seqNo:229; depth -0.10 2024-11-06T19:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922382.55 epoch sec; seqNo:229; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:22Z- waiting for 1730922384.94, time is 1730922382.55 2024-11-06T19:46:22Z- AHRS_M2 msg: 1730922382.94 epoch sec; seqNo:225 2024-11-06T19:46:22Z- AHRS_M2 msg: 0.25 phi; -0.06 theta; 5.67 psi 2024-11-06T19:46:22Z- handleDepth()- Depth_Keller msg: 1730922382.95 epoch sec; seqNo:230; depth -0.12 2024-11-06T19:46:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922382.97 epoch sec; seqNo:230; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:46:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:23Z- waiting for 1730922384.94, time is 1730922382.97 2024-11-06T19:46:23Z- AHRS_M2 msg: 1730922383.34 epoch sec; seqNo:226 2024-11-06T19:46:23Z- AHRS_M2 msg: 0.23 phi; -0.08 theta; 5.68 psi 2024-11-06T19:46:23Z- handleDepth()- Depth_Keller msg: 1730922383.35 epoch sec; seqNo:231; depth -0.09 2024-11-06T19:46:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922383.37 epoch sec; seqNo:231; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:23Z- waiting for 1730922384.94, time is 1730922383.37 2024-11-06T19:46:23Z- AHRS_M2 msg: 1730922383.78 epoch sec; seqNo:227 2024-11-06T19:46:23Z- AHRS_M2 msg: 0.20 phi; -0.06 theta; 5.72 psi 2024-11-06T19:46:23Z- handleDepth()- Depth_Keller msg: 1730922383.80 epoch sec; seqNo:232; depth -0.08 2024-11-06T19:46:23Z- handleDVL() - DVL msg epochMillisec: 1730922383.83 2024-11-06T19:46:23Z- handleDvl() - RDI_Pathfinder msg: 1730922383.83 sec; seqNo:52; #beams:4 2024-11-06T19:46:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922383.84 epoch sec; seqNo:232; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:23Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:23Z- waiting for 1730922384.94, time is 1730922383.84 2024-11-06T19:46:24Z- AHRS_M2 msg: 1730922384.15 epoch sec; seqNo:228 2024-11-06T19:46:24Z- AHRS_M2 msg: 0.18 phi; 0.01 theta; 5.71 psi 2024-11-06T19:46:24Z- handleDepth()- Depth_Keller msg: 1730922384.15 epoch sec; seqNo:233; depth -0.03 2024-11-06T19:46:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922384.17 epoch sec; seqNo:233; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:24Z- waiting for 1730922384.94, time is 1730922384.17 2024-11-06T19:46:24Z- AHRS_M2 msg: 1730922384.56 epoch sec; seqNo:229 2024-11-06T19:46:24Z- AHRS_M2 msg: 0.17 phi; 0.01 theta; 5.69 psi 2024-11-06T19:46:24Z- handleDepth()- Depth_Keller msg: 1730922384.57 epoch sec; seqNo:234; depth -0.02 2024-11-06T19:46:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922384.58 epoch sec; seqNo:234; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:46:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:24Z- waiting for 1730922384.94, time is 1730922384.58 2024-11-06T19:46:24Z- AHRS_M2 msg: 1730922384.96 epoch sec; seqNo:230 2024-11-06T19:46:24Z- AHRS_M2 msg: 0.13 phi; -0.04 theta; 5.70 psi 2024-11-06T19:46:24Z- handleDepth()- Depth_Keller msg: 1730922384.97 epoch sec; seqNo:235; depth -0.08 2024-11-06T19:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922385.03 epoch sec; seqNo:235; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922380.94 2024-11-06T19:46:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:25Z- waiting for 1730922384.94, time is 1730922385.03 2024-11-06T19:46:25Z- LcmTrn::updateTrn() >>>> pose time 1730922385.03, meas time 1730922383.83 <<<< 2024-11-06T19:46:25Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922385.03 2024-11-06T19:46:25Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:25Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.08) 2024-11-06T19:46:25Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:25Z- publishEstimatesDecoder() - at 1730922385.03 sec 2024-11-06T19:46:25Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:25Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:25Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:25Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:25Z- AHRS_M2 msg: 1730922385.37 epoch sec; seqNo:231 2024-11-06T19:46:25Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 5.69 psi 2024-11-06T19:46:25Z- handleDepth()- Depth_Keller msg: 1730922385.37 epoch sec; seqNo:236; depth -0.06 2024-11-06T19:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922385.41 epoch sec; seqNo:236; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:25Z- waiting for 1730922389.03, time is 1730922385.41 2024-11-06T19:46:25Z- AHRS_M2 msg: 1730922385.80 epoch sec; seqNo:232 2024-11-06T19:46:25Z- AHRS_M2 msg: 0.22 phi; -0.02 theta; 5.66 psi 2024-11-06T19:46:25Z- handleDepth()- Depth_Keller msg: 1730922385.82 epoch sec; seqNo:237; depth -0.04 2024-11-06T19:46:25Z- handleDVL() - DVL msg epochMillisec: 1730922385.87 2024-11-06T19:46:25Z- handleDvl() - RDI_Pathfinder msg: 1730922385.87 sec; seqNo:53; #beams:4 2024-11-06T19:46:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:25Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922385.89 epoch sec; seqNo:237; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:46:25Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:25Z- waiting for 1730922389.03, time is 1730922385.89 2024-11-06T19:46:26Z- AHRS_M2 msg: 1730922386.17 epoch sec; seqNo:233 2024-11-06T19:46:26Z- AHRS_M2 msg: 0.29 phi; 0.01 theta; 5.68 psi 2024-11-06T19:46:26Z- handleDepth()- Depth_Keller msg: 1730922386.18 epoch sec; seqNo:238; depth -0.07 2024-11-06T19:46:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922386.21 epoch sec; seqNo:238; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:26Z- waiting for 1730922389.03, time is 1730922386.21 2024-11-06T19:46:26Z- AHRS_M2 msg: 1730922386.57 epoch sec; seqNo:234 2024-11-06T19:46:26Z- AHRS_M2 msg: 0.37 phi; 0.04 theta; 5.67 psi 2024-11-06T19:46:26Z- handleDepth()- Depth_Keller msg: 1730922386.59 epoch sec; seqNo:239; depth -0.04 2024-11-06T19:46:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922386.61 epoch sec; seqNo:239; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:46:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:26Z- waiting for 1730922389.03, time is 1730922386.61 2024-11-06T19:46:26Z- AHRS_M2 msg: 1730922386.98 epoch sec; seqNo:235 2024-11-06T19:46:26Z- AHRS_M2 msg: 0.37 phi; 0.07 theta; 5.64 psi 2024-11-06T19:46:26Z- handleDepth()- Depth_Keller msg: 1730922386.99 epoch sec; seqNo:240; depth -0.07 2024-11-06T19:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922387.03 epoch sec; seqNo:240; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:27Z- waiting for 1730922389.03, time is 1730922387.03 2024-11-06T19:46:27Z- AHRS_M2 msg: 1730922387.39 epoch sec; seqNo:236 2024-11-06T19:46:27Z- AHRS_M2 msg: 0.26 phi; 0.03 theta; 5.64 psi 2024-11-06T19:46:27Z- handleDepth()- Depth_Keller msg: 1730922387.39 epoch sec; seqNo:241; depth -0.10 2024-11-06T19:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922387.41 epoch sec; seqNo:241; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:27Z- waiting for 1730922389.03, time is 1730922387.41 2024-11-06T19:46:27Z- AHRS_M2 msg: 1730922387.82 epoch sec; seqNo:237 2024-11-06T19:46:27Z- AHRS_M2 msg: 0.16 phi; -0.04 theta; 5.68 psi 2024-11-06T19:46:27Z- handleDepth()- Depth_Keller msg: 1730922387.83 epoch sec; seqNo:242; depth -0.13 2024-11-06T19:46:27Z- handleDVL() - DVL msg epochMillisec: 1730922387.88 2024-11-06T19:46:27Z- handleDvl() - RDI_Pathfinder msg: 1730922387.88 sec; seqNo:54; #beams:4 2024-11-06T19:46:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:27Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922387.93 epoch sec; seqNo:242; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:46:27Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:27Z- waiting for 1730922389.03, time is 1730922387.93 2024-11-06T19:46:28Z- AHRS_M2 msg: 1730922388.19 epoch sec; seqNo:238 2024-11-06T19:46:28Z- AHRS_M2 msg: 0.18 phi; -0.05 theta; 5.70 psi 2024-11-06T19:46:28Z- handleDepth()- Depth_Keller msg: 1730922388.20 epoch sec; seqNo:243; depth -0.12 2024-11-06T19:46:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922388.23 epoch sec; seqNo:243; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:46:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:28Z- waiting for 1730922389.03, time is 1730922388.23 2024-11-06T19:46:28Z- AHRS_M2 msg: 1730922388.60 epoch sec; seqNo:239 2024-11-06T19:46:28Z- AHRS_M2 msg: 0.24 phi; -0.04 theta; 5.67 psi 2024-11-06T19:46:28Z- handleDepth()- Depth_Keller msg: 1730922388.60 epoch sec; seqNo:244; depth -0.10 2024-11-06T19:46:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922388.62 epoch sec; seqNo:244; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:28Z- waiting for 1730922389.03, time is 1730922388.62 2024-11-06T19:46:29Z- AHRS_M2 msg: 1730922389.00 epoch sec; seqNo:240 2024-11-06T19:46:29Z- AHRS_M2 msg: 0.29 phi; 0.00 theta; 5.68 psi 2024-11-06T19:46:29Z- handleDepth()- Depth_Keller msg: 1730922389.01 epoch sec; seqNo:245; depth -0.09 2024-11-06T19:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922389.03 epoch sec; seqNo:245; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922385.03 2024-11-06T19:46:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:29Z- waiting for 1730922389.03, time is 1730922389.03 2024-11-06T19:46:29Z- LcmTrn::updateTrn() >>>> pose time 1730922389.03, meas time 1730922387.88 <<<< 2024-11-06T19:46:29Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922389.03 2024-11-06T19:46:29Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:29Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:46:29Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:29Z- publishEstimatesDecoder() - at 1730922389.03 sec 2024-11-06T19:46:29Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:29Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:29Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:29Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:29Z- handleDepth()- Depth_Keller msg: 1730922389.42 epoch sec; seqNo:246; depth -0.11 2024-11-06T19:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922389.43 epoch sec; seqNo:246; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:29Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:29Z- waiting for 1730922393.03, time is 1730922389.43 2024-11-06T19:46:29Z- AHRS_M2 msg: 1730922389.82 epoch sec; seqNo:241 2024-11-06T19:46:29Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 5.65 psi 2024-11-06T19:46:29Z- handleDepth()- Depth_Keller msg: 1730922389.82 epoch sec; seqNo:247; depth -0.12 2024-11-06T19:46:29Z- handleDVL() - DVL msg epochMillisec: 1730922389.85 2024-11-06T19:46:29Z- handleDvl() - RDI_Pathfinder msg: 1730922389.85 sec; seqNo:55; #beams:4 2024-11-06T19:46:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:29Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922389.86 epoch sec; seqNo:247; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:46:29Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:29Z- waiting for 1730922393.03, time is 1730922389.86 2024-11-06T19:46:30Z- AHRS_M2 msg: 1730922390.21 epoch sec; seqNo:242 2024-11-06T19:46:30Z- AHRS_M2 msg: 0.09 phi; -0.06 theta; 5.65 psi 2024-11-06T19:46:30Z- handleDepth()- Depth_Keller msg: 1730922390.22 epoch sec; seqNo:248; depth -0.11 2024-11-06T19:46:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922390.24 epoch sec; seqNo:248; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:30Z- waiting for 1730922393.03, time is 1730922390.24 2024-11-06T19:46:30Z- AHRS_M2 msg: 1730922390.61 epoch sec; seqNo:243 2024-11-06T19:46:30Z- AHRS_M2 msg: 0.10 phi; -0.07 theta; 5.65 psi 2024-11-06T19:46:30Z- handleDepth()- Depth_Keller msg: 1730922390.62 epoch sec; seqNo:249; depth -0.09 2024-11-06T19:46:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922390.63 epoch sec; seqNo:249; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:30Z- waiting for 1730922393.03, time is 1730922390.63 2024-11-06T19:46:31Z- AHRS_M2 msg: 1730922391.02 epoch sec; seqNo:244 2024-11-06T19:46:31Z- AHRS_M2 msg: 0.19 phi; -0.09 theta; 5.68 psi 2024-11-06T19:46:31Z- handleDepth()- Depth_Keller msg: 1730922391.03 epoch sec; seqNo:250; depth -0.08 2024-11-06T19:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922391.04 epoch sec; seqNo:250; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:31Z- waiting for 1730922393.03, time is 1730922391.04 2024-11-06T19:46:31Z- AHRS_M2 msg: 1730922391.43 epoch sec; seqNo:245 2024-11-06T19:46:31Z- AHRS_M2 msg: 0.26 phi; -0.09 theta; 5.71 psi 2024-11-06T19:46:31Z- handleDepth()- Depth_Keller msg: 1730922391.44 epoch sec; seqNo:251; depth -0.08 2024-11-06T19:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922391.44 epoch sec; seqNo:251; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:31Z- waiting for 1730922393.03, time is 1730922391.44 2024-11-06T19:46:31Z- AHRS_M2 msg: 1730922391.83 epoch sec; seqNo:246 2024-11-06T19:46:31Z- AHRS_M2 msg: 0.33 phi; -0.07 theta; 5.70 psi 2024-11-06T19:46:31Z- handleDepth()- Depth_Keller msg: 1730922391.84 epoch sec; seqNo:252; depth -0.03 2024-11-06T19:46:31Z- handleDVL() - DVL msg epochMillisec: 1730922391.86 2024-11-06T19:46:31Z- handleDvl() - RDI_Pathfinder msg: 1730922391.86 sec; seqNo:56; #beams:4 2024-11-06T19:46:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922391.88 epoch sec; seqNo:252; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:31Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:31Z- waiting for 1730922393.03, time is 1730922391.88 2024-11-06T19:46:32Z- AHRS_M2 msg: 1730922392.23 epoch sec; seqNo:247 2024-11-06T19:46:32Z- AHRS_M2 msg: 0.32 phi; -0.02 theta; 5.69 psi 2024-11-06T19:46:32Z- handleDepth()- Depth_Keller msg: 1730922392.24 epoch sec; seqNo:253; depth -0.03 2024-11-06T19:46:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922392.27 epoch sec; seqNo:253; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:32Z- waiting for 1730922393.03, time is 1730922392.27 2024-11-06T19:46:32Z- handleDepth()- Depth_Keller msg: 1730922392.65 epoch sec; seqNo:254; depth -0.06 2024-11-06T19:46:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922392.66 epoch sec; seqNo:254; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:32Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:46:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:32Z- waiting for 1730922393.03, time is 1730922392.66 2024-11-06T19:46:33Z- AHRS_M2 msg: 1730922393.05 epoch sec; seqNo:248 2024-11-06T19:46:33Z- AHRS_M2 msg: 0.10 phi; -0.12 theta; 5.71 psi 2024-11-06T19:46:33Z- handleDepth()- Depth_Keller msg: 1730922393.05 epoch sec; seqNo:255; depth -0.08 2024-11-06T19:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922393.07 epoch sec; seqNo:255; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922389.03 2024-11-06T19:46:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:33Z- waiting for 1730922393.03, time is 1730922393.07 2024-11-06T19:46:33Z- LcmTrn::updateTrn() >>>> pose time 1730922393.07, meas time 1730922391.86 <<<< 2024-11-06T19:46:33Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922393.07 2024-11-06T19:46:33Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:33Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.08) 2024-11-06T19:46:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:33Z- publishEstimatesDecoder() - at 1730922393.07 sec 2024-11-06T19:46:33Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:33Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:33Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:33Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:33Z- AHRS_M2 msg: 1730922393.45 epoch sec; seqNo:249 2024-11-06T19:46:33Z- AHRS_M2 msg: 0.19 phi; -0.09 theta; 5.70 psi 2024-11-06T19:46:33Z- handleDepth()- Depth_Keller msg: 1730922393.45 epoch sec; seqNo:256; depth -0.09 2024-11-06T19:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922393.46 epoch sec; seqNo:256; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:33Z- waiting for 1730922397.07, time is 1730922393.46 2024-11-06T19:46:33Z- AHRS_M2 msg: 1730922393.85 epoch sec; seqNo:250 2024-11-06T19:46:33Z- AHRS_M2 msg: 0.31 phi; -0.09 theta; 5.67 psi 2024-11-06T19:46:33Z- handleDepth()- Depth_Keller msg: 1730922393.86 epoch sec; seqNo:257; depth -0.10 2024-11-06T19:46:33Z- handleDVL() - DVL msg epochMillisec: 1730922393.88 2024-11-06T19:46:33Z- handleDvl() - RDI_Pathfinder msg: 1730922393.88 sec; seqNo:57; #beams:4 2024-11-06T19:46:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922393.90 epoch sec; seqNo:257; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:34Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:34Z- waiting for 1730922397.07, time is 1730922393.90 2024-11-06T19:46:34Z- AHRS_M2 msg: 1730922394.25 epoch sec; seqNo:251 2024-11-06T19:46:34Z- AHRS_M2 msg: 0.34 phi; -0.03 theta; 5.66 psi 2024-11-06T19:46:34Z- handleDepth()- Depth_Keller msg: 1730922394.27 epoch sec; seqNo:258; depth -0.07 2024-11-06T19:46:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922394.28 epoch sec; seqNo:258; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:34Z- waiting for 1730922397.07, time is 1730922394.28 2024-11-06T19:46:34Z- AHRS_M2 msg: 1730922394.65 epoch sec; seqNo:252 2024-11-06T19:46:34Z- AHRS_M2 msg: 0.30 phi; 0.05 theta; 5.69 psi 2024-11-06T19:46:34Z- handleDepth()- Depth_Keller msg: 1730922394.67 epoch sec; seqNo:259; depth -0.06 2024-11-06T19:46:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922394.72 epoch sec; seqNo:259; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:34Z- waiting for 1730922397.07, time is 1730922394.72 2024-11-06T19:46:35Z- AHRS_M2 msg: 1730922395.06 epoch sec; seqNo:253 2024-11-06T19:46:35Z- AHRS_M2 msg: 0.24 phi; 0.04 theta; 5.69 psi 2024-11-06T19:46:35Z- handleDepth()- Depth_Keller msg: 1730922395.07 epoch sec; seqNo:260; depth -0.09 2024-11-06T19:46:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922395.10 epoch sec; seqNo:260; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:35Z- waiting for 1730922397.07, time is 1730922395.10 2024-11-06T19:46:35Z- AHRS_M2 msg: 1730922395.46 epoch sec; seqNo:254 2024-11-06T19:46:35Z- AHRS_M2 msg: 0.24 phi; 0.02 theta; 5.68 psi 2024-11-06T19:46:35Z- handleDepth()- Depth_Keller msg: 1730922395.47 epoch sec; seqNo:261; depth -0.11 2024-11-06T19:46:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922395.51 epoch sec; seqNo:261; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:35Z- waiting for 1730922397.07, time is 1730922395.51 2024-11-06T19:46:35Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:46:35Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:46:35Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:46:35Z- AHRS_M2 msg: 1730922395.86 epoch sec; seqNo:255 2024-11-06T19:46:35Z- AHRS_M2 msg: 0.24 phi; 0.02 theta; 5.68 psi 2024-11-06T19:46:35Z- handleDepth()- Depth_Keller msg: 1730922395.89 epoch sec; seqNo:262; depth -0.09 2024-11-06T19:46:35Z- handleDVL() - DVL msg epochMillisec: 1730922395.93 2024-11-06T19:46:35Z- handleDvl() - RDI_Pathfinder msg: 1730922395.93 sec; seqNo:58; #beams:4 2024-11-06T19:46:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:35Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922395.98 epoch sec; seqNo:262; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:36Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:36Z- waiting for 1730922397.07, time is 1730922395.98 2024-11-06T19:46:36Z- AHRS_M2 msg: 1730922396.27 epoch sec; seqNo:256 2024-11-06T19:46:36Z- AHRS_M2 msg: 0.29 phi; 0.00 theta; 5.70 psi 2024-11-06T19:46:36Z- handleDepth()- Depth_Keller msg: 1730922396.29 epoch sec; seqNo:263; depth -0.09 2024-11-06T19:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922396.32 epoch sec; seqNo:263; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:36Z- waiting for 1730922397.07, time is 1730922396.32 2024-11-06T19:46:36Z- AHRS_M2 msg: 1730922396.67 epoch sec; seqNo:257 2024-11-06T19:46:36Z- AHRS_M2 msg: 0.25 phi; -0.07 theta; 5.68 psi 2024-11-06T19:46:36Z- handleDepth()- Depth_Keller msg: 1730922396.68 epoch sec; seqNo:264; depth -0.11 2024-11-06T19:46:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922396.71 epoch sec; seqNo:264; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:36Z- waiting for 1730922397.07, time is 1730922396.71 2024-11-06T19:46:37Z- AHRS_M2 msg: 1730922397.08 epoch sec; seqNo:258 2024-11-06T19:46:37Z- AHRS_M2 msg: 0.25 phi; -0.11 theta; 5.69 psi 2024-11-06T19:46:37Z- handleDepth()- Depth_Keller msg: 1730922397.10 epoch sec; seqNo:265; depth -0.13 2024-11-06T19:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922397.12 epoch sec; seqNo:265; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:46:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922393.07 2024-11-06T19:46:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:37Z- waiting for 1730922397.07, time is 1730922397.12 2024-11-06T19:46:37Z- LcmTrn::updateTrn() >>>> pose time 1730922397.12, meas time 1730922395.93 <<<< 2024-11-06T19:46:37Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922397.12 2024-11-06T19:46:37Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:37Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.13) 2024-11-06T19:46:37Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:37Z- publishEstimatesDecoder() - at 1730922397.12 sec 2024-11-06T19:46:37Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:37Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:37Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:37Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:37Z- AHRS_M2 msg: 1730922397.48 epoch sec; seqNo:259 2024-11-06T19:46:37Z- AHRS_M2 msg: 0.27 phi; -0.10 theta; 5.71 psi 2024-11-06T19:46:37Z- handleDepth()- Depth_Keller msg: 1730922397.49 epoch sec; seqNo:266; depth -0.11 2024-11-06T19:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922397.51 epoch sec; seqNo:266; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:37Z- waiting for 1730922401.12, time is 1730922397.51 2024-11-06T19:46:37Z- AHRS_M2 msg: 1730922397.89 epoch sec; seqNo:260 2024-11-06T19:46:37Z- AHRS_M2 msg: 0.21 phi; -0.08 theta; 5.69 psi 2024-11-06T19:46:37Z- handleDepth()- Depth_Keller msg: 1730922397.89 epoch sec; seqNo:267; depth -0.08 2024-11-06T19:46:37Z- handleDVL() - DVL msg epochMillisec: 1730922397.93 2024-11-06T19:46:37Z- handleDvl() - RDI_Pathfinder msg: 1730922397.93 sec; seqNo:59; #beams:4 2024-11-06T19:46:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:37Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922397.98 epoch sec; seqNo:267; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:38Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:38Z- waiting for 1730922401.12, time is 1730922397.98 2024-11-06T19:46:38Z- AHRS_M2 msg: 1730922398.29 epoch sec; seqNo:261 2024-11-06T19:46:38Z- AHRS_M2 msg: 0.14 phi; -0.06 theta; 5.71 psi 2024-11-06T19:46:38Z- handleDepth()- Depth_Keller msg: 1730922398.30 epoch sec; seqNo:268; depth -0.07 2024-11-06T19:46:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922398.32 epoch sec; seqNo:268; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:38Z- waiting for 1730922401.12, time is 1730922398.32 2024-11-06T19:46:38Z- AHRS_M2 msg: 1730922398.69 epoch sec; seqNo:262 2024-11-06T19:46:38Z- AHRS_M2 msg: 0.12 phi; -0.09 theta; 5.71 psi 2024-11-06T19:46:38Z- handleDepth()- Depth_Keller msg: 1730922398.70 epoch sec; seqNo:269; depth -0.10 2024-11-06T19:46:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922398.73 epoch sec; seqNo:269; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:38Z- waiting for 1730922401.12, time is 1730922398.73 2024-11-06T19:46:39Z- AHRS_M2 msg: 1730922399.10 epoch sec; seqNo:263 2024-11-06T19:46:39Z- AHRS_M2 msg: 0.18 phi; -0.16 theta; 5.67 psi 2024-11-06T19:46:39Z- handleDepth()- Depth_Keller msg: 1730922399.11 epoch sec; seqNo:270; depth -0.08 2024-11-06T19:46:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922399.12 epoch sec; seqNo:270; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:39Z- waiting for 1730922401.12, time is 1730922399.12 2024-11-06T19:46:39Z- AHRS_M2 msg: 1730922399.51 epoch sec; seqNo:264 2024-11-06T19:46:39Z- AHRS_M2 msg: 0.18 phi; -0.16 theta; 5.65 psi 2024-11-06T19:46:39Z- handleDepth()- Depth_Keller msg: 1730922399.51 epoch sec; seqNo:271; depth -0.05 2024-11-06T19:46:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922399.52 epoch sec; seqNo:271; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:39Z- waiting for 1730922401.12, time is 1730922399.52 2024-11-06T19:46:39Z- AHRS_M2 msg: 1730922399.91 epoch sec; seqNo:265 2024-11-06T19:46:39Z- AHRS_M2 msg: 0.19 phi; -0.06 theta; 5.66 psi 2024-11-06T19:46:39Z- handleDepth()- Depth_Keller msg: 1730922399.92 epoch sec; seqNo:272; depth -0.07 2024-11-06T19:46:39Z- handleDVL() - DVL msg epochMillisec: 1730922399.94 2024-11-06T19:46:39Z- handleDvl() - RDI_Pathfinder msg: 1730922399.94 sec; seqNo:60; #beams:4 2024-11-06T19:46:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:39Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922399.96 epoch sec; seqNo:272; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:40Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:40Z- waiting for 1730922401.12, time is 1730922399.96 2024-11-06T19:46:40Z- AHRS_M2 msg: 1730922400.31 epoch sec; seqNo:266 2024-11-06T19:46:40Z- AHRS_M2 msg: 0.21 phi; 0.01 theta; 5.69 psi 2024-11-06T19:46:40Z- handleDepth()- Depth_Keller msg: 1730922400.32 epoch sec; seqNo:273; depth -0.09 2024-11-06T19:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922400.35 epoch sec; seqNo:273; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:40Z- waiting for 1730922401.12, time is 1730922400.35 2024-11-06T19:46:40Z- AHRS_M2 msg: 1730922400.71 epoch sec; seqNo:267 2024-11-06T19:46:40Z- AHRS_M2 msg: 0.30 phi; 0.00 theta; 5.70 psi 2024-11-06T19:46:40Z- handleDepth()- Depth_Keller msg: 1730922400.72 epoch sec; seqNo:274; depth -0.09 2024-11-06T19:46:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922400.73 epoch sec; seqNo:274; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:40Z- waiting for 1730922401.12, time is 1730922400.73 2024-11-06T19:46:41Z- AHRS_M2 msg: 1730922401.12 epoch sec; seqNo:268 2024-11-06T19:46:41Z- AHRS_M2 msg: 0.31 phi; 0.01 theta; 5.69 psi 2024-11-06T19:46:41Z- handleDepth()- Depth_Keller msg: 1730922401.13 epoch sec; seqNo:275; depth -0.07 2024-11-06T19:46:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922401.14 epoch sec; seqNo:275; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922397.12 2024-11-06T19:46:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:41Z- waiting for 1730922401.12, time is 1730922401.14 2024-11-06T19:46:41Z- LcmTrn::updateTrn() >>>> pose time 1730922401.14, meas time 1730922399.94 <<<< 2024-11-06T19:46:41Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922401.14 2024-11-06T19:46:41Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:41Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:46:41Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:41Z- publishEstimatesDecoder() - at 1730922401.14 sec 2024-11-06T19:46:41Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:41Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:41Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:41Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:41Z- AHRS_M2 msg: 1730922401.52 epoch sec; seqNo:269 2024-11-06T19:46:41Z- AHRS_M2 msg: 0.25 phi; 0.00 theta; 5.69 psi 2024-11-06T19:46:41Z- handleDepth()- Depth_Keller msg: 1730922401.54 epoch sec; seqNo:276; depth -0.09 2024-11-06T19:46:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922401.54 epoch sec; seqNo:276; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:41Z- waiting for 1730922405.14, time is 1730922401.54 2024-11-06T19:46:41Z- AHRS_M2 msg: 1730922401.93 epoch sec; seqNo:270 2024-11-06T19:46:41Z- AHRS_M2 msg: 0.23 phi; -0.08 theta; 5.67 psi 2024-11-06T19:46:41Z- handleDepth()- Depth_Keller msg: 1730922401.94 epoch sec; seqNo:277; depth -0.10 2024-11-06T19:46:41Z- handleDVL() - DVL msg epochMillisec: 1730922401.97 2024-11-06T19:46:41Z- handleDvl() - RDI_Pathfinder msg: 1730922401.97 sec; seqNo:61; #beams:4 2024-11-06T19:46:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922401.98 epoch sec; seqNo:277; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:42Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:42Z- waiting for 1730922405.14, time is 1730922401.98 2024-11-06T19:46:42Z- AHRS_M2 msg: 1730922402.33 epoch sec; seqNo:271 2024-11-06T19:46:42Z- AHRS_M2 msg: 0.24 phi; -0.08 theta; 5.67 psi 2024-11-06T19:46:42Z- handleDepth()- Depth_Keller msg: 1730922402.34 epoch sec; seqNo:278; depth -0.10 2024-11-06T19:46:42Z- handleDVL() - DVL msg epochMillisec: 1730922402.34 2024-11-06T19:46:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:46:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:46:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:46:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:46:42Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:46:42Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:46:42Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:46:42Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:46:42Z- handleDvl() - RDI_Pathfinder msg: 1730922402.34 sec; seqNo:62; #beams:0 2024-11-06T19:46:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:42Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922402.35 epoch sec; seqNo:278; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:42Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:42Z- waiting for 1730922405.14, time is 1730922402.35 2024-11-06T19:46:42Z- AHRS_M2 msg: 1730922402.73 epoch sec; seqNo:272 2024-11-06T19:46:42Z- AHRS_M2 msg: 0.23 phi; 0.00 theta; 5.67 psi 2024-11-06T19:46:42Z- handleDepth()- Depth_Keller msg: 1730922402.74 epoch sec; seqNo:279; depth -0.13 2024-11-06T19:46:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922402.77 epoch sec; seqNo:279; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:46:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:42Z- waiting for 1730922405.14, time is 1730922402.77 2024-11-06T19:46:43Z- AHRS_M2 msg: 1730922403.14 epoch sec; seqNo:273 2024-11-06T19:46:43Z- AHRS_M2 msg: 0.19 phi; 0.05 theta; 5.65 psi 2024-11-06T19:46:43Z- handleDepth()- Depth_Keller msg: 1730922403.14 epoch sec; seqNo:280; depth -0.13 2024-11-06T19:46:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922403.16 epoch sec; seqNo:280; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:46:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:43Z- waiting for 1730922405.14, time is 1730922403.16 2024-11-06T19:46:43Z- AHRS_M2 msg: 1730922403.55 epoch sec; seqNo:274 2024-11-06T19:46:43Z- AHRS_M2 msg: 0.18 phi; 0.04 theta; 5.66 psi 2024-11-06T19:46:43Z- handleDepth()- Depth_Keller msg: 1730922403.55 epoch sec; seqNo:281; depth -0.10 2024-11-06T19:46:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922403.56 epoch sec; seqNo:281; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:43Z- waiting for 1730922405.14, time is 1730922403.56 2024-11-06T19:46:43Z- AHRS_M2 msg: 1730922403.95 epoch sec; seqNo:275 2024-11-06T19:46:43Z- AHRS_M2 msg: 0.22 phi; -0.00 theta; 5.66 psi 2024-11-06T19:46:43Z- handleDepth()- Depth_Keller msg: 1730922403.95 epoch sec; seqNo:282; depth -0.08 2024-11-06T19:46:43Z- handleDVL() - DVL msg epochMillisec: 1730922403.97 2024-11-06T19:46:43Z- handleDvl() - RDI_Pathfinder msg: 1730922403.97 sec; seqNo:63; #beams:4 2024-11-06T19:46:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:43Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922404.01 epoch sec; seqNo:282; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:44Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:44Z- waiting for 1730922405.14, time is 1730922404.01 2024-11-06T19:46:44Z- AHRS_M2 msg: 1730922404.35 epoch sec; seqNo:276 2024-11-06T19:46:44Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 5.66 psi 2024-11-06T19:46:44Z- handleDepth()- Depth_Keller msg: 1730922404.36 epoch sec; seqNo:283; depth -0.07 2024-11-06T19:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922404.37 epoch sec; seqNo:283; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:44Z- waiting for 1730922405.14, time is 1730922404.37 2024-11-06T19:46:44Z- AHRS_M2 msg: 1730922404.75 epoch sec; seqNo:277 2024-11-06T19:46:44Z- AHRS_M2 msg: 0.23 phi; -0.08 theta; 5.65 psi 2024-11-06T19:46:44Z- handleDepth()- Depth_Keller msg: 1730922404.77 epoch sec; seqNo:284; depth -0.06 2024-11-06T19:46:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922404.78 epoch sec; seqNo:284; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:44Z- waiting for 1730922405.14, time is 1730922404.78 2024-11-06T19:46:45Z- AHRS_M2 msg: 1730922405.16 epoch sec; seqNo:278 2024-11-06T19:46:45Z- AHRS_M2 msg: 0.21 phi; -0.10 theta; 5.65 psi 2024-11-06T19:46:45Z- handleDepth()- Depth_Keller msg: 1730922405.16 epoch sec; seqNo:285; depth -0.05 2024-11-06T19:46:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922405.20 epoch sec; seqNo:285; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922401.14 2024-11-06T19:46:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:45Z- waiting for 1730922405.14, time is 1730922405.20 2024-11-06T19:46:45Z- LcmTrn::updateTrn() >>>> pose time 1730922405.20, meas time 1730922403.97 <<<< 2024-11-06T19:46:45Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922405.20 2024-11-06T19:46:45Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:45Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.05) 2024-11-06T19:46:45Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:45Z- publishEstimatesDecoder() - at 1730922405.20 sec 2024-11-06T19:46:45Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:45Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:45Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:45Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:45Z- AHRS_M2 msg: 1730922405.57 epoch sec; seqNo:279 2024-11-06T19:46:45Z- AHRS_M2 msg: 0.18 phi; -0.05 theta; 5.63 psi 2024-11-06T19:46:45Z- handleDepth()- Depth_Keller msg: 1730922405.59 epoch sec; seqNo:286; depth -0.03 2024-11-06T19:46:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922405.60 epoch sec; seqNo:286; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:45Z- waiting for 1730922409.20, time is 1730922405.60 2024-11-06T19:46:45Z- AHRS_M2 msg: 1730922405.96 epoch sec; seqNo:280 2024-11-06T19:46:45Z- AHRS_M2 msg: 0.21 phi; 0.02 theta; 5.61 psi 2024-11-06T19:46:45Z- handleDepth()- Depth_Keller msg: 1730922405.97 epoch sec; seqNo:287; depth -0.04 2024-11-06T19:46:46Z- handleDVL() - DVL msg epochMillisec: 1730922406.01 2024-11-06T19:46:46Z- handleDvl() - RDI_Pathfinder msg: 1730922406.01 sec; seqNo:64; #beams:4 2024-11-06T19:46:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:46Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922406.07 epoch sec; seqNo:287; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:46:46Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:46Z- waiting for 1730922409.20, time is 1730922406.07 2024-11-06T19:46:46Z- AHRS_M2 msg: 1730922406.37 epoch sec; seqNo:281 2024-11-06T19:46:46Z- AHRS_M2 msg: 0.22 phi; 0.05 theta; 5.60 psi 2024-11-06T19:46:46Z- handleDepth()- Depth_Keller msg: 1730922406.38 epoch sec; seqNo:288; depth -0.06 2024-11-06T19:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922406.42 epoch sec; seqNo:288; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:46Z- waiting for 1730922409.20, time is 1730922406.42 2024-11-06T19:46:46Z- AHRS_M2 msg: 1730922406.78 epoch sec; seqNo:282 2024-11-06T19:46:46Z- AHRS_M2 msg: 0.26 phi; 0.07 theta; 5.62 psi 2024-11-06T19:46:46Z- handleDepth()- Depth_Keller msg: 1730922406.78 epoch sec; seqNo:289; depth -0.06 2024-11-06T19:46:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922406.79 epoch sec; seqNo:289; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:46Z- waiting for 1730922409.20, time is 1730922406.79 2024-11-06T19:46:47Z- AHRS_M2 msg: 1730922407.18 epoch sec; seqNo:283 2024-11-06T19:46:47Z- AHRS_M2 msg: 0.29 phi; 0.06 theta; 5.64 psi 2024-11-06T19:46:47Z- handleDepth()- Depth_Keller msg: 1730922407.19 epoch sec; seqNo:290; depth -0.08 2024-11-06T19:46:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922407.22 epoch sec; seqNo:290; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:47Z- waiting for 1730922409.20, time is 1730922407.22 2024-11-06T19:46:47Z- AHRS_M2 msg: 1730922407.62 epoch sec; seqNo:284 2024-11-06T19:46:47Z- AHRS_M2 msg: 0.32 phi; 0.01 theta; 5.64 psi 2024-11-06T19:46:47Z- handleDepth()- Depth_Keller msg: 1730922407.67 epoch sec; seqNo:291; depth -0.13 2024-11-06T19:46:47Z- handleDVL() - DVL msg epochMillisec: 1730922407.71 2024-11-06T19:46:47Z- handleDvl() - RDI_Pathfinder msg: 1730922407.71 sec; seqNo:65; #beams:4 2024-11-06T19:46:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:47Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922407.73 epoch sec; seqNo:291; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:46:47Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:47Z- waiting for 1730922409.20, time is 1730922407.73 2024-11-06T19:46:47Z- AHRS_M2 msg: 1730922407.99 epoch sec; seqNo:285 2024-11-06T19:46:47Z- AHRS_M2 msg: 0.35 phi; -0.07 theta; 5.63 psi 2024-11-06T19:46:48Z- handleDepth()- Depth_Keller msg: 1730922407.99 epoch sec; seqNo:292; depth -0.10 2024-11-06T19:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922408.02 epoch sec; seqNo:292; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:48Z- waiting for 1730922409.20, time is 1730922408.02 2024-11-06T19:46:48Z- AHRS_M2 msg: 1730922408.39 epoch sec; seqNo:286 2024-11-06T19:46:48Z- AHRS_M2 msg: 0.35 phi; -0.12 theta; 5.61 psi 2024-11-06T19:46:48Z- handleDepth()- Depth_Keller msg: 1730922408.40 epoch sec; seqNo:293; depth -0.09 2024-11-06T19:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922408.41 epoch sec; seqNo:293; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:48Z- waiting for 1730922409.20, time is 1730922408.41 2024-11-06T19:46:48Z- AHRS_M2 msg: 1730922408.84 epoch sec; seqNo:287 2024-11-06T19:46:48Z- AHRS_M2 msg: 0.17 phi; -0.05 theta; 5.58 psi 2024-11-06T19:46:48Z- handleDepth()- Depth_Keller msg: 1730922408.86 epoch sec; seqNo:294; depth -0.09 2024-11-06T19:46:48Z- handleDVL() - DVL msg epochMillisec: 1730922408.90 2024-11-06T19:46:48Z- handleDvl() - RDI_Pathfinder msg: 1730922408.90 sec; seqNo:66; #beams:4 2024-11-06T19:46:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:48Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922408.95 epoch sec; seqNo:294; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:49Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:49Z- waiting for 1730922409.20, time is 1730922408.95 2024-11-06T19:46:49Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:46:49Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:46:49Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:46:49Z- AHRS_M2 msg: 1730922409.19 epoch sec; seqNo:288 2024-11-06T19:46:49Z- AHRS_M2 msg: 0.17 phi; -0.05 theta; 5.58 psi 2024-11-06T19:46:49Z- handleDepth()- Depth_Keller msg: 1730922409.23 epoch sec; seqNo:295; depth -0.09 2024-11-06T19:46:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922409.26 epoch sec; seqNo:295; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922405.20 2024-11-06T19:46:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:49Z- waiting for 1730922409.20, time is 1730922409.26 2024-11-06T19:46:49Z- LcmTrn::updateTrn() >>>> pose time 1730922409.26, meas time 1730922408.90 <<<< 2024-11-06T19:46:49Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922409.26 2024-11-06T19:46:49Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:49Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:46:49Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:49Z- publishEstimatesDecoder() - at 1730922409.26 sec 2024-11-06T19:46:49Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:49Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:49Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:49Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:49Z- AHRS_M2 msg: 1730922409.60 epoch sec; seqNo:289 2024-11-06T19:46:49Z- AHRS_M2 msg: 0.16 phi; -0.04 theta; 5.56 psi 2024-11-06T19:46:49Z- handleDepth()- Depth_Keller msg: 1730922409.62 epoch sec; seqNo:296; depth -0.05 2024-11-06T19:46:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922409.68 epoch sec; seqNo:296; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:46:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:49Z- waiting for 1730922413.26, time is 1730922409.68 2024-11-06T19:46:50Z- AHRS_M2 msg: 1730922410.01 epoch sec; seqNo:290 2024-11-06T19:46:50Z- AHRS_M2 msg: 0.23 phi; 0.03 theta; 5.56 psi 2024-11-06T19:46:50Z- handleDepth()- Depth_Keller msg: 1730922410.02 epoch sec; seqNo:297; depth -0.03 2024-11-06T19:46:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922410.03 epoch sec; seqNo:297; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:50Z- waiting for 1730922413.26, time is 1730922410.03 2024-11-06T19:46:50Z- AHRS_M2 msg: 1730922410.42 epoch sec; seqNo:291 2024-11-06T19:46:50Z- AHRS_M2 msg: 0.27 phi; 0.03 theta; 5.54 psi 2024-11-06T19:46:50Z- handleDepth()- Depth_Keller msg: 1730922410.42 epoch sec; seqNo:298; depth -0.02 2024-11-06T19:46:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922410.44 epoch sec; seqNo:298; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:46:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:50Z- waiting for 1730922413.26, time is 1730922410.44 2024-11-06T19:46:50Z- AHRS_M2 msg: 1730922410.84 epoch sec; seqNo:292 2024-11-06T19:46:50Z- AHRS_M2 msg: 0.28 phi; -0.02 theta; 5.55 psi 2024-11-06T19:46:50Z- handleDepth()- Depth_Keller msg: 1730922410.85 epoch sec; seqNo:299; depth -0.03 2024-11-06T19:46:50Z- handleDVL() - DVL msg epochMillisec: 1730922410.87 2024-11-06T19:46:50Z- handleDvl() - RDI_Pathfinder msg: 1730922410.87 sec; seqNo:67; #beams:4 2024-11-06T19:46:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:50Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922410.89 epoch sec; seqNo:299; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:51Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:51Z- waiting for 1730922413.26, time is 1730922410.89 2024-11-06T19:46:51Z- AHRS_M2 msg: 1730922411.22 epoch sec; seqNo:293 2024-11-06T19:46:51Z- AHRS_M2 msg: 0.26 phi; -0.08 theta; 5.57 psi 2024-11-06T19:46:51Z- handleDepth()- Depth_Keller msg: 1730922411.23 epoch sec; seqNo:300; depth -0.03 2024-11-06T19:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922411.25 epoch sec; seqNo:300; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:51Z- waiting for 1730922413.26, time is 1730922411.25 2024-11-06T19:46:51Z- AHRS_M2 msg: 1730922411.62 epoch sec; seqNo:294 2024-11-06T19:46:51Z- AHRS_M2 msg: 0.23 phi; -0.13 theta; 5.58 psi 2024-11-06T19:46:51Z- handleDepth()- Depth_Keller msg: 1730922411.63 epoch sec; seqNo:301; depth -0.03 2024-11-06T19:46:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922411.64 epoch sec; seqNo:301; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:46:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:51Z- waiting for 1730922413.26, time is 1730922411.64 2024-11-06T19:46:52Z- AHRS_M2 msg: 1730922412.03 epoch sec; seqNo:295 2024-11-06T19:46:52Z- AHRS_M2 msg: 0.19 phi; -0.17 theta; 5.55 psi 2024-11-06T19:46:52Z- handleDepth()- Depth_Keller msg: 1730922412.03 epoch sec; seqNo:302; depth -0.06 2024-11-06T19:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922412.04 epoch sec; seqNo:302; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:52Z- waiting for 1730922413.26, time is 1730922412.04 2024-11-06T19:46:52Z- AHRS_M2 msg: 1730922412.43 epoch sec; seqNo:296 2024-11-06T19:46:52Z- AHRS_M2 msg: 0.16 phi; -0.15 theta; 5.53 psi 2024-11-06T19:46:52Z- handleDepth()- Depth_Keller msg: 1730922412.44 epoch sec; seqNo:303; depth -0.10 2024-11-06T19:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922412.46 epoch sec; seqNo:303; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:52Z- waiting for 1730922413.26, time is 1730922412.46 2024-11-06T19:46:52Z- AHRS_M2 msg: 1730922412.85 epoch sec; seqNo:297 2024-11-06T19:46:52Z- AHRS_M2 msg: 0.18 phi; -0.14 theta; 5.53 psi 2024-11-06T19:46:52Z- handleDepth()- Depth_Keller msg: 1730922412.85 epoch sec; seqNo:304; depth -0.11 2024-11-06T19:46:52Z- handleDVL() - DVL msg epochMillisec: 1730922412.88 2024-11-06T19:46:52Z- handleDvl() - RDI_Pathfinder msg: 1730922412.88 sec; seqNo:68; #beams:4 2024-11-06T19:46:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922412.90 epoch sec; seqNo:304; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:53Z- waiting for 1730922413.26, time is 1730922412.90 2024-11-06T19:46:53Z- AHRS_M2 msg: 1730922413.24 epoch sec; seqNo:298 2024-11-06T19:46:53Z- AHRS_M2 msg: 0.20 phi; -0.13 theta; 5.50 psi 2024-11-06T19:46:53Z- handleDepth()- Depth_Keller msg: 1730922413.25 epoch sec; seqNo:305; depth -0.10 2024-11-06T19:46:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922413.26 epoch sec; seqNo:305; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922409.26 2024-11-06T19:46:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:53Z- waiting for 1730922413.26, time is 1730922413.26 2024-11-06T19:46:53Z- LcmTrn::updateTrn() >>>> pose time 1730922413.26, meas time 1730922412.88 <<<< 2024-11-06T19:46:53Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922413.26 2024-11-06T19:46:53Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:53Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.10) 2024-11-06T19:46:53Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:53Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:53Z- publishEstimatesDecoder() - at 1730922413.26 sec 2024-11-06T19:46:53Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:53Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:53Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:53Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:53Z- AHRS_M2 msg: 1730922413.65 epoch sec; seqNo:299 2024-11-06T19:46:53Z- AHRS_M2 msg: 0.19 phi; -0.07 theta; 5.49 psi 2024-11-06T19:46:53Z- handleDepth()- Depth_Keller msg: 1730922413.65 epoch sec; seqNo:306; depth -0.08 2024-11-06T19:46:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922413.66 epoch sec; seqNo:306; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:53Z- waiting for 1730922417.26, time is 1730922413.66 2024-11-06T19:46:54Z- AHRS_M2 msg: 1730922414.05 epoch sec; seqNo:300 2024-11-06T19:46:54Z- AHRS_M2 msg: 0.21 phi; -0.05 theta; 5.52 psi 2024-11-06T19:46:54Z- handleDepth()- Depth_Keller msg: 1730922414.05 epoch sec; seqNo:307; depth -0.08 2024-11-06T19:46:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922414.07 epoch sec; seqNo:307; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:54Z- waiting for 1730922417.26, time is 1730922414.07 2024-11-06T19:46:54Z- AHRS_M2 msg: 1730922414.45 epoch sec; seqNo:301 2024-11-06T19:46:54Z- AHRS_M2 msg: 0.22 phi; -0.04 theta; 5.54 psi 2024-11-06T19:46:54Z- handleDepth()- Depth_Keller msg: 1730922414.46 epoch sec; seqNo:308; depth -0.08 2024-11-06T19:46:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922414.47 epoch sec; seqNo:308; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:54Z- waiting for 1730922417.26, time is 1730922414.47 2024-11-06T19:46:54Z- AHRS_M2 msg: 1730922414.87 epoch sec; seqNo:302 2024-11-06T19:46:54Z- AHRS_M2 msg: 0.23 phi; 0.00 theta; 5.52 psi 2024-11-06T19:46:54Z- handleDepth()- Depth_Keller msg: 1730922414.88 epoch sec; seqNo:309; depth -0.07 2024-11-06T19:46:54Z- handleDVL() - DVL msg epochMillisec: 1730922414.92 2024-11-06T19:46:54Z- handleDvl() - RDI_Pathfinder msg: 1730922414.92 sec; seqNo:69; #beams:4 2024-11-06T19:46:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:54Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922414.96 epoch sec; seqNo:309; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:46:55Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:55Z- waiting for 1730922417.26, time is 1730922414.96 2024-11-06T19:46:55Z- AHRS_M2 msg: 1730922415.26 epoch sec; seqNo:303 2024-11-06T19:46:55Z- AHRS_M2 msg: 0.24 phi; 0.04 theta; 5.48 psi 2024-11-06T19:46:55Z- handleDepth()- Depth_Keller msg: 1730922415.27 epoch sec; seqNo:310; depth -0.06 2024-11-06T19:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922415.29 epoch sec; seqNo:310; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:46:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:55Z- waiting for 1730922417.26, time is 1730922415.29 2024-11-06T19:46:55Z- AHRS_M2 msg: 1730922415.66 epoch sec; seqNo:304 2024-11-06T19:46:55Z- AHRS_M2 msg: 0.28 phi; 0.05 theta; 5.48 psi 2024-11-06T19:46:55Z- handleDepth()- Depth_Keller msg: 1730922415.67 epoch sec; seqNo:311; depth -0.08 2024-11-06T19:46:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922415.70 epoch sec; seqNo:311; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:55Z- waiting for 1730922417.26, time is 1730922415.70 2024-11-06T19:46:56Z- AHRS_M2 msg: 1730922416.07 epoch sec; seqNo:305 2024-11-06T19:46:56Z- AHRS_M2 msg: 0.34 phi; 0.03 theta; 5.49 psi 2024-11-06T19:46:56Z- handleDepth()- Depth_Keller msg: 1730922416.07 epoch sec; seqNo:312; depth -0.08 2024-11-06T19:46:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922416.12 epoch sec; seqNo:312; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:56Z- waiting for 1730922417.26, time is 1730922416.12 2024-11-06T19:46:56Z- AHRS_M2 msg: 1730922416.47 epoch sec; seqNo:306 2024-11-06T19:46:56Z- AHRS_M2 msg: 0.36 phi; 0.03 theta; 5.51 psi 2024-11-06T19:46:56Z- handleDepth()- Depth_Keller msg: 1730922416.48 epoch sec; seqNo:313; depth -0.09 2024-11-06T19:46:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922416.49 epoch sec; seqNo:313; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:56Z- waiting for 1730922417.26, time is 1730922416.49 2024-11-06T19:46:56Z- AHRS_M2 msg: 1730922416.87 epoch sec; seqNo:307 2024-11-06T19:46:56Z- AHRS_M2 msg: 0.28 phi; 0.07 theta; 5.50 psi 2024-11-06T19:46:56Z- handleDepth()- Depth_Keller msg: 1730922416.88 epoch sec; seqNo:314; depth -0.08 2024-11-06T19:46:56Z- handleDVL() - DVL msg epochMillisec: 1730922416.91 2024-11-06T19:46:56Z- handleDvl() - RDI_Pathfinder msg: 1730922416.91 sec; seqNo:70; #beams:4 2024-11-06T19:46:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:56Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922416.96 epoch sec; seqNo:314; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:46:57Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:57Z- waiting for 1730922417.26, time is 1730922416.96 2024-11-06T19:46:57Z- AHRS_M2 msg: 1730922417.28 epoch sec; seqNo:308 2024-11-06T19:46:57Z- AHRS_M2 msg: 0.13 phi; 0.02 theta; 5.45 psi 2024-11-06T19:46:57Z- handleDepth()- Depth_Keller msg: 1730922417.29 epoch sec; seqNo:315; depth -0.10 2024-11-06T19:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922417.32 epoch sec; seqNo:315; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922413.26 2024-11-06T19:46:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:57Z- waiting for 1730922417.26, time is 1730922417.32 2024-11-06T19:46:57Z- LcmTrn::updateTrn() >>>> pose time 1730922417.32, meas time 1730922416.91 <<<< 2024-11-06T19:46:57Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922417.32 2024-11-06T19:46:57Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:46:57Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.10) 2024-11-06T19:46:57Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:46:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:57Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:46:57Z- publishEstimatesDecoder() - at 1730922417.32 sec 2024-11-06T19:46:57Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:46:57Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:46:57Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:46:57Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:46:57Z- AHRS_M2 msg: 1730922417.68 epoch sec; seqNo:309 2024-11-06T19:46:57Z- AHRS_M2 msg: 0.06 phi; -0.06 theta; 5.46 psi 2024-11-06T19:46:57Z- handleDepth()- Depth_Keller msg: 1730922417.69 epoch sec; seqNo:316; depth -0.09 2024-11-06T19:46:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922417.70 epoch sec; seqNo:316; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:46:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:57Z- waiting for 1730922421.32, time is 1730922417.70 2024-11-06T19:46:58Z- AHRS_M2 msg: 1730922418.09 epoch sec; seqNo:310 2024-11-06T19:46:58Z- AHRS_M2 msg: 0.14 phi; -0.05 theta; 5.51 psi 2024-11-06T19:46:58Z- handleDepth()- Depth_Keller msg: 1730922418.11 epoch sec; seqNo:317; depth -0.11 2024-11-06T19:46:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922418.13 epoch sec; seqNo:317; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:46:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:46:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:58Z- waiting for 1730922421.32, time is 1730922418.13 2024-11-06T19:46:58Z- AHRS_M2 msg: 1730922418.49 epoch sec; seqNo:311 2024-11-06T19:46:58Z- AHRS_M2 msg: 0.30 phi; -0.02 theta; 5.48 psi 2024-11-06T19:46:58Z- handleDepth()- Depth_Keller msg: 1730922418.50 epoch sec; seqNo:318; depth -0.10 2024-11-06T19:46:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922418.53 epoch sec; seqNo:318; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:46:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:58Z- waiting for 1730922421.32, time is 1730922418.53 2024-11-06T19:46:58Z- AHRS_M2 msg: 1730922418.90 epoch sec; seqNo:312 2024-11-06T19:46:58Z- AHRS_M2 msg: 0.35 phi; -0.05 theta; 5.42 psi 2024-11-06T19:46:58Z- handleDepth()- Depth_Keller msg: 1730922418.90 epoch sec; seqNo:319; depth -0.09 2024-11-06T19:46:58Z- handleDVL() - DVL msg epochMillisec: 1730922418.94 2024-11-06T19:46:58Z- handleDvl() - RDI_Pathfinder msg: 1730922418.94 sec; seqNo:71; #beams:4 2024-11-06T19:46:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:46:58Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:46:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922418.98 epoch sec; seqNo:319; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:46:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:46:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:46:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:59Z- waiting for 1730922421.32, time is 1730922418.98 2024-11-06T19:46:59Z- AHRS_M2 msg: 1730922419.30 epoch sec; seqNo:313 2024-11-06T19:46:59Z- AHRS_M2 msg: 0.33 phi; -0.07 theta; 5.46 psi 2024-11-06T19:46:59Z- handleDepth()- Depth_Keller msg: 1730922419.31 epoch sec; seqNo:320; depth -0.10 2024-11-06T19:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922419.34 epoch sec; seqNo:320; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:46:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:59Z- waiting for 1730922421.32, time is 1730922419.34 2024-11-06T19:46:59Z- AHRS_M2 msg: 1730922419.70 epoch sec; seqNo:314 2024-11-06T19:46:59Z- AHRS_M2 msg: 0.27 phi; -0.04 theta; 5.50 psi 2024-11-06T19:46:59Z- handleDepth()- Depth_Keller msg: 1730922419.71 epoch sec; seqNo:321; depth -0.10 2024-11-06T19:46:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922419.73 epoch sec; seqNo:321; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:46:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:46:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:46:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:46:59Z- waiting for 1730922421.32, time is 1730922419.73 2024-11-06T19:47:00Z- AHRS_M2 msg: 1730922420.11 epoch sec; seqNo:315 2024-11-06T19:47:00Z- AHRS_M2 msg: 0.14 phi; -0.00 theta; 5.48 psi 2024-11-06T19:47:00Z- handleDepth()- Depth_Keller msg: 1730922420.12 epoch sec; seqNo:322; depth -0.11 2024-11-06T19:47:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922420.12 epoch sec; seqNo:322; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:47:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:00Z- waiting for 1730922421.32, time is 1730922420.12 2024-11-06T19:47:00Z- AHRS_M2 msg: 1730922420.51 epoch sec; seqNo:316 2024-11-06T19:47:00Z- AHRS_M2 msg: 0.09 phi; 0.03 theta; 5.48 psi 2024-11-06T19:47:00Z- handleDepth()- Depth_Keller msg: 1730922420.52 epoch sec; seqNo:323; depth -0.10 2024-11-06T19:47:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922420.53 epoch sec; seqNo:323; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:47:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:00Z- waiting for 1730922421.32, time is 1730922420.53 2024-11-06T19:47:00Z- AHRS_M2 msg: 1730922420.91 epoch sec; seqNo:317 2024-11-06T19:47:00Z- AHRS_M2 msg: 0.11 phi; -0.01 theta; 5.48 psi 2024-11-06T19:47:00Z- handleDepth()- Depth_Keller msg: 1730922420.92 epoch sec; seqNo:324; depth -0.09 2024-11-06T19:47:00Z- handleDVL() - DVL msg epochMillisec: 1730922420.95 2024-11-06T19:47:00Z- handleDvl() - RDI_Pathfinder msg: 1730922420.95 sec; seqNo:72; #beams:4 2024-11-06T19:47:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:00Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922420.96 epoch sec; seqNo:324; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:01Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:47:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:01Z- waiting for 1730922421.32, time is 1730922420.96 2024-11-06T19:47:01Z- AHRS_M2 msg: 1730922421.32 epoch sec; seqNo:318 2024-11-06T19:47:01Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 5.48 psi 2024-11-06T19:47:01Z- handleDepth()- Depth_Keller msg: 1730922421.33 epoch sec; seqNo:325; depth -0.10 2024-11-06T19:47:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922421.36 epoch sec; seqNo:325; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922417.32 2024-11-06T19:47:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:01Z- waiting for 1730922421.32, time is 1730922421.36 2024-11-06T19:47:01Z- LcmTrn::updateTrn() >>>> pose time 1730922421.36, meas time 1730922420.95 <<<< 2024-11-06T19:47:01Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922421.36 2024-11-06T19:47:01Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:01Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.10) 2024-11-06T19:47:01Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:01Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:01Z- publishEstimatesDecoder() - at 1730922421.36 sec 2024-11-06T19:47:01Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:01Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:01Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:01Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:01Z- AHRS_M2 msg: 1730922421.72 epoch sec; seqNo:319 2024-11-06T19:47:01Z- AHRS_M2 msg: 0.30 phi; -0.10 theta; 5.51 psi 2024-11-06T19:47:01Z- handleDepth()- Depth_Keller msg: 1730922421.73 epoch sec; seqNo:326; depth -0.09 2024-11-06T19:47:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922421.74 epoch sec; seqNo:326; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:01Z- waiting for 1730922425.36, time is 1730922421.74 2024-11-06T19:47:02Z- AHRS_M2 msg: 1730922422.13 epoch sec; seqNo:320 2024-11-06T19:47:02Z- AHRS_M2 msg: 0.37 phi; -0.07 theta; 5.53 psi 2024-11-06T19:47:02Z- handleDepth()- Depth_Keller msg: 1730922422.14 epoch sec; seqNo:327; depth -0.09 2024-11-06T19:47:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922422.16 epoch sec; seqNo:327; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:02Z- waiting for 1730922425.36, time is 1730922422.16 2024-11-06T19:47:02Z- AHRS_M2 msg: 1730922422.53 epoch sec; seqNo:321 2024-11-06T19:47:02Z- AHRS_M2 msg: 0.33 phi; -0.05 theta; 5.52 psi 2024-11-06T19:47:02Z- handleDepth()- Depth_Keller msg: 1730922422.54 epoch sec; seqNo:328; depth -0.10 2024-11-06T19:47:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922422.56 epoch sec; seqNo:328; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:02Z- waiting for 1730922425.36, time is 1730922422.56 2024-11-06T19:47:02Z- AHRS_M2 msg: 1730922422.93 epoch sec; seqNo:322 2024-11-06T19:47:02Z- AHRS_M2 msg: 0.22 phi; -0.00 theta; 5.51 psi 2024-11-06T19:47:02Z- handleDepth()- Depth_Keller msg: 1730922422.94 epoch sec; seqNo:329; depth -0.11 2024-11-06T19:47:02Z- handleDVL() - DVL msg epochMillisec: 1730922422.96 2024-11-06T19:47:02Z- handleDvl() - RDI_Pathfinder msg: 1730922422.96 sec; seqNo:73; #beams:4 2024-11-06T19:47:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:02Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922423.00 epoch sec; seqNo:329; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:03Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:03Z- waiting for 1730922425.36, time is 1730922423.00 2024-11-06T19:47:03Z- AHRS_M2 msg: 1730922423.34 epoch sec; seqNo:323 2024-11-06T19:47:03Z- AHRS_M2 msg: 0.13 phi; 0.04 theta; 5.50 psi 2024-11-06T19:47:03Z- handleDepth()- Depth_Keller msg: 1730922423.34 epoch sec; seqNo:330; depth -0.10 2024-11-06T19:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922423.37 epoch sec; seqNo:330; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:03Z- waiting for 1730922425.36, time is 1730922423.37 2024-11-06T19:47:03Z- AHRS_M2 msg: 1730922423.74 epoch sec; seqNo:324 2024-11-06T19:47:03Z- AHRS_M2 msg: 0.14 phi; 0.02 theta; 5.51 psi 2024-11-06T19:47:03Z- handleDepth()- Depth_Keller msg: 1730922423.75 epoch sec; seqNo:331; depth -0.10 2024-11-06T19:47:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922423.77 epoch sec; seqNo:331; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:03Z- waiting for 1730922425.36, time is 1730922423.77 2024-11-06T19:47:04Z- AHRS_M2 msg: 1730922424.15 epoch sec; seqNo:325 2024-11-06T19:47:04Z- AHRS_M2 msg: 0.22 phi; -0.01 theta; 5.52 psi 2024-11-06T19:47:04Z- handleDepth()- Depth_Keller msg: 1730922424.15 epoch sec; seqNo:332; depth -0.05 2024-11-06T19:47:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922424.18 epoch sec; seqNo:332; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:04Z- waiting for 1730922425.36, time is 1730922424.18 2024-11-06T19:47:04Z- AHRS_M2 msg: 1730922424.56 epoch sec; seqNo:326 2024-11-06T19:47:04Z- AHRS_M2 msg: 0.25 phi; -0.01 theta; 5.51 psi 2024-11-06T19:47:04Z- handleDepth()- Depth_Keller msg: 1730922424.56 epoch sec; seqNo:333; depth -0.04 2024-11-06T19:47:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922424.57 epoch sec; seqNo:333; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:04Z- waiting for 1730922425.36, time is 1730922424.57 2024-11-06T19:47:04Z- AHRS_M2 msg: 1730922424.96 epoch sec; seqNo:327 2024-11-06T19:47:04Z- AHRS_M2 msg: 0.23 phi; 0.02 theta; 5.52 psi 2024-11-06T19:47:04Z- handleDepth()- Depth_Keller msg: 1730922424.96 epoch sec; seqNo:334; depth -0.05 2024-11-06T19:47:05Z- handleDVL() - DVL msg epochMillisec: 1730922425.02 2024-11-06T19:47:05Z- handleDvl() - RDI_Pathfinder msg: 1730922425.02 sec; seqNo:74; #beams:4 2024-11-06T19:47:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922425.04 epoch sec; seqNo:334; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:05Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:05Z- waiting for 1730922425.36, time is 1730922425.04 2024-11-06T19:47:05Z- AHRS_M2 msg: 1730922425.36 epoch sec; seqNo:328 2024-11-06T19:47:05Z- AHRS_M2 msg: 0.23 phi; 0.05 theta; 5.53 psi 2024-11-06T19:47:05Z- handleDepth()- Depth_Keller msg: 1730922425.37 epoch sec; seqNo:335; depth -0.05 2024-11-06T19:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922425.41 epoch sec; seqNo:335; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922421.36 2024-11-06T19:47:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:05Z- waiting for 1730922425.36, time is 1730922425.41 2024-11-06T19:47:05Z- LcmTrn::updateTrn() >>>> pose time 1730922425.41, meas time 1730922425.02 <<<< 2024-11-06T19:47:05Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922425.41 2024-11-06T19:47:05Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:05Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.05) 2024-11-06T19:47:05Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:05Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:05Z- publishEstimatesDecoder() - at 1730922425.41 sec 2024-11-06T19:47:05Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:05Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:05Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:05Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:05Z- AHRS_M2 msg: 1730922425.76 epoch sec; seqNo:329 2024-11-06T19:47:05Z- AHRS_M2 msg: 0.26 phi; 0.08 theta; 5.55 psi 2024-11-06T19:47:05Z- handleDepth()- Depth_Keller msg: 1730922425.77 epoch sec; seqNo:336; depth -0.07 2024-11-06T19:47:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922425.81 epoch sec; seqNo:336; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:05Z- waiting for 1730922429.41, time is 1730922425.81 2024-11-06T19:47:06Z- AHRS_M2 msg: 1730922426.17 epoch sec; seqNo:330 2024-11-06T19:47:06Z- AHRS_M2 msg: 0.26 phi; 0.08 theta; 5.55 psi 2024-11-06T19:47:06Z- handleDepth()- Depth_Keller msg: 1730922426.19 epoch sec; seqNo:337; depth -0.08 2024-11-06T19:47:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922426.23 epoch sec; seqNo:337; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:06Z- waiting for 1730922429.41, time is 1730922426.23 2024-11-06T19:47:06Z- AHRS_M2 msg: 1730922426.59 epoch sec; seqNo:331 2024-11-06T19:47:06Z- AHRS_M2 msg: 0.23 phi; -0.09 theta; 5.56 psi 2024-11-06T19:47:06Z- handleDepth()- Depth_Keller msg: 1730922426.60 epoch sec; seqNo:338; depth -0.09 2024-11-06T19:47:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922426.62 epoch sec; seqNo:338; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:06Z- waiting for 1730922429.41, time is 1730922426.62 2024-11-06T19:47:06Z- AHRS_M2 msg: 1730922426.99 epoch sec; seqNo:332 2024-11-06T19:47:06Z- AHRS_M2 msg: 0.21 phi; -0.15 theta; 5.56 psi 2024-11-06T19:47:07Z- handleDepth()- Depth_Keller msg: 1730922427.00 epoch sec; seqNo:339; depth -0.11 2024-11-06T19:47:07Z- handleDVL() - DVL msg epochMillisec: 1730922427.05 2024-11-06T19:47:07Z- handleDvl() - RDI_Pathfinder msg: 1730922427.05 sec; seqNo:75; #beams:4 2024-11-06T19:47:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922427.07 epoch sec; seqNo:339; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:07Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:07Z- waiting for 1730922429.41, time is 1730922427.07 2024-11-06T19:47:07Z- AHRS_M2 msg: 1730922427.39 epoch sec; seqNo:333 2024-11-06T19:47:07Z- AHRS_M2 msg: 0.20 phi; -0.14 theta; 5.56 psi 2024-11-06T19:47:07Z- handleDepth()- Depth_Keller msg: 1730922427.40 epoch sec; seqNo:340; depth -0.12 2024-11-06T19:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922427.45 epoch sec; seqNo:340; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:47:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:07Z- waiting for 1730922429.41, time is 1730922427.45 2024-11-06T19:47:07Z- AHRS_M2 msg: 1730922427.79 epoch sec; seqNo:334 2024-11-06T19:47:07Z- AHRS_M2 msg: 0.21 phi; -0.08 theta; 5.55 psi 2024-11-06T19:47:07Z- handleDepth()- Depth_Keller msg: 1730922427.80 epoch sec; seqNo:341; depth -0.12 2024-11-06T19:47:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922427.85 epoch sec; seqNo:341; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:47:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:07Z- waiting for 1730922429.41, time is 1730922427.85 2024-11-06T19:47:08Z- AHRS_M2 msg: 1730922428.22 epoch sec; seqNo:335 2024-11-06T19:47:08Z- AHRS_M2 msg: 0.24 phi; -0.02 theta; 5.52 psi 2024-11-06T19:47:08Z- handleDepth()- Depth_Keller msg: 1730922428.22 epoch sec; seqNo:342; depth -0.09 2024-11-06T19:47:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922428.32 epoch sec; seqNo:342; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:08Z- waiting for 1730922429.41, time is 1730922428.32 2024-11-06T19:47:08Z- AHRS_M2 msg: 1730922428.60 epoch sec; seqNo:336 2024-11-06T19:47:08Z- AHRS_M2 msg: 0.29 phi; 0.05 theta; 5.53 psi 2024-11-06T19:47:08Z- handleDepth()- Depth_Keller msg: 1730922428.61 epoch sec; seqNo:343; depth -0.06 2024-11-06T19:47:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922428.65 epoch sec; seqNo:343; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:08Z- waiting for 1730922429.41, time is 1730922428.65 2024-11-06T19:47:09Z- AHRS_M2 msg: 1730922429.01 epoch sec; seqNo:337 2024-11-06T19:47:09Z- AHRS_M2 msg: 0.33 phi; 0.08 theta; 5.56 psi 2024-11-06T19:47:09Z- handleDepth()- Depth_Keller msg: 1730922429.02 epoch sec; seqNo:344; depth -0.02 2024-11-06T19:47:09Z- handleDVL() - DVL msg epochMillisec: 1730922429.08 2024-11-06T19:47:09Z- handleDvl() - RDI_Pathfinder msg: 1730922429.08 sec; seqNo:76; #beams:4 2024-11-06T19:47:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922429.11 epoch sec; seqNo:344; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:47:09Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:09Z- waiting for 1730922429.41, time is 1730922429.11 2024-11-06T19:47:09Z- AHRS_M2 msg: 1730922429.41 epoch sec; seqNo:338 2024-11-06T19:47:09Z- AHRS_M2 msg: 0.29 phi; 0.06 theta; 5.57 psi 2024-11-06T19:47:09Z- handleDepth()- Depth_Keller msg: 1730922429.41 epoch sec; seqNo:345; depth -0.02 2024-11-06T19:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922429.45 epoch sec; seqNo:345; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:47:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922425.41 2024-11-06T19:47:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:09Z- waiting for 1730922429.41, time is 1730922429.45 2024-11-06T19:47:09Z- LcmTrn::updateTrn() >>>> pose time 1730922429.45, meas time 1730922429.08 <<<< 2024-11-06T19:47:09Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922429.45 2024-11-06T19:47:09Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:09Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.02) 2024-11-06T19:47:09Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:09Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:09Z- publishEstimatesDecoder() - at 1730922429.45 sec 2024-11-06T19:47:09Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:09Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:09Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:09Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:09Z- AHRS_M2 msg: 1730922429.81 epoch sec; seqNo:339 2024-11-06T19:47:09Z- AHRS_M2 msg: 0.22 phi; 0.04 theta; 5.57 psi 2024-11-06T19:47:09Z- handleDepth()- Depth_Keller msg: 1730922429.83 epoch sec; seqNo:346; depth 0.00 2024-11-06T19:47:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922429.85 epoch sec; seqNo:346; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.00 depth; utmZone: 10 2024-11-06T19:47:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:09Z- waiting for 1730922433.45, time is 1730922429.85 2024-11-06T19:47:10Z- AHRS_M2 msg: 1730922430.22 epoch sec; seqNo:340 2024-11-06T19:47:10Z- AHRS_M2 msg: 0.14 phi; 0.01 theta; 5.58 psi 2024-11-06T19:47:10Z- handleDepth()- Depth_Keller msg: 1730922430.23 epoch sec; seqNo:347; depth -0.02 2024-11-06T19:47:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922430.25 epoch sec; seqNo:347; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:47:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:10Z- waiting for 1730922433.45, time is 1730922430.25 2024-11-06T19:47:10Z- AHRS_M2 msg: 1730922430.62 epoch sec; seqNo:341 2024-11-06T19:47:10Z- AHRS_M2 msg: 0.11 phi; -0.04 theta; 5.56 psi 2024-11-06T19:47:10Z- handleDepth()- Depth_Keller msg: 1730922430.62 epoch sec; seqNo:348; depth -0.04 2024-11-06T19:47:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922430.64 epoch sec; seqNo:348; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:10Z- waiting for 1730922433.45, time is 1730922430.64 2024-11-06T19:47:11Z- AHRS_M2 msg: 1730922431.03 epoch sec; seqNo:342 2024-11-06T19:47:11Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.53 psi 2024-11-06T19:47:11Z- handleDepth()- Depth_Keller msg: 1730922431.03 epoch sec; seqNo:349; depth -0.00 2024-11-06T19:47:11Z- handleDVL() - DVL msg epochMillisec: 1730922431.05 2024-11-06T19:47:11Z- handleDvl() - RDI_Pathfinder msg: 1730922431.05 sec; seqNo:77; #beams:4 2024-11-06T19:47:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922431.06 epoch sec; seqNo:349; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.00 depth; utmZone: 10 2024-11-06T19:47:11Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:11Z- waiting for 1730922433.45, time is 1730922431.06 2024-11-06T19:47:11Z- AHRS_M2 msg: 1730922431.43 epoch sec; seqNo:343 2024-11-06T19:47:11Z- AHRS_M2 msg: 0.21 phi; 0.03 theta; 5.52 psi 2024-11-06T19:47:11Z- handleDepth()- Depth_Keller msg: 1730922431.43 epoch sec; seqNo:350; depth -0.03 2024-11-06T19:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922431.45 epoch sec; seqNo:350; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:47:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:11Z- waiting for 1730922433.45, time is 1730922431.45 2024-11-06T19:47:11Z- AHRS_M2 msg: 1730922431.83 epoch sec; seqNo:344 2024-11-06T19:47:11Z- AHRS_M2 msg: 0.26 phi; 0.06 theta; 5.51 psi 2024-11-06T19:47:11Z- handleDepth()- Depth_Keller msg: 1730922431.84 epoch sec; seqNo:351; depth -0.03 2024-11-06T19:47:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922431.85 epoch sec; seqNo:351; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:47:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:11Z- waiting for 1730922433.45, time is 1730922431.85 2024-11-06T19:47:12Z- AHRS_M2 msg: 1730922432.24 epoch sec; seqNo:345 2024-11-06T19:47:12Z- AHRS_M2 msg: 0.27 phi; 0.07 theta; 5.52 psi 2024-11-06T19:47:12Z- handleDepth()- Depth_Keller msg: 1730922432.24 epoch sec; seqNo:352; depth -0.05 2024-11-06T19:47:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922432.26 epoch sec; seqNo:352; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:12Z- waiting for 1730922433.45, time is 1730922432.26 2024-11-06T19:47:12Z- AHRS_M2 msg: 1730922432.64 epoch sec; seqNo:346 2024-11-06T19:47:12Z- AHRS_M2 msg: 0.22 phi; 0.03 theta; 5.49 psi 2024-11-06T19:47:12Z- handleDepth()- Depth_Keller msg: 1730922432.64 epoch sec; seqNo:353; depth -0.10 2024-11-06T19:47:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922432.70 epoch sec; seqNo:353; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:12Z- waiting for 1730922433.45, time is 1730922432.70 2024-11-06T19:47:13Z- AHRS_M2 msg: 1730922433.05 epoch sec; seqNo:347 2024-11-06T19:47:13Z- AHRS_M2 msg: 0.23 phi; -0.04 theta; 5.46 psi 2024-11-06T19:47:13Z- handleDepth()- Depth_Keller msg: 1730922433.05 epoch sec; seqNo:354; depth -0.12 2024-11-06T19:47:13Z- handleDVL() - DVL msg epochMillisec: 1730922433.07 2024-11-06T19:47:13Z- handleDvl() - RDI_Pathfinder msg: 1730922433.07 sec; seqNo:78; #beams:4 2024-11-06T19:47:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922433.09 epoch sec; seqNo:354; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:47:13Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:13Z- waiting for 1730922433.45, time is 1730922433.09 2024-11-06T19:47:13Z- AHRS_M2 msg: 1730922433.45 epoch sec; seqNo:348 2024-11-06T19:47:13Z- AHRS_M2 msg: 0.26 phi; -0.10 theta; 5.48 psi 2024-11-06T19:47:13Z- handleDepth()- Depth_Keller msg: 1730922433.45 epoch sec; seqNo:355; depth -0.13 2024-11-06T19:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922433.47 epoch sec; seqNo:355; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:47:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922429.45 2024-11-06T19:47:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:13Z- waiting for 1730922433.45, time is 1730922433.47 2024-11-06T19:47:13Z- LcmTrn::updateTrn() >>>> pose time 1730922433.47, meas time 1730922433.07 <<<< 2024-11-06T19:47:13Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922433.47 2024-11-06T19:47:13Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:13Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.13) 2024-11-06T19:47:13Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:13Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:13Z- publishEstimatesDecoder() - at 1730922433.47 sec 2024-11-06T19:47:13Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:13Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:13Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:13Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:13Z- AHRS_M2 msg: 1730922433.85 epoch sec; seqNo:349 2024-11-06T19:47:13Z- AHRS_M2 msg: 0.29 phi; -0.08 theta; 5.50 psi 2024-11-06T19:47:13Z- handleDepth()- Depth_Keller msg: 1730922433.86 epoch sec; seqNo:356; depth -0.11 2024-11-06T19:47:13Z- handleDVL() - DVL msg epochMillisec: 1730922433.86 2024-11-06T19:47:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:47:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:47:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:47:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:47:13Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:47:13Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:47:13Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:47:13Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:47:13Z- handleDvl() - RDI_Pathfinder msg: 1730922433.86 sec; seqNo:79; #beams:0 2024-11-06T19:47:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922433.87 epoch sec; seqNo:356; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:14Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:14Z- waiting for 1730922437.47, time is 1730922433.87 2024-11-06T19:47:14Z- AHRS_M2 msg: 1730922434.26 epoch sec; seqNo:350 2024-11-06T19:47:14Z- AHRS_M2 msg: 0.29 phi; -0.03 theta; 5.49 psi 2024-11-06T19:47:14Z- handleDepth()- Depth_Keller msg: 1730922434.26 epoch sec; seqNo:357; depth -0.07 2024-11-06T19:47:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922434.27 epoch sec; seqNo:357; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:14Z- waiting for 1730922437.47, time is 1730922434.27 2024-11-06T19:47:14Z- AHRS_M2 msg: 1730922434.69 epoch sec; seqNo:351 2024-11-06T19:47:14Z- AHRS_M2 msg: 0.25 phi; 0.00 theta; 5.47 psi 2024-11-06T19:47:14Z- handleDepth()- Depth_Keller msg: 1730922434.70 epoch sec; seqNo:358; depth -0.09 2024-11-06T19:47:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922434.72 epoch sec; seqNo:358; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:14Z- waiting for 1730922437.47, time is 1730922434.72 2024-11-06T19:47:15Z- AHRS_M2 msg: 1730922435.06 epoch sec; seqNo:352 2024-11-06T19:47:15Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.48 psi 2024-11-06T19:47:15Z- handleDepth()- Depth_Keller msg: 1730922435.09 epoch sec; seqNo:359; depth -0.06 2024-11-06T19:47:15Z- handleDVL() - DVL msg epochMillisec: 1730922435.11 2024-11-06T19:47:15Z- handleDvl() - RDI_Pathfinder msg: 1730922435.11 sec; seqNo:80; #beams:4 2024-11-06T19:47:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922435.12 epoch sec; seqNo:359; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:15Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:15Z- waiting for 1730922437.47, time is 1730922435.12 2024-11-06T19:47:15Z- AHRS_M2 msg: 1730922435.46 epoch sec; seqNo:353 2024-11-06T19:47:15Z- AHRS_M2 msg: 0.12 phi; -0.04 theta; 5.48 psi 2024-11-06T19:47:15Z- handleDepth()- Depth_Keller msg: 1730922435.47 epoch sec; seqNo:360; depth -0.07 2024-11-06T19:47:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922435.49 epoch sec; seqNo:360; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:15Z- waiting for 1730922437.47, time is 1730922435.49 2024-11-06T19:47:15Z- AHRS_M2 msg: 1730922435.87 epoch sec; seqNo:354 2024-11-06T19:47:15Z- AHRS_M2 msg: 0.08 phi; -0.02 theta; 5.44 psi 2024-11-06T19:47:15Z- handleDepth()- Depth_Keller msg: 1730922435.89 epoch sec; seqNo:361; depth -0.09 2024-11-06T19:47:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922435.91 epoch sec; seqNo:361; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:16Z- waiting for 1730922437.47, time is 1730922435.91 2024-11-06T19:47:16Z- AHRS_M2 msg: 1730922436.27 epoch sec; seqNo:355 2024-11-06T19:47:16Z- AHRS_M2 msg: 0.16 phi; -0.02 theta; 5.48 psi 2024-11-06T19:47:16Z- handleDepth()- Depth_Keller msg: 1730922436.28 epoch sec; seqNo:362; depth -0.08 2024-11-06T19:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922436.30 epoch sec; seqNo:362; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:16Z- waiting for 1730922437.47, time is 1730922436.30 2024-11-06T19:47:16Z- AHRS_M2 msg: 1730922436.68 epoch sec; seqNo:356 2024-11-06T19:47:16Z- AHRS_M2 msg: 0.29 phi; -0.06 theta; 5.49 psi 2024-11-06T19:47:16Z- handleDepth()- Depth_Keller msg: 1730922436.68 epoch sec; seqNo:363; depth -0.10 2024-11-06T19:47:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922436.70 epoch sec; seqNo:363; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:16Z- waiting for 1730922437.47, time is 1730922436.70 2024-11-06T19:47:17Z- AHRS_M2 msg: 1730922437.08 epoch sec; seqNo:357 2024-11-06T19:47:17Z- AHRS_M2 msg: 0.32 phi; -0.11 theta; 5.44 psi 2024-11-06T19:47:17Z- handleDepth()- Depth_Keller msg: 1730922437.09 epoch sec; seqNo:364; depth -0.09 2024-11-06T19:47:17Z- handleDVL() - DVL msg epochMillisec: 1730922437.13 2024-11-06T19:47:17Z- handleDvl() - RDI_Pathfinder msg: 1730922437.13 sec; seqNo:81; #beams:4 2024-11-06T19:47:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922437.17 epoch sec; seqNo:364; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:17Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:17Z- waiting for 1730922437.47, time is 1730922437.17 2024-11-06T19:47:17Z- AHRS_M2 msg: 1730922437.49 epoch sec; seqNo:358 2024-11-06T19:47:17Z- AHRS_M2 msg: 0.22 phi; -0.15 theta; 5.44 psi 2024-11-06T19:47:17Z- handleDepth()- Depth_Keller msg: 1730922437.49 epoch sec; seqNo:365; depth -0.09 2024-11-06T19:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922437.52 epoch sec; seqNo:365; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922433.47 2024-11-06T19:47:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:17Z- waiting for 1730922437.47, time is 1730922437.52 2024-11-06T19:47:17Z- LcmTrn::updateTrn() >>>> pose time 1730922437.52, meas time 1730922437.13 <<<< 2024-11-06T19:47:17Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922437.52 2024-11-06T19:47:17Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:17Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:47:17Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:17Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:17Z- publishEstimatesDecoder() - at 1730922437.52 sec 2024-11-06T19:47:17Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:17Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:17Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:17Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:17Z- AHRS_M2 msg: 1730922437.90 epoch sec; seqNo:359 2024-11-06T19:47:17Z- AHRS_M2 msg: 0.13 phi; -0.08 theta; 5.47 psi 2024-11-06T19:47:17Z- handleDepth()- Depth_Keller msg: 1730922437.90 epoch sec; seqNo:366; depth -0.13 2024-11-06T19:47:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922437.94 epoch sec; seqNo:366; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:47:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:18Z- waiting for 1730922441.52, time is 1730922437.94 2024-11-06T19:47:18Z- AHRS_M2 msg: 1730922438.30 epoch sec; seqNo:360 2024-11-06T19:47:18Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 5.44 psi 2024-11-06T19:47:18Z- handleDepth()- Depth_Keller msg: 1730922438.30 epoch sec; seqNo:367; depth -0.10 2024-11-06T19:47:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922438.36 epoch sec; seqNo:367; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:18Z- waiting for 1730922441.52, time is 1730922438.36 2024-11-06T19:47:18Z- AHRS_M2 msg: 1730922438.70 epoch sec; seqNo:361 2024-11-06T19:47:18Z- AHRS_M2 msg: 0.21 phi; -0.01 theta; 5.43 psi 2024-11-06T19:47:18Z- handleDepth()- Depth_Keller msg: 1730922438.72 epoch sec; seqNo:368; depth -0.04 2024-11-06T19:47:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922438.74 epoch sec; seqNo:368; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:18Z- waiting for 1730922441.52, time is 1730922438.74 2024-11-06T19:47:19Z- AHRS_M2 msg: 1730922439.10 epoch sec; seqNo:362 2024-11-06T19:47:19Z- AHRS_M2 msg: 0.28 phi; 0.05 theta; 5.46 psi 2024-11-06T19:47:19Z- handleDepth()- Depth_Keller msg: 1730922439.11 epoch sec; seqNo:369; depth -0.02 2024-11-06T19:47:19Z- handleDVL() - DVL msg epochMillisec: 1730922439.15 2024-11-06T19:47:19Z- handleDvl() - RDI_Pathfinder msg: 1730922439.15 sec; seqNo:82; #beams:4 2024-11-06T19:47:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922439.23 epoch sec; seqNo:369; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:47:19Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:19Z- waiting for 1730922441.52, time is 1730922439.23 2024-11-06T19:47:19Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:47:19Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:47:19Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:47:19Z- AHRS_M2 msg: 1730922439.50 epoch sec; seqNo:363 2024-11-06T19:47:19Z- AHRS_M2 msg: 0.28 phi; 0.05 theta; 5.46 psi 2024-11-06T19:47:19Z- handleDepth()- Depth_Keller msg: 1730922439.53 epoch sec; seqNo:370; depth 0.00 2024-11-06T19:47:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922439.55 epoch sec; seqNo:370; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.00 depth; utmZone: 10 2024-11-06T19:47:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:19Z- waiting for 1730922441.52, time is 1730922439.55 2024-11-06T19:47:19Z- AHRS_M2 msg: 1730922439.91 epoch sec; seqNo:364 2024-11-06T19:47:19Z- AHRS_M2 msg: 0.27 phi; 0.09 theta; 5.48 psi 2024-11-06T19:47:19Z- handleDepth()- Depth_Keller msg: 1730922439.93 epoch sec; seqNo:371; depth 0.00 2024-11-06T19:47:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922439.96 epoch sec; seqNo:371; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.00 depth; utmZone: 10 2024-11-06T19:47:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:20Z- waiting for 1730922441.52, time is 1730922439.96 2024-11-06T19:47:20Z- AHRS_M2 msg: 1730922440.32 epoch sec; seqNo:365 2024-11-06T19:47:20Z- AHRS_M2 msg: 0.24 phi; 0.03 theta; 5.46 psi 2024-11-06T19:47:20Z- handleDepth()- Depth_Keller msg: 1730922440.33 epoch sec; seqNo:372; depth 0.02 2024-11-06T19:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922440.36 epoch sec; seqNo:372; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.02 depth; utmZone: 10 2024-11-06T19:47:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:20Z- waiting for 1730922441.52, time is 1730922440.36 2024-11-06T19:47:20Z- AHRS_M2 msg: 1730922440.72 epoch sec; seqNo:366 2024-11-06T19:47:20Z- AHRS_M2 msg: 0.18 phi; 0.03 theta; 5.43 psi 2024-11-06T19:47:20Z- handleDepth()- Depth_Keller msg: 1730922440.74 epoch sec; seqNo:373; depth -0.01 2024-11-06T19:47:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922440.83 epoch sec; seqNo:373; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:47:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:20Z- waiting for 1730922441.52, time is 1730922440.83 2024-11-06T19:47:21Z- AHRS_M2 msg: 1730922441.12 epoch sec; seqNo:367 2024-11-06T19:47:21Z- AHRS_M2 msg: 0.14 phi; 0.03 theta; 5.44 psi 2024-11-06T19:47:21Z- handleDepth()- Depth_Keller msg: 1730922441.13 epoch sec; seqNo:374; depth -0.03 2024-11-06T19:47:21Z- handleDVL() - DVL msg epochMillisec: 1730922441.17 2024-11-06T19:47:21Z- handleDvl() - RDI_Pathfinder msg: 1730922441.17 sec; seqNo:83; #beams:4 2024-11-06T19:47:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:21Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922441.21 epoch sec; seqNo:374; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:47:21Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:21Z- waiting for 1730922441.52, time is 1730922441.21 2024-11-06T19:47:21Z- AHRS_M2 msg: 1730922441.53 epoch sec; seqNo:368 2024-11-06T19:47:21Z- AHRS_M2 msg: 0.19 phi; 0.03 theta; 5.46 psi 2024-11-06T19:47:21Z- handleDepth()- Depth_Keller msg: 1730922441.54 epoch sec; seqNo:375; depth -0.03 2024-11-06T19:47:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922441.57 epoch sec; seqNo:375; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:47:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922437.52 2024-11-06T19:47:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:21Z- waiting for 1730922441.52, time is 1730922441.57 2024-11-06T19:47:21Z- LcmTrn::updateTrn() >>>> pose time 1730922441.57, meas time 1730922441.17 <<<< 2024-11-06T19:47:21Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922441.57 2024-11-06T19:47:21Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:21Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.03) 2024-11-06T19:47:21Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:21Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:21Z- publishEstimatesDecoder() - at 1730922441.57 sec 2024-11-06T19:47:21Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:21Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:21Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:21Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:21Z- AHRS_M2 msg: 1730922441.93 epoch sec; seqNo:369 2024-11-06T19:47:21Z- AHRS_M2 msg: 0.26 phi; 0.04 theta; 5.46 psi 2024-11-06T19:47:21Z- handleDepth()- Depth_Keller msg: 1730922441.94 epoch sec; seqNo:376; depth -0.02 2024-11-06T19:47:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922441.97 epoch sec; seqNo:376; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:47:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:22Z- waiting for 1730922445.57, time is 1730922441.97 2024-11-06T19:47:22Z- AHRS_M2 msg: 1730922442.33 epoch sec; seqNo:370 2024-11-06T19:47:22Z- AHRS_M2 msg: 0.30 phi; 0.04 theta; 5.48 psi 2024-11-06T19:47:22Z- handleDepth()- Depth_Keller msg: 1730922442.34 epoch sec; seqNo:377; depth -0.05 2024-11-06T19:47:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922442.36 epoch sec; seqNo:377; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:22Z- waiting for 1730922445.57, time is 1730922442.36 2024-11-06T19:47:22Z- AHRS_M2 msg: 1730922442.74 epoch sec; seqNo:371 2024-11-06T19:47:22Z- AHRS_M2 msg: 0.26 phi; -0.00 theta; 5.51 psi 2024-11-06T19:47:22Z- handleDepth()- Depth_Keller msg: 1730922442.75 epoch sec; seqNo:378; depth -0.10 2024-11-06T19:47:22Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:47:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:22Z- waiting for 1730922445.57, time is 1730922442.74 2024-11-06T19:47:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922442.89 epoch sec; seqNo:378; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:23Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:47:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:23Z- waiting for 1730922445.57, time is 1730922442.89 2024-11-06T19:47:23Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:47:23Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:47:23Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:47:23Z- AHRS_M2 msg: 1730922443.13 epoch sec; seqNo:372 2024-11-06T19:47:23Z- AHRS_M2 msg: 0.26 phi; -0.00 theta; 5.51 psi 2024-11-06T19:47:23Z- handleDepth()- Depth_Keller msg: 1730922443.17 epoch sec; seqNo:379; depth -0.13 2024-11-06T19:47:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922443.18 epoch sec; seqNo:379; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:47:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:23Z- waiting for 1730922445.57, time is 1730922443.18 2024-11-06T19:47:23Z- AHRS_M2 msg: 1730922443.55 epoch sec; seqNo:373 2024-11-06T19:47:23Z- AHRS_M2 msg: 0.10 phi; -0.05 theta; 5.43 psi 2024-11-06T19:47:23Z- handleDepth()- Depth_Keller msg: 1730922443.55 epoch sec; seqNo:380; depth -0.10 2024-11-06T19:47:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922443.58 epoch sec; seqNo:380; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:23Z- waiting for 1730922445.57, time is 1730922443.58 2024-11-06T19:47:23Z- AHRS_M2 msg: 1730922443.96 epoch sec; seqNo:374 2024-11-06T19:47:23Z- AHRS_M2 msg: 0.21 phi; -0.04 theta; 5.48 psi 2024-11-06T19:47:23Z- handleDepth()- Depth_Keller msg: 1730922443.97 epoch sec; seqNo:381; depth -0.12 2024-11-06T19:47:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922444.01 epoch sec; seqNo:381; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:47:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:24Z- waiting for 1730922445.57, time is 1730922444.01 2024-11-06T19:47:24Z- AHRS_M2 msg: 1730922444.36 epoch sec; seqNo:375 2024-11-06T19:47:24Z- AHRS_M2 msg: 0.34 phi; -0.03 theta; 5.44 psi 2024-11-06T19:47:24Z- handleDepth()- Depth_Keller msg: 1730922444.37 epoch sec; seqNo:382; depth -0.09 2024-11-06T19:47:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922444.38 epoch sec; seqNo:382; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:24Z- waiting for 1730922445.57, time is 1730922444.38 2024-11-06T19:47:24Z- AHRS_M2 msg: 1730922444.76 epoch sec; seqNo:376 2024-11-06T19:47:24Z- AHRS_M2 msg: 0.37 phi; -0.07 theta; 5.46 psi 2024-11-06T19:47:24Z- handleDepth()- Depth_Keller msg: 1730922444.80 epoch sec; seqNo:383; depth -0.06 2024-11-06T19:47:24Z- handleDVL() - DVL msg epochMillisec: 1730922444.87 2024-11-06T19:47:24Z- handleDvl() - RDI_Pathfinder msg: 1730922444.87 sec; seqNo:84; #beams:4 2024-11-06T19:47:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:24Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:24Z- waiting for 1730922445.57, time is 1730922444.87 2024-11-06T19:47:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922444.93 epoch sec; seqNo:383; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:25Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:47:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:25Z- waiting for 1730922445.57, time is 1730922444.93 2024-11-06T19:47:25Z- AHRS_M2 msg: 1730922445.16 epoch sec; seqNo:377 2024-11-06T19:47:25Z- AHRS_M2 msg: 0.32 phi; -0.06 theta; 5.49 psi 2024-11-06T19:47:25Z- handleDepth()- Depth_Keller msg: 1730922445.17 epoch sec; seqNo:384; depth -0.05 2024-11-06T19:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922445.21 epoch sec; seqNo:384; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:25Z- waiting for 1730922445.57, time is 1730922445.21 2024-11-06T19:47:25Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:47:25Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:47:25Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:47:25Z- AHRS_M2 msg: 1730922445.56 epoch sec; seqNo:378 2024-11-06T19:47:25Z- AHRS_M2 msg: 0.32 phi; -0.06 theta; 5.49 psi 2024-11-06T19:47:25Z- handleDepth()- Depth_Keller msg: 1730922445.59 epoch sec; seqNo:385; depth -0.05 2024-11-06T19:47:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922445.61 epoch sec; seqNo:385; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922441.57 2024-11-06T19:47:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:25Z- waiting for 1730922445.57, time is 1730922445.61 2024-11-06T19:47:25Z- LcmTrn::updateTrn() >>>> pose time 1730922445.61, meas time 1730922444.87 <<<< 2024-11-06T19:47:25Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922445.61 2024-11-06T19:47:25Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:25Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.05) 2024-11-06T19:47:25Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:25Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:25Z- publishEstimatesDecoder() - at 1730922445.61 sec 2024-11-06T19:47:25Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:25Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:25Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:25Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:25Z- handleDepth()- Depth_Keller msg: 1730922445.99 epoch sec; seqNo:386; depth -0.07 2024-11-06T19:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922446.00 epoch sec; seqNo:386; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:26Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:47:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:26Z- waiting for 1730922449.61, time is 1730922446.00 2024-11-06T19:47:26Z- AHRS_M2 msg: 1730922446.37 epoch sec; seqNo:379 2024-11-06T19:47:26Z- AHRS_M2 msg: -0.00 phi; -0.16 theta; 5.44 psi 2024-11-06T19:47:26Z- handleDepth()- Depth_Keller msg: 1730922446.38 epoch sec; seqNo:387; depth -0.11 2024-11-06T19:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922446.43 epoch sec; seqNo:387; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:26Z- waiting for 1730922449.61, time is 1730922446.43 2024-11-06T19:47:26Z- AHRS_M2 msg: 1730922446.81 epoch sec; seqNo:380 2024-11-06T19:47:26Z- AHRS_M2 msg: 0.12 phi; -0.11 theta; 5.42 psi 2024-11-06T19:47:26Z- handleDepth()- Depth_Keller msg: 1730922446.83 epoch sec; seqNo:388; depth -0.10 2024-11-06T19:47:26Z- handleDVL() - DVL msg epochMillisec: 1730922446.87 2024-11-06T19:47:26Z- handleDvl() - RDI_Pathfinder msg: 1730922446.87 sec; seqNo:85; #beams:4 2024-11-06T19:47:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:26Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922446.88 epoch sec; seqNo:388; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:26Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:26Z- waiting for 1730922449.61, time is 1730922446.88 2024-11-06T19:47:27Z- AHRS_M2 msg: 1730922447.18 epoch sec; seqNo:381 2024-11-06T19:47:27Z- AHRS_M2 msg: 0.28 phi; -0.04 theta; 5.43 psi 2024-11-06T19:47:27Z- handleDepth()- Depth_Keller msg: 1730922447.19 epoch sec; seqNo:389; depth -0.06 2024-11-06T19:47:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922447.21 epoch sec; seqNo:389; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:27Z- waiting for 1730922449.61, time is 1730922447.21 2024-11-06T19:47:27Z- AHRS_M2 msg: 1730922447.59 epoch sec; seqNo:382 2024-11-06T19:47:27Z- AHRS_M2 msg: 0.32 phi; -0.02 theta; 5.45 psi 2024-11-06T19:47:27Z- handleDepth()- Depth_Keller msg: 1730922447.59 epoch sec; seqNo:390; depth -0.08 2024-11-06T19:47:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922447.60 epoch sec; seqNo:390; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:27Z- waiting for 1730922449.61, time is 1730922447.60 2024-11-06T19:47:27Z- AHRS_M2 msg: 1730922447.99 epoch sec; seqNo:383 2024-11-06T19:47:27Z- AHRS_M2 msg: 0.28 phi; -0.04 theta; 5.43 psi 2024-11-06T19:47:28Z- handleDepth()- Depth_Keller msg: 1730922448.00 epoch sec; seqNo:391; depth -0.08 2024-11-06T19:47:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922448.03 epoch sec; seqNo:391; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:28Z- waiting for 1730922449.61, time is 1730922448.03 2024-11-06T19:47:28Z- AHRS_M2 msg: 1730922448.39 epoch sec; seqNo:384 2024-11-06T19:47:28Z- AHRS_M2 msg: 0.25 phi; -0.08 theta; 5.40 psi 2024-11-06T19:47:28Z- handleDepth()- Depth_Keller msg: 1730922448.40 epoch sec; seqNo:392; depth -0.06 2024-11-06T19:47:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922448.43 epoch sec; seqNo:392; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:28Z- waiting for 1730922449.61, time is 1730922448.43 2024-11-06T19:47:28Z- AHRS_M2 msg: 1730922448.85 epoch sec; seqNo:385 2024-11-06T19:47:28Z- AHRS_M2 msg: 0.21 phi; -0.09 theta; 5.39 psi 2024-11-06T19:47:28Z- handleDepth()- Depth_Keller msg: 1730922448.86 epoch sec; seqNo:393; depth -0.05 2024-11-06T19:47:28Z- handleDVL() - DVL msg epochMillisec: 1730922448.91 2024-11-06T19:47:28Z- handleDvl() - RDI_Pathfinder msg: 1730922448.91 sec; seqNo:86; #beams:4 2024-11-06T19:47:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:28Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922448.96 epoch sec; seqNo:393; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:29Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:29Z- waiting for 1730922449.61, time is 1730922448.96 2024-11-06T19:47:29Z- AHRS_M2 msg: 1730922449.20 epoch sec; seqNo:386 2024-11-06T19:47:29Z- AHRS_M2 msg: 0.17 phi; -0.03 theta; 5.41 psi 2024-11-06T19:47:29Z- handleDepth()- Depth_Keller msg: 1730922449.21 epoch sec; seqNo:394; depth -0.06 2024-11-06T19:47:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922449.25 epoch sec; seqNo:394; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:29Z- waiting for 1730922449.61, time is 1730922449.25 2024-11-06T19:47:29Z- AHRS_M2 msg: 1730922449.61 epoch sec; seqNo:387 2024-11-06T19:47:29Z- AHRS_M2 msg: 0.17 phi; 0.04 theta; 5.40 psi 2024-11-06T19:47:29Z- handleDepth()- Depth_Keller msg: 1730922449.61 epoch sec; seqNo:395; depth -0.09 2024-11-06T19:47:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922449.63 epoch sec; seqNo:395; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922445.61 2024-11-06T19:47:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:29Z- waiting for 1730922449.61, time is 1730922449.63 2024-11-06T19:47:29Z- LcmTrn::updateTrn() >>>> pose time 1730922449.63, meas time 1730922448.91 <<<< 2024-11-06T19:47:29Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922449.63 2024-11-06T19:47:29Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:29Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:47:29Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:29Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:29Z- publishEstimatesDecoder() - at 1730922449.63 sec 2024-11-06T19:47:29Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:29Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:29Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:29Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:30Z- AHRS_M2 msg: 1730922450.01 epoch sec; seqNo:388 2024-11-06T19:47:30Z- AHRS_M2 msg: 0.18 phi; 0.01 theta; 5.36 psi 2024-11-06T19:47:30Z- handleDepth()- Depth_Keller msg: 1730922450.02 epoch sec; seqNo:396; depth -0.13 2024-11-06T19:47:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922450.04 epoch sec; seqNo:396; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:47:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:30Z- waiting for 1730922453.63, time is 1730922450.04 2024-11-06T19:47:30Z- AHRS_M2 msg: 1730922450.41 epoch sec; seqNo:389 2024-11-06T19:47:30Z- AHRS_M2 msg: 0.21 phi; -0.08 theta; 5.36 psi 2024-11-06T19:47:30Z- handleDepth()- Depth_Keller msg: 1730922450.42 epoch sec; seqNo:397; depth -0.13 2024-11-06T19:47:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922450.46 epoch sec; seqNo:397; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:47:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:30Z- waiting for 1730922453.63, time is 1730922450.46 2024-11-06T19:47:30Z- AHRS_M2 msg: 1730922450.85 epoch sec; seqNo:390 2024-11-06T19:47:30Z- AHRS_M2 msg: 0.25 phi; -0.10 theta; 5.40 psi 2024-11-06T19:47:30Z- handleDepth()- Depth_Keller msg: 1730922450.85 epoch sec; seqNo:398; depth -0.09 2024-11-06T19:47:30Z- handleDVL() - DVL msg epochMillisec: 1730922450.90 2024-11-06T19:47:30Z- handleDvl() - RDI_Pathfinder msg: 1730922450.90 sec; seqNo:87; #beams:4 2024-11-06T19:47:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:30Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922450.94 epoch sec; seqNo:398; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:31Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:31Z- waiting for 1730922453.63, time is 1730922450.94 2024-11-06T19:47:31Z- AHRS_M2 msg: 1730922451.23 epoch sec; seqNo:391 2024-11-06T19:47:31Z- AHRS_M2 msg: 0.25 phi; -0.06 theta; 5.41 psi 2024-11-06T19:47:31Z- handleDepth()- Depth_Keller msg: 1730922451.25 epoch sec; seqNo:399; depth -0.11 2024-11-06T19:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922451.30 epoch sec; seqNo:399; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:31Z- waiting for 1730922453.63, time is 1730922451.30 2024-11-06T19:47:31Z- AHRS_M2 msg: 1730922451.63 epoch sec; seqNo:392 2024-11-06T19:47:31Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 5.41 psi 2024-11-06T19:47:31Z- handleDepth()- Depth_Keller msg: 1730922451.64 epoch sec; seqNo:400; depth -0.08 2024-11-06T19:47:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922451.66 epoch sec; seqNo:400; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:31Z- waiting for 1730922453.63, time is 1730922451.66 2024-11-06T19:47:32Z- AHRS_M2 msg: 1730922452.05 epoch sec; seqNo:393 2024-11-06T19:47:32Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 5.41 psi 2024-11-06T19:47:32Z- handleDepth()- Depth_Keller msg: 1730922452.07 epoch sec; seqNo:401; depth -0.04 2024-11-06T19:47:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922452.08 epoch sec; seqNo:401; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:32Z- waiting for 1730922453.63, time is 1730922452.08 2024-11-06T19:47:32Z- AHRS_M2 msg: 1730922452.44 epoch sec; seqNo:394 2024-11-06T19:47:32Z- AHRS_M2 msg: 0.22 phi; -0.05 theta; 5.41 psi 2024-11-06T19:47:32Z- handleDepth()- Depth_Keller msg: 1730922452.44 epoch sec; seqNo:402; depth -0.04 2024-11-06T19:47:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922452.45 epoch sec; seqNo:402; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:32Z- waiting for 1730922453.63, time is 1730922452.45 2024-11-06T19:47:32Z- AHRS_M2 msg: 1730922452.85 epoch sec; seqNo:395 2024-11-06T19:47:32Z- AHRS_M2 msg: 0.17 phi; -0.06 theta; 5.40 psi 2024-11-06T19:47:32Z- handleDepth()- Depth_Keller msg: 1730922452.86 epoch sec; seqNo:403; depth -0.07 2024-11-06T19:47:32Z- handleDVL() - DVL msg epochMillisec: 1730922452.88 2024-11-06T19:47:32Z- handleDvl() - RDI_Pathfinder msg: 1730922452.88 sec; seqNo:88; #beams:4 2024-11-06T19:47:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:32Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922452.89 epoch sec; seqNo:403; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:33Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:33Z- waiting for 1730922453.63, time is 1730922452.89 2024-11-06T19:47:33Z- AHRS_M2 msg: 1730922453.25 epoch sec; seqNo:396 2024-11-06T19:47:33Z- AHRS_M2 msg: 0.15 phi; -0.06 theta; 5.39 psi 2024-11-06T19:47:33Z- handleDepth()- Depth_Keller msg: 1730922453.26 epoch sec; seqNo:404; depth -0.09 2024-11-06T19:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922453.29 epoch sec; seqNo:404; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:33Z- waiting for 1730922453.63, time is 1730922453.29 2024-11-06T19:47:33Z- AHRS_M2 msg: 1730922453.65 epoch sec; seqNo:397 2024-11-06T19:47:33Z- AHRS_M2 msg: 0.18 phi; -0.09 theta; 5.38 psi 2024-11-06T19:47:33Z- handleDepth()- Depth_Keller msg: 1730922453.66 epoch sec; seqNo:405; depth -0.10 2024-11-06T19:47:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922453.67 epoch sec; seqNo:405; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922449.63 2024-11-06T19:47:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:33Z- waiting for 1730922453.63, time is 1730922453.67 2024-11-06T19:47:33Z- LcmTrn::updateTrn() >>>> pose time 1730922453.67, meas time 1730922452.88 <<<< 2024-11-06T19:47:33Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922453.67 2024-11-06T19:47:33Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:33Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.10) 2024-11-06T19:47:33Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:33Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:33Z- publishEstimatesDecoder() - at 1730922453.67 sec 2024-11-06T19:47:33Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:33Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:33Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:33Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:34Z- AHRS_M2 msg: 1730922454.06 epoch sec; seqNo:398 2024-11-06T19:47:34Z- AHRS_M2 msg: 0.21 phi; -0.11 theta; 5.37 psi 2024-11-06T19:47:34Z- handleDepth()- Depth_Keller msg: 1730922454.07 epoch sec; seqNo:406; depth -0.10 2024-11-06T19:47:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922454.08 epoch sec; seqNo:406; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:34Z- waiting for 1730922457.67, time is 1730922454.08 2024-11-06T19:47:34Z- AHRS_M2 msg: 1730922454.46 epoch sec; seqNo:399 2024-11-06T19:47:34Z- AHRS_M2 msg: 0.29 phi; -0.07 theta; 5.36 psi 2024-11-06T19:47:34Z- handleDepth()- Depth_Keller msg: 1730922454.46 epoch sec; seqNo:407; depth -0.09 2024-11-06T19:47:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922454.48 epoch sec; seqNo:407; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:34Z- waiting for 1730922457.67, time is 1730922454.48 2024-11-06T19:47:34Z- AHRS_M2 msg: 1730922454.86 epoch sec; seqNo:400 2024-11-06T19:47:34Z- AHRS_M2 msg: 0.28 phi; -0.05 theta; 5.35 psi 2024-11-06T19:47:34Z- handleDepth()- Depth_Keller msg: 1730922454.87 epoch sec; seqNo:408; depth -0.07 2024-11-06T19:47:34Z- handleDVL() - DVL msg epochMillisec: 1730922454.90 2024-11-06T19:47:34Z- handleDvl() - RDI_Pathfinder msg: 1730922454.90 sec; seqNo:89; #beams:4 2024-11-06T19:47:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:34Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922454.91 epoch sec; seqNo:408; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:35Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:35Z- waiting for 1730922457.67, time is 1730922454.91 2024-11-06T19:47:35Z- AHRS_M2 msg: 1730922455.27 epoch sec; seqNo:401 2024-11-06T19:47:35Z- AHRS_M2 msg: 0.16 phi; -0.06 theta; 5.36 psi 2024-11-06T19:47:35Z- handleDepth()- Depth_Keller msg: 1730922455.27 epoch sec; seqNo:409; depth -0.08 2024-11-06T19:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922455.29 epoch sec; seqNo:409; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:35Z- waiting for 1730922457.67, time is 1730922455.29 2024-11-06T19:47:35Z- AHRS_M2 msg: 1730922455.67 epoch sec; seqNo:402 2024-11-06T19:47:35Z- AHRS_M2 msg: 0.10 phi; 0.04 theta; 5.36 psi 2024-11-06T19:47:35Z- handleDepth()- Depth_Keller msg: 1730922455.68 epoch sec; seqNo:410; depth -0.09 2024-11-06T19:47:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922455.69 epoch sec; seqNo:410; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:35Z- waiting for 1730922457.67, time is 1730922455.69 2024-11-06T19:47:36Z- AHRS_M2 msg: 1730922456.08 epoch sec; seqNo:403 2024-11-06T19:47:36Z- AHRS_M2 msg: 0.15 phi; 0.13 theta; 5.37 psi 2024-11-06T19:47:36Z- handleDepth()- Depth_Keller msg: 1730922456.08 epoch sec; seqNo:411; depth -0.08 2024-11-06T19:47:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922456.11 epoch sec; seqNo:411; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:36Z- waiting for 1730922457.67, time is 1730922456.11 2024-11-06T19:47:36Z- AHRS_M2 msg: 1730922456.49 epoch sec; seqNo:404 2024-11-06T19:47:36Z- AHRS_M2 msg: 0.29 phi; 0.10 theta; 5.40 psi 2024-11-06T19:47:36Z- handleDepth()- Depth_Keller msg: 1730922456.49 epoch sec; seqNo:412; depth -0.09 2024-11-06T19:47:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922456.50 epoch sec; seqNo:412; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:36Z- waiting for 1730922457.67, time is 1730922456.50 2024-11-06T19:47:36Z- AHRS_M2 msg: 1730922456.88 epoch sec; seqNo:405 2024-11-06T19:47:36Z- AHRS_M2 msg: 0.33 phi; 0.01 theta; 5.40 psi 2024-11-06T19:47:36Z- handleDepth()- Depth_Keller msg: 1730922456.89 epoch sec; seqNo:413; depth -0.09 2024-11-06T19:47:36Z- handleDVL() - DVL msg epochMillisec: 1730922456.91 2024-11-06T19:47:36Z- handleDvl() - RDI_Pathfinder msg: 1730922456.91 sec; seqNo:90; #beams:4 2024-11-06T19:47:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:36Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922456.94 epoch sec; seqNo:413; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:37Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:37Z- waiting for 1730922457.67, time is 1730922456.94 2024-11-06T19:47:37Z- AHRS_M2 msg: 1730922457.29 epoch sec; seqNo:406 2024-11-06T19:47:37Z- AHRS_M2 msg: 0.27 phi; -0.06 theta; 5.35 psi 2024-11-06T19:47:37Z- handleDepth()- Depth_Keller msg: 1730922457.30 epoch sec; seqNo:414; depth -0.09 2024-11-06T19:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922457.32 epoch sec; seqNo:414; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:37Z- waiting for 1730922457.67, time is 1730922457.32 2024-11-06T19:47:37Z- AHRS_M2 msg: 1730922457.69 epoch sec; seqNo:407 2024-11-06T19:47:37Z- AHRS_M2 msg: 0.19 phi; -0.06 theta; 5.33 psi 2024-11-06T19:47:37Z- handleDepth()- Depth_Keller msg: 1730922457.70 epoch sec; seqNo:415; depth -0.11 2024-11-06T19:47:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922457.73 epoch sec; seqNo:415; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922453.67 2024-11-06T19:47:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:37Z- waiting for 1730922457.67, time is 1730922457.73 2024-11-06T19:47:37Z- LcmTrn::updateTrn() >>>> pose time 1730922457.73, meas time 1730922456.91 <<<< 2024-11-06T19:47:37Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922457.73 2024-11-06T19:47:37Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:37Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.11) 2024-11-06T19:47:37Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:37Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:37Z- publishEstimatesDecoder() - at 1730922457.73 sec 2024-11-06T19:47:37Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:37Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:37Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:37Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:38Z- AHRS_M2 msg: 1730922458.09 epoch sec; seqNo:408 2024-11-06T19:47:38Z- AHRS_M2 msg: 0.11 phi; -0.07 theta; 5.32 psi 2024-11-06T19:47:38Z- handleDepth()- Depth_Keller msg: 1730922458.10 epoch sec; seqNo:416; depth -0.13 2024-11-06T19:47:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922458.12 epoch sec; seqNo:416; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:47:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:38Z- waiting for 1730922461.73, time is 1730922458.12 2024-11-06T19:47:38Z- AHRS_M2 msg: 1730922458.51 epoch sec; seqNo:409 2024-11-06T19:47:38Z- AHRS_M2 msg: 0.11 phi; -0.10 theta; 5.32 psi 2024-11-06T19:47:38Z- handleDepth()- Depth_Keller msg: 1730922458.52 epoch sec; seqNo:417; depth -0.14 2024-11-06T19:47:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922458.53 epoch sec; seqNo:417; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:47:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:38Z- waiting for 1730922461.73, time is 1730922458.53 2024-11-06T19:47:38Z- AHRS_M2 msg: 1730922458.90 epoch sec; seqNo:410 2024-11-06T19:47:38Z- AHRS_M2 msg: 0.21 phi; -0.10 theta; 5.34 psi 2024-11-06T19:47:38Z- handleDepth()- Depth_Keller msg: 1730922458.91 epoch sec; seqNo:418; depth -0.09 2024-11-06T19:47:38Z- handleDVL() - DVL msg epochMillisec: 1730922458.95 2024-11-06T19:47:38Z- handleDvl() - RDI_Pathfinder msg: 1730922458.95 sec; seqNo:91; #beams:4 2024-11-06T19:47:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:38Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922458.99 epoch sec; seqNo:418; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:39Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:39Z- waiting for 1730922461.73, time is 1730922458.99 2024-11-06T19:47:39Z- AHRS_M2 msg: 1730922459.31 epoch sec; seqNo:411 2024-11-06T19:47:39Z- AHRS_M2 msg: 0.29 phi; -0.10 theta; 5.34 psi 2024-11-06T19:47:39Z- handleDepth()- Depth_Keller msg: 1730922459.31 epoch sec; seqNo:419; depth -0.06 2024-11-06T19:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922459.36 epoch sec; seqNo:419; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:39Z- waiting for 1730922461.73, time is 1730922459.36 2024-11-06T19:47:39Z- AHRS_M2 msg: 1730922459.71 epoch sec; seqNo:412 2024-11-06T19:47:39Z- AHRS_M2 msg: 0.29 phi; -0.11 theta; 5.36 psi 2024-11-06T19:47:39Z- handleDepth()- Depth_Keller msg: 1730922459.72 epoch sec; seqNo:420; depth -0.07 2024-11-06T19:47:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922459.76 epoch sec; seqNo:420; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:39Z- waiting for 1730922461.73, time is 1730922459.76 2024-11-06T19:47:40Z- AHRS_M2 msg: 1730922460.11 epoch sec; seqNo:413 2024-11-06T19:47:40Z- AHRS_M2 msg: 0.26 phi; -0.08 theta; 5.36 psi 2024-11-06T19:47:40Z- handleDepth()- Depth_Keller msg: 1730922460.12 epoch sec; seqNo:421; depth -0.07 2024-11-06T19:47:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922460.16 epoch sec; seqNo:421; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:40Z- waiting for 1730922461.73, time is 1730922460.16 2024-11-06T19:47:40Z- AHRS_M2 msg: 1730922460.52 epoch sec; seqNo:414 2024-11-06T19:47:40Z- AHRS_M2 msg: 0.20 phi; -0.04 theta; 5.35 psi 2024-11-06T19:47:40Z- handleDepth()- Depth_Keller msg: 1730922460.53 epoch sec; seqNo:422; depth -0.08 2024-11-06T19:47:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922460.55 epoch sec; seqNo:422; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:40Z- waiting for 1730922461.73, time is 1730922460.55 2024-11-06T19:47:40Z- AHRS_M2 msg: 1730922460.93 epoch sec; seqNo:415 2024-11-06T19:47:40Z- AHRS_M2 msg: 0.18 phi; -0.00 theta; 5.38 psi 2024-11-06T19:47:40Z- handleDepth()- Depth_Keller msg: 1730922460.94 epoch sec; seqNo:423; depth -0.08 2024-11-06T19:47:41Z- handleDVL() - DVL msg epochMillisec: 1730922461.00 2024-11-06T19:47:41Z- handleDvl() - RDI_Pathfinder msg: 1730922461.00 sec; seqNo:92; #beams:4 2024-11-06T19:47:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922461.05 epoch sec; seqNo:423; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:41Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:41Z- waiting for 1730922461.73, time is 1730922461.05 2024-11-06T19:47:41Z- AHRS_M2 msg: 1730922461.33 epoch sec; seqNo:416 2024-11-06T19:47:41Z- AHRS_M2 msg: 0.14 phi; -0.04 theta; 5.34 psi 2024-11-06T19:47:41Z- handleDepth()- Depth_Keller msg: 1730922461.34 epoch sec; seqNo:424; depth -0.10 2024-11-06T19:47:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922461.37 epoch sec; seqNo:424; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:41Z- waiting for 1730922461.73, time is 1730922461.37 2024-11-06T19:47:41Z- AHRS_M2 msg: 1730922461.74 epoch sec; seqNo:417 2024-11-06T19:47:41Z- AHRS_M2 msg: 0.14 phi; -0.07 theta; 5.31 psi 2024-11-06T19:47:41Z- handleDepth()- Depth_Keller msg: 1730922461.74 epoch sec; seqNo:425; depth -0.10 2024-11-06T19:47:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922461.77 epoch sec; seqNo:425; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922457.73 2024-11-06T19:47:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:41Z- waiting for 1730922461.73, time is 1730922461.77 2024-11-06T19:47:41Z- LcmTrn::updateTrn() >>>> pose time 1730922461.77, meas time 1730922461.00 <<<< 2024-11-06T19:47:41Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922461.77 2024-11-06T19:47:41Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:41Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.10) 2024-11-06T19:47:41Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:41Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:41Z- publishEstimatesDecoder() - at 1730922461.77 sec 2024-11-06T19:47:41Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:41Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:41Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:41Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:42Z- AHRS_M2 msg: 1730922462.13 epoch sec; seqNo:418 2024-11-06T19:47:42Z- AHRS_M2 msg: 0.19 phi; -0.01 theta; 5.31 psi 2024-11-06T19:47:42Z- handleDepth()- Depth_Keller msg: 1730922462.15 epoch sec; seqNo:426; depth -0.08 2024-11-06T19:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922462.17 epoch sec; seqNo:426; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:42Z- waiting for 1730922465.77, time is 1730922462.17 2024-11-06T19:47:42Z- AHRS_M2 msg: 1730922462.54 epoch sec; seqNo:419 2024-11-06T19:47:42Z- AHRS_M2 msg: 0.26 phi; 0.05 theta; 5.31 psi 2024-11-06T19:47:42Z- handleDepth()- Depth_Keller msg: 1730922462.55 epoch sec; seqNo:427; depth -0.10 2024-11-06T19:47:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922462.56 epoch sec; seqNo:427; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:42Z- waiting for 1730922465.77, time is 1730922462.56 2024-11-06T19:47:42Z- AHRS_M2 msg: 1730922462.94 epoch sec; seqNo:420 2024-11-06T19:47:42Z- AHRS_M2 msg: 0.32 phi; 0.07 theta; 5.31 psi 2024-11-06T19:47:42Z- handleDepth()- Depth_Keller msg: 1730922462.95 epoch sec; seqNo:428; depth -0.07 2024-11-06T19:47:42Z- handleDVL() - DVL msg epochMillisec: 1730922462.97 2024-11-06T19:47:42Z- handleDvl() - RDI_Pathfinder msg: 1730922462.97 sec; seqNo:93; #beams:4 2024-11-06T19:47:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:42Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922463.01 epoch sec; seqNo:428; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:43Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:43Z- waiting for 1730922465.77, time is 1730922463.01 2024-11-06T19:47:43Z- AHRS_M2 msg: 1730922463.35 epoch sec; seqNo:421 2024-11-06T19:47:43Z- AHRS_M2 msg: 0.32 phi; 0.09 theta; 5.30 psi 2024-11-06T19:47:43Z- handleDepth()- Depth_Keller msg: 1730922463.36 epoch sec; seqNo:429; depth -0.06 2024-11-06T19:47:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922463.38 epoch sec; seqNo:429; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:43Z- waiting for 1730922465.77, time is 1730922463.38 2024-11-06T19:47:43Z- AHRS_M2 msg: 1730922463.75 epoch sec; seqNo:422 2024-11-06T19:47:43Z- AHRS_M2 msg: 0.25 phi; 0.10 theta; 5.32 psi 2024-11-06T19:47:43Z- handleDepth()- Depth_Keller msg: 1730922463.76 epoch sec; seqNo:430; depth -0.06 2024-11-06T19:47:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922463.78 epoch sec; seqNo:430; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:43Z- waiting for 1730922465.77, time is 1730922463.78 2024-11-06T19:47:44Z- AHRS_M2 msg: 1730922464.15 epoch sec; seqNo:423 2024-11-06T19:47:44Z- AHRS_M2 msg: 0.18 phi; 0.10 theta; 5.30 psi 2024-11-06T19:47:44Z- handleDepth()- Depth_Keller msg: 1730922464.16 epoch sec; seqNo:431; depth -0.11 2024-11-06T19:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922464.17 epoch sec; seqNo:431; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:44Z- waiting for 1730922465.77, time is 1730922464.17 2024-11-06T19:47:44Z- AHRS_M2 msg: 1730922464.56 epoch sec; seqNo:424 2024-11-06T19:47:44Z- AHRS_M2 msg: 0.15 phi; 0.07 theta; 5.28 psi 2024-11-06T19:47:44Z- handleDepth()- Depth_Keller msg: 1730922464.57 epoch sec; seqNo:432; depth -0.10 2024-11-06T19:47:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922464.58 epoch sec; seqNo:432; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:44Z- waiting for 1730922465.77, time is 1730922464.58 2024-11-06T19:47:44Z- AHRS_M2 msg: 1730922464.97 epoch sec; seqNo:425 2024-11-06T19:47:44Z- AHRS_M2 msg: 0.16 phi; -0.03 theta; 5.28 psi 2024-11-06T19:47:44Z- handleDepth()- Depth_Keller msg: 1730922464.97 epoch sec; seqNo:433; depth -0.11 2024-11-06T19:47:45Z- handleDVL() - DVL msg epochMillisec: 1730922464.99 2024-11-06T19:47:45Z- handleDvl() - RDI_Pathfinder msg: 1730922464.99 sec; seqNo:94; #beams:4 2024-11-06T19:47:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:45Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922465.01 epoch sec; seqNo:433; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:47:45Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:45Z- waiting for 1730922465.77, time is 1730922465.01 2024-11-06T19:47:45Z- AHRS_M2 msg: 1730922465.37 epoch sec; seqNo:426 2024-11-06T19:47:45Z- AHRS_M2 msg: 0.16 phi; -0.16 theta; 5.26 psi 2024-11-06T19:47:45Z- handleDepth()- Depth_Keller msg: 1730922465.38 epoch sec; seqNo:434; depth -0.14 2024-11-06T19:47:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922465.40 epoch sec; seqNo:434; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:47:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:45Z- waiting for 1730922465.77, time is 1730922465.40 2024-11-06T19:47:45Z- AHRS_M2 msg: 1730922465.77 epoch sec; seqNo:427 2024-11-06T19:47:45Z- AHRS_M2 msg: 0.18 phi; -0.22 theta; 5.24 psi 2024-11-06T19:47:45Z- handleDepth()- Depth_Keller msg: 1730922465.77 epoch sec; seqNo:435; depth -0.15 2024-11-06T19:47:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922465.78 epoch sec; seqNo:435; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.15 depth; utmZone: 10 2024-11-06T19:47:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922461.77 2024-11-06T19:47:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:45Z- waiting for 1730922465.77, time is 1730922465.78 2024-11-06T19:47:45Z- LcmTrn::updateTrn() >>>> pose time 1730922465.78, meas time 1730922464.99 <<<< 2024-11-06T19:47:45Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922465.78 2024-11-06T19:47:45Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:45Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.15) 2024-11-06T19:47:45Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:45Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:45Z- publishEstimatesDecoder() - at 1730922465.78 sec 2024-11-06T19:47:45Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:45Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:45Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:45Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:46Z- AHRS_M2 msg: 1730922466.17 epoch sec; seqNo:428 2024-11-06T19:47:46Z- AHRS_M2 msg: 0.25 phi; -0.17 theta; 5.27 psi 2024-11-06T19:47:46Z- handleDepth()- Depth_Keller msg: 1730922466.18 epoch sec; seqNo:436; depth -0.13 2024-11-06T19:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922466.19 epoch sec; seqNo:436; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:47:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:46Z- waiting for 1730922469.78, time is 1730922466.19 2024-11-06T19:47:46Z- AHRS_M2 msg: 1730922466.58 epoch sec; seqNo:429 2024-11-06T19:47:46Z- AHRS_M2 msg: 0.32 phi; -0.08 theta; 5.31 psi 2024-11-06T19:47:46Z- handleDepth()- Depth_Keller msg: 1730922466.59 epoch sec; seqNo:437; depth -0.06 2024-11-06T19:47:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922466.62 epoch sec; seqNo:437; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:46Z- waiting for 1730922469.78, time is 1730922466.62 2024-11-06T19:47:47Z- AHRS_M2 msg: 1730922467.00 epoch sec; seqNo:430 2024-11-06T19:47:47Z- AHRS_M2 msg: 0.30 phi; -0.06 theta; 5.32 psi 2024-11-06T19:47:47Z- handleDepth()- Depth_Keller msg: 1730922467.01 epoch sec; seqNo:438; depth -0.04 2024-11-06T19:47:47Z- handleDVL() - DVL msg epochMillisec: 1730922467.06 2024-11-06T19:47:47Z- handleDvl() - RDI_Pathfinder msg: 1730922467.06 sec; seqNo:95; #beams:4 2024-11-06T19:47:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:47Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922467.08 epoch sec; seqNo:438; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:47Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:47Z- waiting for 1730922469.78, time is 1730922467.08 2024-11-06T19:47:47Z- AHRS_M2 msg: 1730922467.39 epoch sec; seqNo:431 2024-11-06T19:47:47Z- AHRS_M2 msg: 0.23 phi; -0.09 theta; 5.32 psi 2024-11-06T19:47:47Z- handleDepth()- Depth_Keller msg: 1730922467.40 epoch sec; seqNo:439; depth -0.03 2024-11-06T19:47:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922467.44 epoch sec; seqNo:439; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:47:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:47Z- waiting for 1730922469.78, time is 1730922467.44 2024-11-06T19:47:47Z- AHRS_M2 msg: 1730922467.79 epoch sec; seqNo:432 2024-11-06T19:47:47Z- AHRS_M2 msg: 0.16 phi; -0.07 theta; 5.33 psi 2024-11-06T19:47:47Z- handleDepth()- Depth_Keller msg: 1730922467.80 epoch sec; seqNo:440; depth -0.01 2024-11-06T19:47:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922467.81 epoch sec; seqNo:440; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:47:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:47Z- waiting for 1730922469.78, time is 1730922467.81 2024-11-06T19:47:48Z- AHRS_M2 msg: 1730922468.19 epoch sec; seqNo:433 2024-11-06T19:47:48Z- AHRS_M2 msg: 0.12 phi; -0.07 theta; 5.34 psi 2024-11-06T19:47:48Z- handleDepth()- Depth_Keller msg: 1730922468.20 epoch sec; seqNo:441; depth 0.02 2024-11-06T19:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922468.23 epoch sec; seqNo:441; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.02 depth; utmZone: 10 2024-11-06T19:47:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:48Z- waiting for 1730922469.78, time is 1730922468.23 2024-11-06T19:47:48Z- AHRS_M2 msg: 1730922468.60 epoch sec; seqNo:434 2024-11-06T19:47:48Z- AHRS_M2 msg: 0.17 phi; -0.08 theta; 5.34 psi 2024-11-06T19:47:48Z- handleDepth()- Depth_Keller msg: 1730922468.61 epoch sec; seqNo:442; depth 0.02 2024-11-06T19:47:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922468.62 epoch sec; seqNo:442; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.02 depth; utmZone: 10 2024-11-06T19:47:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:48Z- waiting for 1730922469.78, time is 1730922468.62 2024-11-06T19:47:49Z- AHRS_M2 msg: 1730922469.01 epoch sec; seqNo:435 2024-11-06T19:47:49Z- AHRS_M2 msg: 0.23 phi; -0.07 theta; 5.32 psi 2024-11-06T19:47:49Z- handleDepth()- Depth_Keller msg: 1730922469.02 epoch sec; seqNo:443; depth 0.03 2024-11-06T19:47:49Z- handleDVL() - DVL msg epochMillisec: 1730922469.06 2024-11-06T19:47:49Z- handleDvl() - RDI_Pathfinder msg: 1730922469.06 sec; seqNo:96; #beams:4 2024-11-06T19:47:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:49Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922469.09 epoch sec; seqNo:443; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.03 depth; utmZone: 10 2024-11-06T19:47:49Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:49Z- waiting for 1730922469.78, time is 1730922469.09 2024-11-06T19:47:49Z- AHRS_M2 msg: 1730922469.41 epoch sec; seqNo:436 2024-11-06T19:47:49Z- AHRS_M2 msg: 0.22 phi; -0.05 theta; 5.31 psi 2024-11-06T19:47:49Z- handleDepth()- Depth_Keller msg: 1730922469.41 epoch sec; seqNo:444; depth 0.02 2024-11-06T19:47:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922469.45 epoch sec; seqNo:444; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.02 depth; utmZone: 10 2024-11-06T19:47:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:49Z- waiting for 1730922469.78, time is 1730922469.45 2024-11-06T19:47:49Z- AHRS_M2 msg: 1730922469.81 epoch sec; seqNo:437 2024-11-06T19:47:49Z- AHRS_M2 msg: 0.18 phi; -0.08 theta; 5.31 psi 2024-11-06T19:47:49Z- handleDepth()- Depth_Keller msg: 1730922469.82 epoch sec; seqNo:445; depth 0.01 2024-11-06T19:47:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922469.85 epoch sec; seqNo:445; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.01 depth; utmZone: 10 2024-11-06T19:47:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922465.78 2024-11-06T19:47:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:49Z- waiting for 1730922469.78, time is 1730922469.85 2024-11-06T19:47:49Z- LcmTrn::updateTrn() >>>> pose time 1730922469.85, meas time 1730922469.06 <<<< 2024-11-06T19:47:49Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922469.85 2024-11-06T19:47:49Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:49Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, 0.01) 2024-11-06T19:47:49Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:49Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:49Z- publishEstimatesDecoder() - at 1730922469.85 sec 2024-11-06T19:47:49Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:49Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:49Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:49Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:50Z- AHRS_M2 msg: 1730922470.22 epoch sec; seqNo:438 2024-11-06T19:47:50Z- AHRS_M2 msg: 0.17 phi; -0.15 theta; 5.30 psi 2024-11-06T19:47:50Z- handleDepth()- Depth_Keller msg: 1730922470.22 epoch sec; seqNo:446; depth -0.01 2024-11-06T19:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922470.25 epoch sec; seqNo:446; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:47:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:50Z- waiting for 1730922473.85, time is 1730922470.25 2024-11-06T19:47:50Z- AHRS_M2 msg: 1730922470.62 epoch sec; seqNo:439 2024-11-06T19:47:50Z- AHRS_M2 msg: 0.19 phi; -0.17 theta; 5.33 psi 2024-11-06T19:47:50Z- handleDepth()- Depth_Keller msg: 1730922470.62 epoch sec; seqNo:447; depth 0.01 2024-11-06T19:47:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922470.64 epoch sec; seqNo:447; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.01 depth; utmZone: 10 2024-11-06T19:47:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:50Z- waiting for 1730922473.85, time is 1730922470.64 2024-11-06T19:47:51Z- AHRS_M2 msg: 1730922471.04 epoch sec; seqNo:440 2024-11-06T19:47:51Z- AHRS_M2 msg: 0.20 phi; -0.13 theta; 5.34 psi 2024-11-06T19:47:51Z- handleDepth()- Depth_Keller msg: 1730922471.05 epoch sec; seqNo:448; depth -0.01 2024-11-06T19:47:51Z- handleDVL() - DVL msg epochMillisec: 1730922471.09 2024-11-06T19:47:51Z- handleDvl() - RDI_Pathfinder msg: 1730922471.09 sec; seqNo:97; #beams:4 2024-11-06T19:47:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922471.13 epoch sec; seqNo:448; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:47:51Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:51Z- waiting for 1730922473.85, time is 1730922471.13 2024-11-06T19:47:51Z- AHRS_M2 msg: 1730922471.42 epoch sec; seqNo:441 2024-11-06T19:47:51Z- AHRS_M2 msg: 0.19 phi; -0.10 theta; 5.32 psi 2024-11-06T19:47:51Z- handleDepth()- Depth_Keller msg: 1730922471.43 epoch sec; seqNo:449; depth -0.02 2024-11-06T19:47:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922471.47 epoch sec; seqNo:449; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:47:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:51Z- waiting for 1730922473.85, time is 1730922471.47 2024-11-06T19:47:51Z- AHRS_M2 msg: 1730922471.83 epoch sec; seqNo:442 2024-11-06T19:47:51Z- AHRS_M2 msg: 0.18 phi; -0.11 theta; 5.31 psi 2024-11-06T19:47:51Z- handleDepth()- Depth_Keller msg: 1730922471.84 epoch sec; seqNo:450; depth -0.03 2024-11-06T19:47:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922471.86 epoch sec; seqNo:450; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:47:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:51Z- waiting for 1730922473.85, time is 1730922471.86 2024-11-06T19:47:52Z- AHRS_M2 msg: 1730922472.24 epoch sec; seqNo:443 2024-11-06T19:47:52Z- AHRS_M2 msg: 0.21 phi; -0.16 theta; 5.31 psi 2024-11-06T19:47:52Z- handleDepth()- Depth_Keller msg: 1730922472.25 epoch sec; seqNo:451; depth -0.05 2024-11-06T19:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922472.26 epoch sec; seqNo:451; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:52Z- waiting for 1730922473.85, time is 1730922472.26 2024-11-06T19:47:52Z- AHRS_M2 msg: 1730922472.64 epoch sec; seqNo:444 2024-11-06T19:47:52Z- AHRS_M2 msg: 0.28 phi; -0.20 theta; 5.32 psi 2024-11-06T19:47:52Z- handleDepth()- Depth_Keller msg: 1730922472.66 epoch sec; seqNo:452; depth -0.04 2024-11-06T19:47:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922472.67 epoch sec; seqNo:452; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:52Z- waiting for 1730922473.85, time is 1730922472.67 2024-11-06T19:47:53Z- AHRS_M2 msg: 1730922473.04 epoch sec; seqNo:445 2024-11-06T19:47:53Z- AHRS_M2 msg: 0.27 phi; -0.20 theta; 5.35 psi 2024-11-06T19:47:53Z- handleDepth()- Depth_Keller msg: 1730922473.05 epoch sec; seqNo:453; depth -0.04 2024-11-06T19:47:53Z- handleDVL() - DVL msg epochMillisec: 1730922473.07 2024-11-06T19:47:53Z- handleDvl() - RDI_Pathfinder msg: 1730922473.07 sec; seqNo:98; #beams:4 2024-11-06T19:47:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922473.09 epoch sec; seqNo:453; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:47:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:53Z- waiting for 1730922473.85, time is 1730922473.09 2024-11-06T19:47:53Z- AHRS_M2 msg: 1730922473.45 epoch sec; seqNo:446 2024-11-06T19:47:53Z- AHRS_M2 msg: 0.26 phi; -0.22 theta; 5.36 psi 2024-11-06T19:47:53Z- handleDepth()- Depth_Keller msg: 1730922473.46 epoch sec; seqNo:454; depth -0.01 2024-11-06T19:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922473.47 epoch sec; seqNo:454; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:47:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:53Z- waiting for 1730922473.85, time is 1730922473.47 2024-11-06T19:47:53Z- AHRS_M2 msg: 1730922473.85 epoch sec; seqNo:447 2024-11-06T19:47:53Z- AHRS_M2 msg: 0.20 phi; -0.23 theta; 5.35 psi 2024-11-06T19:47:53Z- handleDepth()- Depth_Keller msg: 1730922473.86 epoch sec; seqNo:455; depth -0.02 2024-11-06T19:47:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922473.87 epoch sec; seqNo:455; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:47:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922469.85 2024-11-06T19:47:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:54Z- waiting for 1730922473.85, time is 1730922473.87 2024-11-06T19:47:54Z- LcmTrn::updateTrn() >>>> pose time 1730922473.87, meas time 1730922473.07 <<<< 2024-11-06T19:47:54Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922473.87 2024-11-06T19:47:54Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:54Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.02) 2024-11-06T19:47:54Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:54Z- publishEstimatesDecoder() - at 1730922473.87 sec 2024-11-06T19:47:54Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:54Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:54Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:54Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:54Z- AHRS_M2 msg: 1730922474.25 epoch sec; seqNo:448 2024-11-06T19:47:54Z- AHRS_M2 msg: 0.15 phi; -0.20 theta; 5.35 psi 2024-11-06T19:47:54Z- handleDepth()- Depth_Keller msg: 1730922474.27 epoch sec; seqNo:456; depth -0.05 2024-11-06T19:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922474.29 epoch sec; seqNo:456; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:47:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:54Z- waiting for 1730922477.87, time is 1730922474.29 2024-11-06T19:47:54Z- AHRS_M2 msg: 1730922474.66 epoch sec; seqNo:449 2024-11-06T19:47:54Z- AHRS_M2 msg: 0.18 phi; -0.15 theta; 5.33 psi 2024-11-06T19:47:54Z- handleDepth()- Depth_Keller msg: 1730922474.67 epoch sec; seqNo:457; depth -0.03 2024-11-06T19:47:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922474.68 epoch sec; seqNo:457; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:47:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:54Z- waiting for 1730922477.87, time is 1730922474.68 2024-11-06T19:47:55Z- handleDepth()- Depth_Keller msg: 1730922475.09 epoch sec; seqNo:458; depth -0.06 2024-11-06T19:47:55Z- handleDVL() - DVL msg epochMillisec: 1730922475.11 2024-11-06T19:47:55Z- handleDvl() - RDI_Pathfinder msg: 1730922475.11 sec; seqNo:99; #beams:4 2024-11-06T19:47:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922475.12 epoch sec; seqNo:458; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:55Z- waiting for 1730922477.87, time is 1730922475.12 2024-11-06T19:47:55Z- AHRS_M2 msg: 1730922475.46 epoch sec; seqNo:450 2024-11-06T19:47:55Z- AHRS_M2 msg: 0.22 phi; -0.08 theta; 5.38 psi 2024-11-06T19:47:55Z- handleDepth()- Depth_Keller msg: 1730922475.48 epoch sec; seqNo:459; depth -0.07 2024-11-06T19:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922475.50 epoch sec; seqNo:459; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:55Z- waiting for 1730922477.87, time is 1730922475.50 2024-11-06T19:47:55Z- AHRS_M2 msg: 1730922475.87 epoch sec; seqNo:451 2024-11-06T19:47:55Z- AHRS_M2 msg: 0.27 phi; -0.08 theta; 5.39 psi 2024-11-06T19:47:55Z- handleDepth()- Depth_Keller msg: 1730922475.88 epoch sec; seqNo:460; depth -0.08 2024-11-06T19:47:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922475.89 epoch sec; seqNo:460; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:56Z- waiting for 1730922477.87, time is 1730922475.89 2024-11-06T19:47:56Z- AHRS_M2 msg: 1730922476.28 epoch sec; seqNo:452 2024-11-06T19:47:56Z- AHRS_M2 msg: 0.26 phi; -0.06 theta; 5.39 psi 2024-11-06T19:47:56Z- handleDepth()- Depth_Keller msg: 1730922476.28 epoch sec; seqNo:461; depth -0.10 2024-11-06T19:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922476.29 epoch sec; seqNo:461; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:56Z- waiting for 1730922477.87, time is 1730922476.29 2024-11-06T19:47:56Z- AHRS_M2 msg: 1730922476.73 epoch sec; seqNo:453 2024-11-06T19:47:56Z- AHRS_M2 msg: 0.22 phi; 0.01 theta; 5.38 psi 2024-11-06T19:47:56Z- handleDepth()- Depth_Keller msg: 1730922476.73 epoch sec; seqNo:462; depth -0.12 2024-11-06T19:47:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922476.77 epoch sec; seqNo:462; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:47:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:56Z- waiting for 1730922477.87, time is 1730922476.77 2024-11-06T19:47:57Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:47:57Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:47:57Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:47:57Z- AHRS_M2 msg: 1730922477.10 epoch sec; seqNo:454 2024-11-06T19:47:57Z- AHRS_M2 msg: 0.22 phi; 0.01 theta; 5.38 psi 2024-11-06T19:47:57Z- handleDepth()- Depth_Keller msg: 1730922477.12 epoch sec; seqNo:463; depth -0.09 2024-11-06T19:47:57Z- handleDVL() - DVL msg epochMillisec: 1730922477.18 2024-11-06T19:47:57Z- handleDvl() - RDI_Pathfinder msg: 1730922477.18 sec; seqNo:100; #beams:4 2024-11-06T19:47:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922477.24 epoch sec; seqNo:463; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:57Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:57Z- waiting for 1730922477.87, time is 1730922477.24 2024-11-06T19:47:57Z- AHRS_M2 msg: 1730922477.52 epoch sec; seqNo:455 2024-11-06T19:47:57Z- AHRS_M2 msg: 0.16 phi; -0.01 theta; 5.37 psi 2024-11-06T19:47:57Z- handleDepth()- Depth_Keller msg: 1730922477.55 epoch sec; seqNo:464; depth -0.08 2024-11-06T19:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922477.59 epoch sec; seqNo:464; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:57Z- waiting for 1730922477.87, time is 1730922477.59 2024-11-06T19:47:57Z- AHRS_M2 msg: 1730922477.91 epoch sec; seqNo:456 2024-11-06T19:47:57Z- AHRS_M2 msg: 0.20 phi; 0.02 theta; 5.39 psi 2024-11-06T19:47:57Z- handleDepth()- Depth_Keller msg: 1730922477.92 epoch sec; seqNo:465; depth -0.09 2024-11-06T19:47:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922477.94 epoch sec; seqNo:465; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:47:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922473.87 2024-11-06T19:47:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:58Z- waiting for 1730922477.87, time is 1730922477.94 2024-11-06T19:47:58Z- LcmTrn::updateTrn() >>>> pose time 1730922477.94, meas time 1730922477.18 <<<< 2024-11-06T19:47:58Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922477.94 2024-11-06T19:47:58Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:47:58Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:47:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:47:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:47:58Z- publishEstimatesDecoder() - at 1730922477.94 sec 2024-11-06T19:47:58Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:47:58Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:47:58Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:47:58Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:47:58Z- AHRS_M2 msg: 1730922478.32 epoch sec; seqNo:457 2024-11-06T19:47:58Z- AHRS_M2 msg: 0.24 phi; 0.05 theta; 5.40 psi 2024-11-06T19:47:58Z- handleDepth()- Depth_Keller msg: 1730922478.33 epoch sec; seqNo:466; depth -0.06 2024-11-06T19:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922478.34 epoch sec; seqNo:466; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:47:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:47:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:58Z- waiting for 1730922481.94, time is 1730922478.34 2024-11-06T19:47:58Z- AHRS_M2 msg: 1730922478.72 epoch sec; seqNo:458 2024-11-06T19:47:58Z- AHRS_M2 msg: 0.22 phi; 0.03 theta; 5.40 psi 2024-11-06T19:47:58Z- handleDepth()- Depth_Keller msg: 1730922478.74 epoch sec; seqNo:467; depth -0.08 2024-11-06T19:47:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922478.76 epoch sec; seqNo:467; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:47:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:47:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:58Z- waiting for 1730922481.94, time is 1730922478.76 2024-11-06T19:47:59Z- AHRS_M2 msg: 1730922479.13 epoch sec; seqNo:459 2024-11-06T19:47:59Z- AHRS_M2 msg: 0.22 phi; -0.04 theta; 5.38 psi 2024-11-06T19:47:59Z- handleDepth()- Depth_Keller msg: 1730922479.13 epoch sec; seqNo:468; depth -0.10 2024-11-06T19:47:59Z- handleDVL() - DVL msg epochMillisec: 1730922479.17 2024-11-06T19:47:59Z- handleDvl() - RDI_Pathfinder msg: 1730922479.17 sec; seqNo:101; #beams:4 2024-11-06T19:47:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:47:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922479.19 epoch sec; seqNo:468; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:47:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:47:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:47:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:59Z- waiting for 1730922481.94, time is 1730922479.19 2024-11-06T19:47:59Z- AHRS_M2 msg: 1730922479.53 epoch sec; seqNo:460 2024-11-06T19:47:59Z- AHRS_M2 msg: 0.25 phi; -0.06 theta; 5.39 psi 2024-11-06T19:47:59Z- handleDepth()- Depth_Keller msg: 1730922479.54 epoch sec; seqNo:469; depth -0.07 2024-11-06T19:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922479.56 epoch sec; seqNo:469; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:47:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:47:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:47:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:47:59Z- waiting for 1730922481.94, time is 1730922479.56 2024-11-06T19:47:59Z- AHRS_M2 msg: 1730922479.93 epoch sec; seqNo:461 2024-11-06T19:47:59Z- AHRS_M2 msg: 0.22 phi; -0.03 theta; 5.40 psi 2024-11-06T19:47:59Z- handleDepth()- Depth_Keller msg: 1730922479.95 epoch sec; seqNo:470; depth -0.09 2024-11-06T19:47:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922479.97 epoch sec; seqNo:470; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:48:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:00Z- waiting for 1730922481.94, time is 1730922479.97 2024-11-06T19:48:00Z- AHRS_M2 msg: 1730922480.34 epoch sec; seqNo:462 2024-11-06T19:48:00Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.39 psi 2024-11-06T19:48:00Z- handleDepth()- Depth_Keller msg: 1730922480.35 epoch sec; seqNo:471; depth -0.11 2024-11-06T19:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922480.38 epoch sec; seqNo:471; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:48:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:00Z- waiting for 1730922481.94, time is 1730922480.38 2024-11-06T19:48:00Z- AHRS_M2 msg: 1730922480.74 epoch sec; seqNo:463 2024-11-06T19:48:00Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.40 psi 2024-11-06T19:48:00Z- handleDepth()- Depth_Keller msg: 1730922480.75 epoch sec; seqNo:472; depth -0.12 2024-11-06T19:48:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922480.77 epoch sec; seqNo:472; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:48:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:00Z- waiting for 1730922481.94, time is 1730922480.77 2024-11-06T19:48:01Z- AHRS_M2 msg: 1730922481.15 epoch sec; seqNo:464 2024-11-06T19:48:01Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 5.40 psi 2024-11-06T19:48:01Z- handleDepth()- Depth_Keller msg: 1730922481.15 epoch sec; seqNo:473; depth -0.11 2024-11-06T19:48:01Z- handleDVL() - DVL msg epochMillisec: 1730922481.19 2024-11-06T19:48:01Z- handleDvl() - RDI_Pathfinder msg: 1730922481.19 sec; seqNo:102; #beams:4 2024-11-06T19:48:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922481.24 epoch sec; seqNo:473; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:01Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:48:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:01Z- waiting for 1730922481.94, time is 1730922481.24 2024-11-06T19:48:01Z- AHRS_M2 msg: 1730922481.55 epoch sec; seqNo:465 2024-11-06T19:48:01Z- AHRS_M2 msg: 0.20 phi; -0.15 theta; 5.40 psi 2024-11-06T19:48:01Z- handleDepth()- Depth_Keller msg: 1730922481.56 epoch sec; seqNo:474; depth -0.10 2024-11-06T19:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922481.58 epoch sec; seqNo:474; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:48:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:01Z- waiting for 1730922481.94, time is 1730922481.58 2024-11-06T19:48:01Z- AHRS_M2 msg: 1730922481.95 epoch sec; seqNo:466 2024-11-06T19:48:01Z- AHRS_M2 msg: 0.24 phi; -0.12 theta; 5.40 psi 2024-11-06T19:48:01Z- handleDepth()- Depth_Keller msg: 1730922481.96 epoch sec; seqNo:475; depth -0.09 2024-11-06T19:48:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922481.97 epoch sec; seqNo:475; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922477.94 2024-11-06T19:48:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:02Z- waiting for 1730922481.94, time is 1730922481.97 2024-11-06T19:48:02Z- LcmTrn::updateTrn() >>>> pose time 1730922481.97, meas time 1730922481.19 <<<< 2024-11-06T19:48:02Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922481.97 2024-11-06T19:48:02Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:02Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:48:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:02Z- publishEstimatesDecoder() - at 1730922481.97 sec 2024-11-06T19:48:02Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:02Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:02Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:02Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:02Z- AHRS_M2 msg: 1730922482.36 epoch sec; seqNo:467 2024-11-06T19:48:02Z- AHRS_M2 msg: 0.25 phi; -0.05 theta; 5.41 psi 2024-11-06T19:48:02Z- handleDepth()- Depth_Keller msg: 1730922482.36 epoch sec; seqNo:476; depth -0.09 2024-11-06T19:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922482.38 epoch sec; seqNo:476; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:02Z- waiting for 1730922485.97, time is 1730922482.38 2024-11-06T19:48:02Z- AHRS_M2 msg: 1730922482.77 epoch sec; seqNo:468 2024-11-06T19:48:02Z- AHRS_M2 msg: 0.23 phi; -0.04 theta; 5.39 psi 2024-11-06T19:48:02Z- handleDepth()- Depth_Keller msg: 1730922482.78 epoch sec; seqNo:477; depth -0.09 2024-11-06T19:48:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922482.83 epoch sec; seqNo:477; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:02Z- waiting for 1730922485.97, time is 1730922482.83 2024-11-06T19:48:03Z- AHRS_M2 msg: 1730922483.17 epoch sec; seqNo:469 2024-11-06T19:48:03Z- AHRS_M2 msg: 0.16 phi; -0.00 theta; 5.39 psi 2024-11-06T19:48:03Z- handleDepth()- Depth_Keller msg: 1730922483.18 epoch sec; seqNo:478; depth -0.06 2024-11-06T19:48:03Z- handleDVL() - DVL msg epochMillisec: 1730922483.21 2024-11-06T19:48:03Z- handleDvl() - RDI_Pathfinder msg: 1730922483.21 sec; seqNo:103; #beams:4 2024-11-06T19:48:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922483.24 epoch sec; seqNo:478; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:03Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:03Z- waiting for 1730922485.97, time is 1730922483.24 2024-11-06T19:48:03Z- AHRS_M2 msg: 1730922483.57 epoch sec; seqNo:470 2024-11-06T19:48:03Z- AHRS_M2 msg: 0.19 phi; 0.07 theta; 5.42 psi 2024-11-06T19:48:03Z- handleDepth()- Depth_Keller msg: 1730922483.58 epoch sec; seqNo:479; depth -0.07 2024-11-06T19:48:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922483.60 epoch sec; seqNo:479; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:03Z- waiting for 1730922485.97, time is 1730922483.60 2024-11-06T19:48:03Z- AHRS_M2 msg: 1730922483.97 epoch sec; seqNo:471 2024-11-06T19:48:03Z- AHRS_M2 msg: 0.29 phi; 0.02 theta; 5.43 psi 2024-11-06T19:48:03Z- handleDepth()- Depth_Keller msg: 1730922483.98 epoch sec; seqNo:480; depth -0.08 2024-11-06T19:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922483.99 epoch sec; seqNo:480; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:04Z- waiting for 1730922485.97, time is 1730922483.99 2024-11-06T19:48:04Z- AHRS_M2 msg: 1730922484.39 epoch sec; seqNo:472 2024-11-06T19:48:04Z- AHRS_M2 msg: 0.29 phi; -0.08 theta; 5.40 psi 2024-11-06T19:48:04Z- handleDepth()- Depth_Keller msg: 1730922484.39 epoch sec; seqNo:481; depth -0.08 2024-11-06T19:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922484.40 epoch sec; seqNo:481; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:04Z- waiting for 1730922485.97, time is 1730922484.40 2024-11-06T19:48:04Z- AHRS_M2 msg: 1730922484.81 epoch sec; seqNo:473 2024-11-06T19:48:04Z- AHRS_M2 msg: 0.21 phi; -0.09 theta; 5.39 psi 2024-11-06T19:48:04Z- handleDepth()- Depth_Keller msg: 1730922484.83 epoch sec; seqNo:482; depth -0.09 2024-11-06T19:48:04Z- handleDVL() - DVL msg epochMillisec: 1730922484.86 2024-11-06T19:48:04Z- handleDvl() - RDI_Pathfinder msg: 1730922484.86 sec; seqNo:104; #beams:4 2024-11-06T19:48:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:04Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922484.87 epoch sec; seqNo:482; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:04Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:04Z- waiting for 1730922485.97, time is 1730922484.87 2024-11-06T19:48:05Z- AHRS_M2 msg: 1730922485.19 epoch sec; seqNo:474 2024-11-06T19:48:05Z- AHRS_M2 msg: 0.14 phi; -0.04 theta; 5.37 psi 2024-11-06T19:48:05Z- handleDepth()- Depth_Keller msg: 1730922485.19 epoch sec; seqNo:483; depth -0.12 2024-11-06T19:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922485.22 epoch sec; seqNo:483; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:05Z- waiting for 1730922485.97, time is 1730922485.22 2024-11-06T19:48:05Z- AHRS_M2 msg: 1730922485.60 epoch sec; seqNo:475 2024-11-06T19:48:05Z- AHRS_M2 msg: 0.15 phi; 0.02 theta; 5.39 psi 2024-11-06T19:48:05Z- handleDepth()- Depth_Keller msg: 1730922485.60 epoch sec; seqNo:484; depth -0.13 2024-11-06T19:48:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922485.61 epoch sec; seqNo:484; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:48:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:05Z- waiting for 1730922485.97, time is 1730922485.61 2024-11-06T19:48:06Z- AHRS_M2 msg: 1730922486.00 epoch sec; seqNo:476 2024-11-06T19:48:06Z- AHRS_M2 msg: 0.25 phi; 0.06 theta; 5.40 psi 2024-11-06T19:48:06Z- handleDepth()- Depth_Keller msg: 1730922486.00 epoch sec; seqNo:485; depth -0.09 2024-11-06T19:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922486.01 epoch sec; seqNo:485; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922481.97 2024-11-06T19:48:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:06Z- waiting for 1730922485.97, time is 1730922486.01 2024-11-06T19:48:06Z- LcmTrn::updateTrn() >>>> pose time 1730922486.01, meas time 1730922484.86 <<<< 2024-11-06T19:48:06Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922486.01 2024-11-06T19:48:06Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:06Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:48:06Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:06Z- publishEstimatesDecoder() - at 1730922486.01 sec 2024-11-06T19:48:06Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:06Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:06Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:06Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:06Z- AHRS_M2 msg: 1730922486.40 epoch sec; seqNo:477 2024-11-06T19:48:06Z- AHRS_M2 msg: 0.28 phi; 0.08 theta; 5.40 psi 2024-11-06T19:48:06Z- handleDepth()- Depth_Keller msg: 1730922486.42 epoch sec; seqNo:486; depth -0.10 2024-11-06T19:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922486.43 epoch sec; seqNo:486; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:06Z- waiting for 1730922490.01, time is 1730922486.43 2024-11-06T19:48:06Z- AHRS_M2 msg: 1730922486.84 epoch sec; seqNo:478 2024-11-06T19:48:06Z- AHRS_M2 msg: 0.29 phi; 0.08 theta; 5.38 psi 2024-11-06T19:48:06Z- handleDepth()- Depth_Keller msg: 1730922486.84 epoch sec; seqNo:487; depth -0.06 2024-11-06T19:48:06Z- handleDVL() - DVL msg epochMillisec: 1730922486.88 2024-11-06T19:48:06Z- handleDvl() - RDI_Pathfinder msg: 1730922486.88 sec; seqNo:105; #beams:4 2024-11-06T19:48:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:06Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922486.91 epoch sec; seqNo:487; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:06Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:06Z- waiting for 1730922490.01, time is 1730922486.91 2024-11-06T19:48:07Z- AHRS_M2 msg: 1730922487.21 epoch sec; seqNo:479 2024-11-06T19:48:07Z- AHRS_M2 msg: 0.23 phi; 0.04 theta; 5.39 psi 2024-11-06T19:48:07Z- handleDepth()- Depth_Keller msg: 1730922487.22 epoch sec; seqNo:488; depth -0.08 2024-11-06T19:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922487.26 epoch sec; seqNo:488; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:07Z- waiting for 1730922490.01, time is 1730922487.26 2024-11-06T19:48:07Z- AHRS_M2 msg: 1730922487.61 epoch sec; seqNo:480 2024-11-06T19:48:07Z- AHRS_M2 msg: 0.16 phi; -0.02 theta; 5.40 psi 2024-11-06T19:48:07Z- handleDepth()- Depth_Keller msg: 1730922487.62 epoch sec; seqNo:489; depth -0.11 2024-11-06T19:48:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922487.65 epoch sec; seqNo:489; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:07Z- waiting for 1730922490.01, time is 1730922487.65 2024-11-06T19:48:08Z- AHRS_M2 msg: 1730922488.02 epoch sec; seqNo:481 2024-11-06T19:48:08Z- AHRS_M2 msg: 0.13 phi; -0.09 theta; 5.35 psi 2024-11-06T19:48:08Z- handleDepth()- Depth_Keller msg: 1730922488.02 epoch sec; seqNo:490; depth -0.11 2024-11-06T19:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922488.05 epoch sec; seqNo:490; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:08Z- waiting for 1730922490.01, time is 1730922488.05 2024-11-06T19:48:08Z- AHRS_M2 msg: 1730922488.42 epoch sec; seqNo:482 2024-11-06T19:48:08Z- AHRS_M2 msg: 0.19 phi; -0.12 theta; 5.33 psi 2024-11-06T19:48:08Z- handleDepth()- Depth_Keller msg: 1730922488.44 epoch sec; seqNo:491; depth -0.10 2024-11-06T19:48:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922488.47 epoch sec; seqNo:491; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:08Z- waiting for 1730922490.01, time is 1730922488.47 2024-11-06T19:48:08Z- AHRS_M2 msg: 1730922488.85 epoch sec; seqNo:483 2024-11-06T19:48:08Z- AHRS_M2 msg: 0.29 phi; -0.13 theta; 5.37 psi 2024-11-06T19:48:08Z- handleDepth()- Depth_Keller msg: 1730922488.86 epoch sec; seqNo:492; depth -0.09 2024-11-06T19:48:08Z- handleDVL() - DVL msg epochMillisec: 1730922488.92 2024-11-06T19:48:08Z- handleDvl() - RDI_Pathfinder msg: 1730922488.92 sec; seqNo:106; #beams:4 2024-11-06T19:48:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:08Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:09Z- waiting for 1730922490.01, time is 1730922488.92 2024-11-06T19:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922489.02 epoch sec; seqNo:492; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:09Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:48:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:09Z- waiting for 1730922490.01, time is 1730922489.02 2024-11-06T19:48:09Z- AHRS_M2 msg: 1730922489.26 epoch sec; seqNo:484 2024-11-06T19:48:09Z- AHRS_M2 msg: 0.29 phi; -0.13 theta; 5.38 psi 2024-11-06T19:48:09Z- handleDepth()- Depth_Keller msg: 1730922489.28 epoch sec; seqNo:493; depth -0.06 2024-11-06T19:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922489.36 epoch sec; seqNo:493; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:09Z- waiting for 1730922490.01, time is 1730922489.36 2024-11-06T19:48:09Z- AHRS_M2 msg: 1730922489.66 epoch sec; seqNo:485 2024-11-06T19:48:09Z- AHRS_M2 msg: 0.26 phi; -0.10 theta; 5.34 psi 2024-11-06T19:48:09Z- handleDepth()- Depth_Keller msg: 1730922489.67 epoch sec; seqNo:494; depth -0.02 2024-11-06T19:48:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922489.78 epoch sec; seqNo:494; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:48:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:09Z- waiting for 1730922490.01, time is 1730922489.78 2024-11-06T19:48:10Z- AHRS_M2 msg: 1730922490.05 epoch sec; seqNo:486 2024-11-06T19:48:10Z- AHRS_M2 msg: 0.23 phi; -0.02 theta; 5.32 psi 2024-11-06T19:48:10Z- handleDepth()- Depth_Keller msg: 1730922490.08 epoch sec; seqNo:495; depth 0.01 2024-11-06T19:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922490.10 epoch sec; seqNo:495; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.01 depth; utmZone: 10 2024-11-06T19:48:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922486.01 2024-11-06T19:48:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:10Z- waiting for 1730922490.01, time is 1730922490.10 2024-11-06T19:48:10Z- LcmTrn::updateTrn() >>>> pose time 1730922490.10, meas time 1730922488.92 <<<< 2024-11-06T19:48:10Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922490.10 2024-11-06T19:48:10Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:10Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, 0.01) 2024-11-06T19:48:10Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:10Z- publishEstimatesDecoder() - at 1730922490.10 sec 2024-11-06T19:48:10Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:10Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:10Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:10Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:10Z- AHRS_M2 msg: 1730922490.48 epoch sec; seqNo:487 2024-11-06T19:48:10Z- AHRS_M2 msg: 0.19 phi; 0.06 theta; 5.35 psi 2024-11-06T19:48:10Z- handleDepth()- Depth_Keller msg: 1730922490.48 epoch sec; seqNo:496; depth -0.01 2024-11-06T19:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922490.53 epoch sec; seqNo:496; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.01 depth; utmZone: 10 2024-11-06T19:48:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:10Z- waiting for 1730922494.10, time is 1730922490.53 2024-11-06T19:48:10Z- AHRS_M2 msg: 1730922490.87 epoch sec; seqNo:488 2024-11-06T19:48:10Z- AHRS_M2 msg: 0.21 phi; 0.03 theta; 5.40 psi 2024-11-06T19:48:10Z- handleDepth()- Depth_Keller msg: 1730922490.89 epoch sec; seqNo:497; depth -0.02 2024-11-06T19:48:10Z- handleDVL() - DVL msg epochMillisec: 1730922490.96 2024-11-06T19:48:10Z- handleDvl() - RDI_Pathfinder msg: 1730922490.96 sec; seqNo:107; #beams:4 2024-11-06T19:48:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922490.98 epoch sec; seqNo:497; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:48:11Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:11Z- waiting for 1730922494.10, time is 1730922490.98 2024-11-06T19:48:11Z- AHRS_M2 msg: 1730922491.30 epoch sec; seqNo:489 2024-11-06T19:48:11Z- AHRS_M2 msg: 0.25 phi; -0.11 theta; 5.39 psi 2024-11-06T19:48:11Z- handleDepth()- Depth_Keller msg: 1730922491.32 epoch sec; seqNo:498; depth -0.02 2024-11-06T19:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922491.37 epoch sec; seqNo:498; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:48:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:11Z- waiting for 1730922494.10, time is 1730922491.37 2024-11-06T19:48:11Z- AHRS_M2 msg: 1730922491.69 epoch sec; seqNo:490 2024-11-06T19:48:11Z- AHRS_M2 msg: 0.30 phi; -0.23 theta; 5.34 psi 2024-11-06T19:48:11Z- handleDepth()- Depth_Keller msg: 1730922491.71 epoch sec; seqNo:499; depth 0.00 2024-11-06T19:48:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922491.75 epoch sec; seqNo:499; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.00 depth; utmZone: 10 2024-11-06T19:48:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:11Z- waiting for 1730922494.10, time is 1730922491.75 2024-11-06T19:48:12Z- AHRS_M2 msg: 1730922492.10 epoch sec; seqNo:491 2024-11-06T19:48:12Z- AHRS_M2 msg: 0.28 phi; -0.22 theta; 5.30 psi 2024-11-06T19:48:12Z- handleDepth()- Depth_Keller msg: 1730922492.11 epoch sec; seqNo:500; depth -0.00 2024-11-06T19:48:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922492.13 epoch sec; seqNo:500; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.00 depth; utmZone: 10 2024-11-06T19:48:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:12Z- waiting for 1730922494.10, time is 1730922492.13 2024-11-06T19:48:12Z- AHRS_M2 msg: 1730922492.51 epoch sec; seqNo:492 2024-11-06T19:48:12Z- AHRS_M2 msg: 0.19 phi; -0.14 theta; 5.26 psi 2024-11-06T19:48:12Z- handleDepth()- Depth_Keller msg: 1730922492.54 epoch sec; seqNo:501; depth 0.00 2024-11-06T19:48:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922492.57 epoch sec; seqNo:501; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; 0.00 depth; utmZone: 10 2024-11-06T19:48:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:12Z- waiting for 1730922494.10, time is 1730922492.57 2024-11-06T19:48:12Z- AHRS_M2 msg: 1730922492.92 epoch sec; seqNo:493 2024-11-06T19:48:12Z- AHRS_M2 msg: 0.16 phi; -0.10 theta; 5.27 psi 2024-11-06T19:48:12Z- handleDepth()- Depth_Keller msg: 1730922492.93 epoch sec; seqNo:502; depth -0.04 2024-11-06T19:48:13Z- handleDVL() - DVL msg epochMillisec: 1730922493.00 2024-11-06T19:48:13Z- handleDvl() - RDI_Pathfinder msg: 1730922493.00 sec; seqNo:108; #beams:4 2024-11-06T19:48:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922493.07 epoch sec; seqNo:502; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:48:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:13Z- waiting for 1730922494.10, time is 1730922493.07 2024-11-06T19:48:13Z- AHRS_M2 msg: 1730922493.38 epoch sec; seqNo:494 2024-11-06T19:48:13Z- AHRS_M2 msg: 0.18 phi; -0.12 theta; 5.25 psi 2024-11-06T19:48:13Z- handleDepth()- Depth_Keller msg: 1730922493.40 epoch sec; seqNo:503; depth -0.08 2024-11-06T19:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922493.51 epoch sec; seqNo:503; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:13Z- waiting for 1730922494.10, time is 1730922493.51 2024-11-06T19:48:13Z- AHRS_M2 msg: 1730922493.74 epoch sec; seqNo:495 2024-11-06T19:48:13Z- AHRS_M2 msg: 0.23 phi; -0.17 theta; 5.19 psi 2024-11-06T19:48:13Z- handleDepth()- Depth_Keller msg: 1730922493.75 epoch sec; seqNo:504; depth -0.07 2024-11-06T19:48:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922493.81 epoch sec; seqNo:504; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:13Z- waiting for 1730922494.10, time is 1730922493.81 2024-11-06T19:48:14Z- AHRS_M2 msg: 1730922494.14 epoch sec; seqNo:496 2024-11-06T19:48:14Z- AHRS_M2 msg: 0.24 phi; -0.13 theta; 5.18 psi 2024-11-06T19:48:14Z- handleDepth()- Depth_Keller msg: 1730922494.16 epoch sec; seqNo:505; depth -0.06 2024-11-06T19:48:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922494.21 epoch sec; seqNo:505; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922490.10 2024-11-06T19:48:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:14Z- waiting for 1730922494.10, time is 1730922494.21 2024-11-06T19:48:14Z- LcmTrn::updateTrn() >>>> pose time 1730922494.21, meas time 1730922493.00 <<<< 2024-11-06T19:48:14Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922494.21 2024-11-06T19:48:14Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:14Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.06) 2024-11-06T19:48:14Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:14Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:14Z- publishEstimatesDecoder() - at 1730922494.21 sec 2024-11-06T19:48:14Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:14Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:14Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:14Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:14Z- AHRS_M2 msg: 1730922494.54 epoch sec; seqNo:497 2024-11-06T19:48:14Z- AHRS_M2 msg: 0.21 phi; -0.10 theta; 5.16 psi 2024-11-06T19:48:14Z- handleDepth()- Depth_Keller msg: 1730922494.56 epoch sec; seqNo:506; depth -0.08 2024-11-06T19:48:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922494.59 epoch sec; seqNo:506; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:14Z- waiting for 1730922498.21, time is 1730922494.59 2024-11-06T19:48:14Z- AHRS_M2 msg: 1730922494.95 epoch sec; seqNo:498 2024-11-06T19:48:14Z- AHRS_M2 msg: 0.18 phi; -0.12 theta; 5.15 psi 2024-11-06T19:48:14Z- handleDepth()- Depth_Keller msg: 1730922494.96 epoch sec; seqNo:507; depth -0.07 2024-11-06T19:48:15Z- handleDVL() - DVL msg epochMillisec: 1730922495.04 2024-11-06T19:48:15Z- handleDvl() - RDI_Pathfinder msg: 1730922495.04 sec; seqNo:109; #beams:4 2024-11-06T19:48:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:15Z- waiting for 1730922498.21, time is 1730922495.04 2024-11-06T19:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922495.11 epoch sec; seqNo:507; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:15Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:48:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:15Z- waiting for 1730922498.21, time is 1730922495.11 2024-11-06T19:48:15Z- AHRS_M2 msg: 1730922495.36 epoch sec; seqNo:499 2024-11-06T19:48:15Z- AHRS_M2 msg: 0.17 phi; -0.08 theta; 5.13 psi 2024-11-06T19:48:15Z- handleDepth()- Depth_Keller msg: 1730922495.38 epoch sec; seqNo:508; depth -0.09 2024-11-06T19:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922495.43 epoch sec; seqNo:508; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:15Z- waiting for 1730922498.21, time is 1730922495.43 2024-11-06T19:48:15Z- AHRS_M2 msg: 1730922495.77 epoch sec; seqNo:500 2024-11-06T19:48:15Z- AHRS_M2 msg: 0.21 phi; -0.04 theta; 5.14 psi 2024-11-06T19:48:15Z- handleDepth()- Depth_Keller msg: 1730922495.79 epoch sec; seqNo:509; depth -0.10 2024-11-06T19:48:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922495.82 epoch sec; seqNo:509; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:15Z- waiting for 1730922498.21, time is 1730922495.82 2024-11-06T19:48:16Z- AHRS_M2 msg: 1730922496.17 epoch sec; seqNo:501 2024-11-06T19:48:16Z- AHRS_M2 msg: 0.28 phi; -0.03 theta; 5.16 psi 2024-11-06T19:48:16Z- handleDepth()- Depth_Keller msg: 1730922496.17 epoch sec; seqNo:510; depth -0.12 2024-11-06T19:48:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922496.19 epoch sec; seqNo:510; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:16Z- waiting for 1730922498.21, time is 1730922496.19 2024-11-06T19:48:16Z- AHRS_M2 msg: 1730922496.57 epoch sec; seqNo:502 2024-11-06T19:48:16Z- AHRS_M2 msg: 0.36 phi; 0.01 theta; 5.14 psi 2024-11-06T19:48:16Z- handleDepth()- Depth_Keller msg: 1730922496.59 epoch sec; seqNo:511; depth -0.10 2024-11-06T19:48:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922496.60 epoch sec; seqNo:511; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:16Z- waiting for 1730922498.21, time is 1730922496.60 2024-11-06T19:48:16Z- AHRS_M2 msg: 1730922496.97 epoch sec; seqNo:503 2024-11-06T19:48:16Z- AHRS_M2 msg: 0.33 phi; 0.06 theta; 5.09 psi 2024-11-06T19:48:16Z- handleDepth()- Depth_Keller msg: 1730922496.98 epoch sec; seqNo:512; depth -0.06 2024-11-06T19:48:17Z- handleDVL() - DVL msg epochMillisec: 1730922497.03 2024-11-06T19:48:17Z- handleDvl() - RDI_Pathfinder msg: 1730922497.03 sec; seqNo:110; #beams:4 2024-11-06T19:48:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922497.05 epoch sec; seqNo:512; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:17Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:17Z- waiting for 1730922498.21, time is 1730922497.05 2024-11-06T19:48:17Z- AHRS_M2 msg: 1730922497.38 epoch sec; seqNo:504 2024-11-06T19:48:17Z- AHRS_M2 msg: 0.20 phi; 0.05 theta; 5.09 psi 2024-11-06T19:48:17Z- handleDepth()- Depth_Keller msg: 1730922497.38 epoch sec; seqNo:513; depth -0.07 2024-11-06T19:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922497.41 epoch sec; seqNo:513; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:17Z- waiting for 1730922498.21, time is 1730922497.41 2024-11-06T19:48:17Z- AHRS_M2 msg: 1730922497.78 epoch sec; seqNo:505 2024-11-06T19:48:17Z- AHRS_M2 msg: 0.13 phi; 0.04 theta; 5.12 psi 2024-11-06T19:48:17Z- handleDepth()- Depth_Keller msg: 1730922497.81 epoch sec; seqNo:514; depth -0.09 2024-11-06T19:48:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922497.84 epoch sec; seqNo:514; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:17Z- waiting for 1730922498.21, time is 1730922497.84 2024-11-06T19:48:18Z- AHRS_M2 msg: 1730922498.19 epoch sec; seqNo:506 2024-11-06T19:48:18Z- AHRS_M2 msg: 0.11 phi; 0.05 theta; 5.10 psi 2024-11-06T19:48:18Z- handleDepth()- Depth_Keller msg: 1730922498.19 epoch sec; seqNo:515; depth -0.09 2024-11-06T19:48:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922498.23 epoch sec; seqNo:515; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922494.21 2024-11-06T19:48:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:18Z- waiting for 1730922498.21, time is 1730922498.23 2024-11-06T19:48:18Z- LcmTrn::updateTrn() >>>> pose time 1730922498.23, meas time 1730922497.03 <<<< 2024-11-06T19:48:18Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922498.23 2024-11-06T19:48:18Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:18Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.09) 2024-11-06T19:48:18Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:18Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:18Z- publishEstimatesDecoder() - at 1730922498.23 sec 2024-11-06T19:48:18Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:18Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:18Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:18Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:18Z- AHRS_M2 msg: 1730922498.59 epoch sec; seqNo:507 2024-11-06T19:48:18Z- AHRS_M2 msg: 0.13 phi; -0.00 theta; 5.04 psi 2024-11-06T19:48:18Z- handleDepth()- Depth_Keller msg: 1730922498.60 epoch sec; seqNo:516; depth -0.10 2024-11-06T19:48:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922498.61 epoch sec; seqNo:516; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:18Z- waiting for 1730922502.23, time is 1730922498.61 2024-11-06T19:48:19Z- AHRS_M2 msg: 1730922499.00 epoch sec; seqNo:508 2024-11-06T19:48:19Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 5.03 psi 2024-11-06T19:48:19Z- handleDepth()- Depth_Keller msg: 1730922499.01 epoch sec; seqNo:517; depth -0.08 2024-11-06T19:48:19Z- handleDVL() - DVL msg epochMillisec: 1730922499.04 2024-11-06T19:48:19Z- handleDvl() - RDI_Pathfinder msg: 1730922499.04 sec; seqNo:111; #beams:4 2024-11-06T19:48:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:19Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922499.09 epoch sec; seqNo:517; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:19Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:19Z- waiting for 1730922502.23, time is 1730922499.09 2024-11-06T19:48:19Z- AHRS_M2 msg: 1730922499.40 epoch sec; seqNo:509 2024-11-06T19:48:19Z- AHRS_M2 msg: 0.26 phi; 0.02 theta; 5.03 psi 2024-11-06T19:48:19Z- handleDepth()- Depth_Keller msg: 1730922499.40 epoch sec; seqNo:518; depth -0.09 2024-11-06T19:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922499.43 epoch sec; seqNo:518; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:19Z- waiting for 1730922502.23, time is 1730922499.43 2024-11-06T19:48:19Z- AHRS_M2 msg: 1730922499.81 epoch sec; seqNo:510 2024-11-06T19:48:19Z- AHRS_M2 msg: 0.27 phi; 0.02 theta; 5.03 psi 2024-11-06T19:48:19Z- handleDepth()- Depth_Keller msg: 1730922499.82 epoch sec; seqNo:519; depth -0.10 2024-11-06T19:48:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922499.83 epoch sec; seqNo:519; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:19Z- waiting for 1730922502.23, time is 1730922499.83 2024-11-06T19:48:20Z- AHRS_M2 msg: 1730922500.21 epoch sec; seqNo:511 2024-11-06T19:48:20Z- AHRS_M2 msg: 0.27 phi; -0.01 theta; 5.03 psi 2024-11-06T19:48:20Z- handleDepth()- Depth_Keller msg: 1730922500.23 epoch sec; seqNo:520; depth -0.10 2024-11-06T19:48:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922500.24 epoch sec; seqNo:520; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:20Z- waiting for 1730922502.23, time is 1730922500.24 2024-11-06T19:48:20Z- AHRS_M2 msg: 1730922500.61 epoch sec; seqNo:512 2024-11-06T19:48:20Z- AHRS_M2 msg: 0.25 phi; -0.05 theta; 5.02 psi 2024-11-06T19:48:20Z- handleDepth()- Depth_Keller msg: 1730922500.61 epoch sec; seqNo:521; depth -0.12 2024-11-06T19:48:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922500.65 epoch sec; seqNo:521; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:20Z- waiting for 1730922502.23, time is 1730922500.65 2024-11-06T19:48:21Z- AHRS_M2 msg: 1730922501.03 epoch sec; seqNo:513 2024-11-06T19:48:21Z- AHRS_M2 msg: 0.25 phi; -0.06 theta; 5.03 psi 2024-11-06T19:48:21Z- handleDepth()- Depth_Keller msg: 1730922501.05 epoch sec; seqNo:522; depth -0.12 2024-11-06T19:48:21Z- handleDVL() - DVL msg epochMillisec: 1730922501.10 2024-11-06T19:48:21Z- handleDvl() - RDI_Pathfinder msg: 1730922501.10 sec; seqNo:112; #beams:4 2024-11-06T19:48:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:21Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:21Z- waiting for 1730922502.23, time is 1730922501.10 2024-11-06T19:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922501.19 epoch sec; seqNo:522; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:21Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:48:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:21Z- waiting for 1730922502.23, time is 1730922501.19 2024-11-06T19:48:21Z- AHRS_M2 msg: 1730922501.42 epoch sec; seqNo:514 2024-11-06T19:48:21Z- AHRS_M2 msg: 0.27 phi; -0.05 theta; 5.04 psi 2024-11-06T19:48:21Z- handleDepth()- Depth_Keller msg: 1730922501.43 epoch sec; seqNo:523; depth -0.12 2024-11-06T19:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922501.47 epoch sec; seqNo:523; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:21Z- waiting for 1730922502.23, time is 1730922501.47 2024-11-06T19:48:21Z- AHRS_M2 msg: 1730922501.82 epoch sec; seqNo:515 2024-11-06T19:48:21Z- AHRS_M2 msg: 0.25 phi; -0.07 theta; 5.03 psi 2024-11-06T19:48:21Z- handleDepth()- Depth_Keller msg: 1730922501.84 epoch sec; seqNo:524; depth -0.08 2024-11-06T19:48:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922501.88 epoch sec; seqNo:524; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:21Z- waiting for 1730922502.23, time is 1730922501.88 2024-11-06T19:48:22Z- AHRS_M2 msg: 1730922502.23 epoch sec; seqNo:516 2024-11-06T19:48:22Z- AHRS_M2 msg: 0.22 phi; -0.06 theta; 5.04 psi 2024-11-06T19:48:22Z- handleDepth()- Depth_Keller msg: 1730922502.24 epoch sec; seqNo:525; depth -0.08 2024-11-06T19:48:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922502.28 epoch sec; seqNo:525; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922498.23 2024-11-06T19:48:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:22Z- waiting for 1730922502.23, time is 1730922502.28 2024-11-06T19:48:22Z- LcmTrn::updateTrn() >>>> pose time 1730922502.28, meas time 1730922501.10 <<<< 2024-11-06T19:48:22Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922502.28 2024-11-06T19:48:22Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:22Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.08) 2024-11-06T19:48:22Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:22Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:22Z- publishEstimatesDecoder() - at 1730922502.28 sec 2024-11-06T19:48:22Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:22Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:22Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:22Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:22Z- AHRS_M2 msg: 1730922502.63 epoch sec; seqNo:517 2024-11-06T19:48:22Z- AHRS_M2 msg: 0.22 phi; -0.01 theta; 5.05 psi 2024-11-06T19:48:22Z- handleDepth()- Depth_Keller msg: 1730922502.64 epoch sec; seqNo:526; depth -0.08 2024-11-06T19:48:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922502.65 epoch sec; seqNo:526; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:22Z- waiting for 1730922506.28, time is 1730922502.65 2024-11-06T19:48:23Z- AHRS_M2 msg: 1730922503.03 epoch sec; seqNo:518 2024-11-06T19:48:23Z- AHRS_M2 msg: 0.25 phi; -0.02 theta; 5.03 psi 2024-11-06T19:48:23Z- handleDepth()- Depth_Keller msg: 1730922503.04 epoch sec; seqNo:527; depth -0.08 2024-11-06T19:48:23Z- handleDVL() - DVL msg epochMillisec: 1730922503.08 2024-11-06T19:48:23Z- handleDvl() - RDI_Pathfinder msg: 1730922503.08 sec; seqNo:113; #beams:4 2024-11-06T19:48:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:23Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922503.12 epoch sec; seqNo:527; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:23Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:23Z- waiting for 1730922506.28, time is 1730922503.12 2024-11-06T19:48:23Z- AHRS_M2 msg: 1730922503.44 epoch sec; seqNo:519 2024-11-06T19:48:23Z- AHRS_M2 msg: 0.24 phi; -0.06 theta; 5.00 psi 2024-11-06T19:48:23Z- handleDepth()- Depth_Keller msg: 1730922503.44 epoch sec; seqNo:528; depth -0.07 2024-11-06T19:48:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922503.49 epoch sec; seqNo:528; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:23Z- waiting for 1730922506.28, time is 1730922503.49 2024-11-06T19:48:23Z- AHRS_M2 msg: 1730922503.84 epoch sec; seqNo:520 2024-11-06T19:48:23Z- AHRS_M2 msg: 0.20 phi; -0.04 theta; 4.98 psi 2024-11-06T19:48:23Z- handleDepth()- Depth_Keller msg: 1730922503.86 epoch sec; seqNo:529; depth -0.06 2024-11-06T19:48:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922503.87 epoch sec; seqNo:529; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:24Z- waiting for 1730922506.28, time is 1730922503.87 2024-11-06T19:48:24Z- AHRS_M2 msg: 1730922504.25 epoch sec; seqNo:521 2024-11-06T19:48:24Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 4.97 psi 2024-11-06T19:48:24Z- handleDepth()- Depth_Keller msg: 1730922504.26 epoch sec; seqNo:530; depth -0.09 2024-11-06T19:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922504.28 epoch sec; seqNo:530; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:24Z- waiting for 1730922506.28, time is 1730922504.28 2024-11-06T19:48:24Z- AHRS_M2 msg: 1730922504.65 epoch sec; seqNo:522 2024-11-06T19:48:24Z- AHRS_M2 msg: 0.12 phi; -0.08 theta; 4.95 psi 2024-11-06T19:48:24Z- handleDepth()- Depth_Keller msg: 1730922504.66 epoch sec; seqNo:531; depth -0.11 2024-11-06T19:48:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922504.69 epoch sec; seqNo:531; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:24Z- waiting for 1730922506.28, time is 1730922504.69 2024-11-06T19:48:25Z- AHRS_M2 msg: 1730922505.06 epoch sec; seqNo:523 2024-11-06T19:48:25Z- AHRS_M2 msg: 0.18 phi; -0.12 theta; 4.94 psi 2024-11-06T19:48:25Z- handleDepth()- Depth_Keller msg: 1730922505.06 epoch sec; seqNo:532; depth -0.09 2024-11-06T19:48:25Z- handleDVL() - DVL msg epochMillisec: 1730922505.10 2024-11-06T19:48:25Z- handleDvl() - RDI_Pathfinder msg: 1730922505.10 sec; seqNo:114; #beams:4 2024-11-06T19:48:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:25Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922505.15 epoch sec; seqNo:532; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:25Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:25Z- waiting for 1730922506.28, time is 1730922505.15 2024-11-06T19:48:25Z- AHRS_M2 msg: 1730922505.46 epoch sec; seqNo:524 2024-11-06T19:48:25Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 4.95 psi 2024-11-06T19:48:25Z- handleDepth()- Depth_Keller msg: 1730922505.46 epoch sec; seqNo:533; depth -0.10 2024-11-06T19:48:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922505.50 epoch sec; seqNo:533; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:25Z- waiting for 1730922506.28, time is 1730922505.50 2024-11-06T19:48:25Z- AHRS_M2 msg: 1730922505.86 epoch sec; seqNo:525 2024-11-06T19:48:25Z- AHRS_M2 msg: 0.30 phi; 0.01 theta; 4.93 psi 2024-11-06T19:48:25Z- handleDepth()- Depth_Keller msg: 1730922505.87 epoch sec; seqNo:534; depth -0.09 2024-11-06T19:48:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922505.93 epoch sec; seqNo:534; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:26Z- waiting for 1730922506.28, time is 1730922505.93 2024-11-06T19:48:26Z- AHRS_M2 msg: 1730922506.27 epoch sec; seqNo:526 2024-11-06T19:48:26Z- AHRS_M2 msg: 0.36 phi; -0.09 theta; 4.93 psi 2024-11-06T19:48:26Z- handleDepth()- Depth_Keller msg: 1730922506.28 epoch sec; seqNo:535; depth -0.07 2024-11-06T19:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922506.29 epoch sec; seqNo:535; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922502.28 2024-11-06T19:48:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:26Z- waiting for 1730922506.28, time is 1730922506.29 2024-11-06T19:48:26Z- LcmTrn::updateTrn() >>>> pose time 1730922506.29, meas time 1730922505.10 <<<< 2024-11-06T19:48:26Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922506.29 2024-11-06T19:48:26Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:26Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:48:26Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:26Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:26Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:26Z- publishEstimatesDecoder() - at 1730922506.29 sec 2024-11-06T19:48:26Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:26Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:26Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:26Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:26Z- AHRS_M2 msg: 1730922506.67 epoch sec; seqNo:527 2024-11-06T19:48:26Z- AHRS_M2 msg: 0.34 phi; -0.13 theta; 4.96 psi 2024-11-06T19:48:26Z- handleDepth()- Depth_Keller msg: 1730922506.69 epoch sec; seqNo:536; depth -0.08 2024-11-06T19:48:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922506.69 epoch sec; seqNo:536; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:26Z- waiting for 1730922510.29, time is 1730922506.69 2024-11-06T19:48:27Z- AHRS_M2 msg: 1730922507.07 epoch sec; seqNo:528 2024-11-06T19:48:27Z- AHRS_M2 msg: 0.25 phi; -0.04 theta; 4.94 psi 2024-11-06T19:48:27Z- handleDepth()- Depth_Keller msg: 1730922507.09 epoch sec; seqNo:537; depth -0.06 2024-11-06T19:48:27Z- handleDVL() - DVL msg epochMillisec: 1730922507.12 2024-11-06T19:48:27Z- handleDvl() - RDI_Pathfinder msg: 1730922507.12 sec; seqNo:115; #beams:4 2024-11-06T19:48:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:27Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922507.13 epoch sec; seqNo:537; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:27Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:27Z- waiting for 1730922510.29, time is 1730922507.13 2024-11-06T19:48:27Z- AHRS_M2 msg: 1730922507.48 epoch sec; seqNo:529 2024-11-06T19:48:27Z- AHRS_M2 msg: 0.18 phi; -0.02 theta; 4.92 psi 2024-11-06T19:48:27Z- handleDepth()- Depth_Keller msg: 1730922507.49 epoch sec; seqNo:538; depth -0.07 2024-11-06T19:48:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922507.51 epoch sec; seqNo:538; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:27Z- waiting for 1730922510.29, time is 1730922507.51 2024-11-06T19:48:27Z- AHRS_M2 msg: 1730922507.88 epoch sec; seqNo:530 2024-11-06T19:48:27Z- AHRS_M2 msg: 0.20 phi; 0.01 theta; 4.95 psi 2024-11-06T19:48:27Z- handleDepth()- Depth_Keller msg: 1730922507.89 epoch sec; seqNo:539; depth -0.07 2024-11-06T19:48:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922507.90 epoch sec; seqNo:539; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:28Z- waiting for 1730922510.29, time is 1730922507.90 2024-11-06T19:48:28Z- AHRS_M2 msg: 1730922508.29 epoch sec; seqNo:531 2024-11-06T19:48:28Z- AHRS_M2 msg: 0.23 phi; 0.07 theta; 4.95 psi 2024-11-06T19:48:28Z- handleDepth()- Depth_Keller msg: 1730922508.31 epoch sec; seqNo:540; depth -0.09 2024-11-06T19:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922508.31 epoch sec; seqNo:540; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:28Z- waiting for 1730922510.29, time is 1730922508.31 2024-11-06T19:48:28Z- AHRS_M2 msg: 1730922508.70 epoch sec; seqNo:532 2024-11-06T19:48:28Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 4.84 psi 2024-11-06T19:48:28Z- handleDepth()- Depth_Keller msg: 1730922508.70 epoch sec; seqNo:541; depth -0.08 2024-11-06T19:48:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922508.71 epoch sec; seqNo:541; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:28Z- waiting for 1730922510.29, time is 1730922508.71 2024-11-06T19:48:29Z- AHRS_M2 msg: 1730922509.11 epoch sec; seqNo:533 2024-11-06T19:48:29Z- AHRS_M2 msg: 0.18 phi; -0.05 theta; 4.83 psi 2024-11-06T19:48:29Z- handleDepth()- Depth_Keller msg: 1730922509.11 epoch sec; seqNo:542; depth -0.08 2024-11-06T19:48:29Z- handleDVL() - DVL msg epochMillisec: 1730922509.14 2024-11-06T19:48:29Z- handleDvl() - RDI_Pathfinder msg: 1730922509.14 sec; seqNo:116; #beams:4 2024-11-06T19:48:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:29Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922509.15 epoch sec; seqNo:542; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:29Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:29Z- waiting for 1730922510.29, time is 1730922509.15 2024-11-06T19:48:29Z- AHRS_M2 msg: 1730922509.51 epoch sec; seqNo:534 2024-11-06T19:48:29Z- AHRS_M2 msg: 0.20 phi; -0.04 theta; 4.84 psi 2024-11-06T19:48:29Z- handleDepth()- Depth_Keller msg: 1730922509.52 epoch sec; seqNo:543; depth -0.09 2024-11-06T19:48:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922509.53 epoch sec; seqNo:543; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:29Z- waiting for 1730922510.29, time is 1730922509.53 2024-11-06T19:48:29Z- AHRS_M2 msg: 1730922509.90 epoch sec; seqNo:535 2024-11-06T19:48:29Z- AHRS_M2 msg: 0.22 phi; -0.04 theta; 4.84 psi 2024-11-06T19:48:29Z- handleDepth()- Depth_Keller msg: 1730922509.91 epoch sec; seqNo:544; depth -0.11 2024-11-06T19:48:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922509.91 epoch sec; seqNo:544; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:30Z- waiting for 1730922510.29, time is 1730922509.91 2024-11-06T19:48:30Z- AHRS_M2 msg: 1730922510.31 epoch sec; seqNo:536 2024-11-06T19:48:30Z- AHRS_M2 msg: 0.24 phi; -0.07 theta; 4.82 psi 2024-11-06T19:48:30Z- handleDepth()- Depth_Keller msg: 1730922510.31 epoch sec; seqNo:545; depth -0.11 2024-11-06T19:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922510.32 epoch sec; seqNo:545; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922506.29 2024-11-06T19:48:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:30Z- waiting for 1730922510.29, time is 1730922510.32 2024-11-06T19:48:30Z- LcmTrn::updateTrn() >>>> pose time 1730922510.32, meas time 1730922509.14 <<<< 2024-11-06T19:48:30Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922510.32 2024-11-06T19:48:30Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:30Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.11) 2024-11-06T19:48:30Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:30Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:30Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:30Z- publishEstimatesDecoder() - at 1730922510.32 sec 2024-11-06T19:48:30Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:30Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:30Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:30Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:30Z- AHRS_M2 msg: 1730922510.71 epoch sec; seqNo:537 2024-11-06T19:48:30Z- AHRS_M2 msg: 0.24 phi; -0.10 theta; 4.81 psi 2024-11-06T19:48:30Z- handleDepth()- Depth_Keller msg: 1730922510.71 epoch sec; seqNo:546; depth -0.10 2024-11-06T19:48:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922510.73 epoch sec; seqNo:546; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:30Z- waiting for 1730922514.32, time is 1730922510.73 2024-11-06T19:48:31Z- AHRS_M2 msg: 1730922511.11 epoch sec; seqNo:538 2024-11-06T19:48:31Z- AHRS_M2 msg: 0.28 phi; -0.07 theta; 4.82 psi 2024-11-06T19:48:31Z- handleDepth()- Depth_Keller msg: 1730922511.12 epoch sec; seqNo:547; depth -0.11 2024-11-06T19:48:31Z- handleDVL() - DVL msg epochMillisec: 1730922511.16 2024-11-06T19:48:31Z- handleDvl() - RDI_Pathfinder msg: 1730922511.16 sec; seqNo:117; #beams:4 2024-11-06T19:48:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922511.17 epoch sec; seqNo:547; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:31Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:31Z- waiting for 1730922514.32, time is 1730922511.17 2024-11-06T19:48:31Z- AHRS_M2 msg: 1730922511.52 epoch sec; seqNo:539 2024-11-06T19:48:31Z- AHRS_M2 msg: 0.28 phi; -0.01 theta; 4.80 psi 2024-11-06T19:48:31Z- handleDepth()- Depth_Keller msg: 1730922511.53 epoch sec; seqNo:548; depth -0.09 2024-11-06T19:48:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922511.56 epoch sec; seqNo:548; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:31Z- waiting for 1730922514.32, time is 1730922511.56 2024-11-06T19:48:31Z- AHRS_M2 msg: 1730922511.93 epoch sec; seqNo:540 2024-11-06T19:48:31Z- AHRS_M2 msg: 0.21 phi; -0.04 theta; 4.78 psi 2024-11-06T19:48:31Z- handleDepth()- Depth_Keller msg: 1730922511.94 epoch sec; seqNo:549; depth -0.07 2024-11-06T19:48:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922511.95 epoch sec; seqNo:549; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:32Z- waiting for 1730922514.32, time is 1730922511.95 2024-11-06T19:48:32Z- AHRS_M2 msg: 1730922512.33 epoch sec; seqNo:541 2024-11-06T19:48:32Z- AHRS_M2 msg: 0.17 phi; -0.06 theta; 4.76 psi 2024-11-06T19:48:32Z- handleDepth()- Depth_Keller msg: 1730922512.34 epoch sec; seqNo:550; depth -0.10 2024-11-06T19:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922512.36 epoch sec; seqNo:550; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:32Z- waiting for 1730922514.32, time is 1730922512.36 2024-11-06T19:48:32Z- AHRS_M2 msg: 1730922512.73 epoch sec; seqNo:542 2024-11-06T19:48:32Z- AHRS_M2 msg: 0.19 phi; -0.06 theta; 4.77 psi 2024-11-06T19:48:32Z- handleDepth()- Depth_Keller msg: 1730922512.74 epoch sec; seqNo:551; depth -0.11 2024-11-06T19:48:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922512.84 epoch sec; seqNo:551; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:32Z- waiting for 1730922514.32, time is 1730922512.84 2024-11-06T19:48:33Z- AHRS_M2 msg: 1730922513.14 epoch sec; seqNo:543 2024-11-06T19:48:33Z- AHRS_M2 msg: 0.28 phi; -0.04 theta; 4.79 psi 2024-11-06T19:48:33Z- handleDepth()- Depth_Keller msg: 1730922513.15 epoch sec; seqNo:552; depth -0.12 2024-11-06T19:48:33Z- handleDVL() - DVL msg epochMillisec: 1730922513.20 2024-11-06T19:48:33Z- handleDvl() - RDI_Pathfinder msg: 1730922513.20 sec; seqNo:118; #beams:4 2024-11-06T19:48:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922513.25 epoch sec; seqNo:552; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:33Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:33Z- waiting for 1730922514.32, time is 1730922513.25 2024-11-06T19:48:33Z- AHRS_M2 msg: 1730922513.54 epoch sec; seqNo:544 2024-11-06T19:48:33Z- AHRS_M2 msg: 0.36 phi; -0.02 theta; 4.77 psi 2024-11-06T19:48:33Z- handleDepth()- Depth_Keller msg: 1730922513.56 epoch sec; seqNo:553; depth -0.07 2024-11-06T19:48:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922513.59 epoch sec; seqNo:553; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:33Z- waiting for 1730922514.32, time is 1730922513.59 2024-11-06T19:48:33Z- AHRS_M2 msg: 1730922513.95 epoch sec; seqNo:545 2024-11-06T19:48:33Z- AHRS_M2 msg: 0.35 phi; 0.01 theta; 4.78 psi 2024-11-06T19:48:33Z- handleDepth()- Depth_Keller msg: 1730922513.95 epoch sec; seqNo:554; depth -0.09 2024-11-06T19:48:33Z- handleDVL() - DVL msg epochMillisec: 1730922513.95 2024-11-06T19:48:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:48:33Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:48:33Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:48:33Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:48:33Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:48:33Z- handleDvl() - RDI_Pathfinder msg: 1730922513.95 sec; seqNo:119; #beams:0 2024-11-06T19:48:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922513.97 epoch sec; seqNo:554; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:34Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:34Z- waiting for 1730922514.32, time is 1730922513.97 2024-11-06T19:48:34Z- AHRS_M2 msg: 1730922514.35 epoch sec; seqNo:546 2024-11-06T19:48:34Z- AHRS_M2 msg: 0.30 phi; -0.01 theta; 4.78 psi 2024-11-06T19:48:34Z- handleDepth()- Depth_Keller msg: 1730922514.36 epoch sec; seqNo:555; depth -0.07 2024-11-06T19:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922514.38 epoch sec; seqNo:555; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922510.32 2024-11-06T19:48:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:34Z- waiting for 1730922514.32, time is 1730922514.38 2024-11-06T19:48:34Z- LcmTrn::updateTrn() >>>> pose time 1730922514.38, meas time 1730922513.95 <<<< 2024-11-06T19:48:34Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922514.38 2024-11-06T19:48:34Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:34Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:48:34Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:34Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:34Z- publishEstimatesDecoder() - at 1730922514.38 sec 2024-11-06T19:48:34Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:34Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:34Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:34Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:34Z- AHRS_M2 msg: 1730922514.77 epoch sec; seqNo:547 2024-11-06T19:48:34Z- AHRS_M2 msg: 0.21 phi; -0.06 theta; 4.78 psi 2024-11-06T19:48:34Z- handleDepth()- Depth_Keller msg: 1730922514.84 epoch sec; seqNo:556; depth -0.07 2024-11-06T19:48:34Z- handleDVL() - DVL msg epochMillisec: 1730922514.90 2024-11-06T19:48:34Z- handleDvl() - RDI_Pathfinder msg: 1730922514.90 sec; seqNo:120; #beams:4 2024-11-06T19:48:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:34Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922514.92 epoch sec; seqNo:556; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:34Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:34Z- waiting for 1730922518.38, time is 1730922514.92 2024-11-06T19:48:35Z- AHRS_M2 msg: 1730922515.16 epoch sec; seqNo:548 2024-11-06T19:48:35Z- AHRS_M2 msg: 0.17 phi; -0.02 theta; 4.78 psi 2024-11-06T19:48:35Z- handleDepth()- Depth_Keller msg: 1730922515.17 epoch sec; seqNo:557; depth -0.09 2024-11-06T19:48:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922515.19 epoch sec; seqNo:557; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:35Z- waiting for 1730922518.38, time is 1730922515.19 2024-11-06T19:48:35Z- AHRS_M2 msg: 1730922515.56 epoch sec; seqNo:549 2024-11-06T19:48:35Z- AHRS_M2 msg: 0.17 phi; -0.00 theta; 4.78 psi 2024-11-06T19:48:35Z- handleDepth()- Depth_Keller msg: 1730922515.57 epoch sec; seqNo:558; depth -0.06 2024-11-06T19:48:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922515.60 epoch sec; seqNo:558; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:35Z- waiting for 1730922518.38, time is 1730922515.60 2024-11-06T19:48:35Z- AHRS_M2 msg: 1730922515.97 epoch sec; seqNo:550 2024-11-06T19:48:35Z- AHRS_M2 msg: 0.17 phi; -0.03 theta; 4.79 psi 2024-11-06T19:48:35Z- handleDepth()- Depth_Keller msg: 1730922515.98 epoch sec; seqNo:559; depth -0.08 2024-11-06T19:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922516.01 epoch sec; seqNo:559; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:36Z- waiting for 1730922518.38, time is 1730922516.01 2024-11-06T19:48:36Z- AHRS_M2 msg: 1730922516.37 epoch sec; seqNo:551 2024-11-06T19:48:36Z- AHRS_M2 msg: 0.17 phi; 0.00 theta; 4.74 psi 2024-11-06T19:48:36Z- handleDepth()- Depth_Keller msg: 1730922516.38 epoch sec; seqNo:560; depth -0.10 2024-11-06T19:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922516.39 epoch sec; seqNo:560; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:36Z- waiting for 1730922518.38, time is 1730922516.39 2024-11-06T19:48:36Z- AHRS_M2 msg: 1730922516.80 epoch sec; seqNo:552 2024-11-06T19:48:36Z- AHRS_M2 msg: 0.21 phi; 0.03 theta; 4.69 psi 2024-11-06T19:48:36Z- handleDepth()- Depth_Keller msg: 1730922516.82 epoch sec; seqNo:561; depth -0.09 2024-11-06T19:48:36Z- handleDVL() - DVL msg epochMillisec: 1730922516.86 2024-11-06T19:48:36Z- handleDvl() - RDI_Pathfinder msg: 1730922516.86 sec; seqNo:121; #beams:4 2024-11-06T19:48:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:36Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922516.87 epoch sec; seqNo:561; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:36Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:36Z- waiting for 1730922518.38, time is 1730922516.87 2024-11-06T19:48:37Z- AHRS_M2 msg: 1730922517.18 epoch sec; seqNo:553 2024-11-06T19:48:37Z- AHRS_M2 msg: 0.24 phi; 0.01 theta; 4.70 psi 2024-11-06T19:48:37Z- handleDepth()- Depth_Keller msg: 1730922517.18 epoch sec; seqNo:562; depth -0.05 2024-11-06T19:48:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922517.20 epoch sec; seqNo:562; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:48:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:37Z- waiting for 1730922518.38, time is 1730922517.20 2024-11-06T19:48:37Z- AHRS_M2 msg: 1730922517.58 epoch sec; seqNo:554 2024-11-06T19:48:37Z- AHRS_M2 msg: 0.22 phi; -0.03 theta; 4.69 psi 2024-11-06T19:48:37Z- handleDepth()- Depth_Keller msg: 1730922517.59 epoch sec; seqNo:563; depth -0.07 2024-11-06T19:48:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922517.60 epoch sec; seqNo:563; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:37Z- waiting for 1730922518.38, time is 1730922517.60 2024-11-06T19:48:37Z- AHRS_M2 msg: 1730922517.99 epoch sec; seqNo:555 2024-11-06T19:48:37Z- AHRS_M2 msg: 0.23 phi; -0.02 theta; 4.67 psi 2024-11-06T19:48:37Z- handleDepth()- Depth_Keller msg: 1730922517.99 epoch sec; seqNo:564; depth -0.07 2024-11-06T19:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922518.00 epoch sec; seqNo:564; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:38Z- waiting for 1730922518.38, time is 1730922518.00 2024-11-06T19:48:38Z- AHRS_M2 msg: 1730922518.39 epoch sec; seqNo:556 2024-11-06T19:48:38Z- AHRS_M2 msg: 0.29 phi; 0.01 theta; 4.65 psi 2024-11-06T19:48:38Z- handleDepth()- Depth_Keller msg: 1730922518.40 epoch sec; seqNo:565; depth -0.06 2024-11-06T19:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922518.41 epoch sec; seqNo:565; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922514.38 2024-11-06T19:48:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:38Z- waiting for 1730922518.38, time is 1730922518.41 2024-11-06T19:48:38Z- LcmTrn::updateTrn() >>>> pose time 1730922518.41, meas time 1730922516.86 <<<< 2024-11-06T19:48:38Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922518.41 2024-11-06T19:48:38Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:38Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.06) 2024-11-06T19:48:38Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:38Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:38Z- publishEstimatesDecoder() - at 1730922518.41 sec 2024-11-06T19:48:38Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:38Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:38Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:38Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:38Z- AHRS_M2 msg: 1730922518.83 epoch sec; seqNo:557 2024-11-06T19:48:38Z- AHRS_M2 msg: 0.28 phi; -0.01 theta; 4.65 psi 2024-11-06T19:48:38Z- handleDepth()- Depth_Keller msg: 1730922518.84 epoch sec; seqNo:566; depth -0.05 2024-11-06T19:48:38Z- handleDVL() - DVL msg epochMillisec: 1730922518.86 2024-11-06T19:48:38Z- handleDvl() - RDI_Pathfinder msg: 1730922518.86 sec; seqNo:122; #beams:4 2024-11-06T19:48:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:38Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922518.88 epoch sec; seqNo:566; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:48:38Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:38Z- waiting for 1730922522.41, time is 1730922518.88 2024-11-06T19:48:39Z- AHRS_M2 msg: 1730922519.20 epoch sec; seqNo:558 2024-11-06T19:48:39Z- AHRS_M2 msg: 0.22 phi; -0.02 theta; 4.65 psi 2024-11-06T19:48:39Z- handleDepth()- Depth_Keller msg: 1730922519.20 epoch sec; seqNo:567; depth -0.11 2024-11-06T19:48:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922519.24 epoch sec; seqNo:567; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:39Z- waiting for 1730922522.41, time is 1730922519.24 2024-11-06T19:48:39Z- AHRS_M2 msg: 1730922519.60 epoch sec; seqNo:559 2024-11-06T19:48:39Z- AHRS_M2 msg: 0.15 phi; -0.02 theta; 4.59 psi 2024-11-06T19:48:39Z- handleDepth()- Depth_Keller msg: 1730922519.61 epoch sec; seqNo:568; depth -0.13 2024-11-06T19:48:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922519.62 epoch sec; seqNo:568; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:48:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:39Z- waiting for 1730922522.41, time is 1730922519.62 2024-11-06T19:48:40Z- AHRS_M2 msg: 1730922520.01 epoch sec; seqNo:560 2024-11-06T19:48:40Z- AHRS_M2 msg: 0.17 phi; -0.05 theta; 4.59 psi 2024-11-06T19:48:40Z- handleDepth()- Depth_Keller msg: 1730922520.01 epoch sec; seqNo:569; depth -0.14 2024-11-06T19:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922520.02 epoch sec; seqNo:569; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:48:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:40Z- waiting for 1730922522.41, time is 1730922520.02 2024-11-06T19:48:40Z- AHRS_M2 msg: 1730922520.41 epoch sec; seqNo:561 2024-11-06T19:48:40Z- AHRS_M2 msg: 0.31 phi; -0.08 theta; 4.64 psi 2024-11-06T19:48:40Z- handleDepth()- Depth_Keller msg: 1730922520.42 epoch sec; seqNo:570; depth -0.11 2024-11-06T19:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922520.43 epoch sec; seqNo:570; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:40Z- waiting for 1730922522.41, time is 1730922520.43 2024-11-06T19:48:40Z- AHRS_M2 msg: 1730922520.85 epoch sec; seqNo:562 2024-11-06T19:48:40Z- AHRS_M2 msg: 0.35 phi; -0.03 theta; 4.60 psi 2024-11-06T19:48:40Z- handleDepth()- Depth_Keller msg: 1730922520.85 epoch sec; seqNo:571; depth -0.07 2024-11-06T19:48:40Z- handleDVL() - DVL msg epochMillisec: 1730922520.87 2024-11-06T19:48:40Z- handleDvl() - RDI_Pathfinder msg: 1730922520.87 sec; seqNo:123; #beams:4 2024-11-06T19:48:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:40Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922520.89 epoch sec; seqNo:571; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:41Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:41Z- waiting for 1730922522.41, time is 1730922520.89 2024-11-06T19:48:41Z- AHRS_M2 msg: 1730922521.23 epoch sec; seqNo:563 2024-11-06T19:48:41Z- AHRS_M2 msg: 0.25 phi; 0.00 theta; 4.54 psi 2024-11-06T19:48:41Z- handleDepth()- Depth_Keller msg: 1730922521.24 epoch sec; seqNo:572; depth -0.07 2024-11-06T19:48:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922521.27 epoch sec; seqNo:572; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:41Z- waiting for 1730922522.41, time is 1730922521.27 2024-11-06T19:48:41Z- AHRS_M2 msg: 1730922521.62 epoch sec; seqNo:564 2024-11-06T19:48:41Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 4.53 psi 2024-11-06T19:48:41Z- handleDepth()- Depth_Keller msg: 1730922521.63 epoch sec; seqNo:573; depth -0.10 2024-11-06T19:48:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922521.65 epoch sec; seqNo:573; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:41Z- waiting for 1730922522.41, time is 1730922521.65 2024-11-06T19:48:42Z- AHRS_M2 msg: 1730922522.03 epoch sec; seqNo:565 2024-11-06T19:48:42Z- AHRS_M2 msg: 0.13 phi; -0.08 theta; 4.55 psi 2024-11-06T19:48:42Z- handleDepth()- Depth_Keller msg: 1730922522.04 epoch sec; seqNo:574; depth -0.12 2024-11-06T19:48:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922522.06 epoch sec; seqNo:574; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:42Z- waiting for 1730922522.41, time is 1730922522.06 2024-11-06T19:48:42Z- AHRS_M2 msg: 1730922522.43 epoch sec; seqNo:566 2024-11-06T19:48:42Z- AHRS_M2 msg: 0.25 phi; -0.07 theta; 4.55 psi 2024-11-06T19:48:42Z- handleDepth()- Depth_Keller msg: 1730922522.44 epoch sec; seqNo:575; depth -0.08 2024-11-06T19:48:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922522.45 epoch sec; seqNo:575; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922518.41 2024-11-06T19:48:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:42Z- waiting for 1730922522.41, time is 1730922522.45 2024-11-06T19:48:42Z- LcmTrn::updateTrn() >>>> pose time 1730922522.45, meas time 1730922520.87 <<<< 2024-11-06T19:48:42Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922522.45 2024-11-06T19:48:42Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:42Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.08) 2024-11-06T19:48:42Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:42Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:42Z- publishEstimatesDecoder() - at 1730922522.45 sec 2024-11-06T19:48:42Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:42Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:42Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:42Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:42Z- AHRS_M2 msg: 1730922522.85 epoch sec; seqNo:567 2024-11-06T19:48:42Z- AHRS_M2 msg: 0.35 phi; -0.03 theta; 4.57 psi 2024-11-06T19:48:42Z- handleDepth()- Depth_Keller msg: 1730922522.86 epoch sec; seqNo:576; depth -0.07 2024-11-06T19:48:42Z- handleDVL() - DVL msg epochMillisec: 1730922522.90 2024-11-06T19:48:42Z- handleDvl() - RDI_Pathfinder msg: 1730922522.90 sec; seqNo:124; #beams:4 2024-11-06T19:48:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:42Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922522.92 epoch sec; seqNo:576; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:43Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:43Z- waiting for 1730922526.45, time is 1730922522.92 2024-11-06T19:48:43Z- AHRS_M2 msg: 1730922523.25 epoch sec; seqNo:568 2024-11-06T19:48:43Z- AHRS_M2 msg: 0.32 phi; -0.01 theta; 4.54 psi 2024-11-06T19:48:43Z- handleDepth()- Depth_Keller msg: 1730922523.26 epoch sec; seqNo:577; depth -0.06 2024-11-06T19:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922523.28 epoch sec; seqNo:577; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:43Z- waiting for 1730922526.45, time is 1730922523.28 2024-11-06T19:48:43Z- AHRS_M2 msg: 1730922523.64 epoch sec; seqNo:569 2024-11-06T19:48:43Z- AHRS_M2 msg: 0.20 phi; -0.03 theta; 4.50 psi 2024-11-06T19:48:43Z- handleDepth()- Depth_Keller msg: 1730922523.65 epoch sec; seqNo:578; depth -0.07 2024-11-06T19:48:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922523.68 epoch sec; seqNo:578; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:43Z- waiting for 1730922526.45, time is 1730922523.68 2024-11-06T19:48:44Z- AHRS_M2 msg: 1730922524.05 epoch sec; seqNo:570 2024-11-06T19:48:44Z- AHRS_M2 msg: 0.06 phi; -0.06 theta; 4.47 psi 2024-11-06T19:48:44Z- handleDepth()- Depth_Keller msg: 1730922524.06 epoch sec; seqNo:579; depth -0.10 2024-11-06T19:48:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922524.07 epoch sec; seqNo:579; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:44Z- waiting for 1730922526.45, time is 1730922524.07 2024-11-06T19:48:44Z- AHRS_M2 msg: 1730922524.45 epoch sec; seqNo:571 2024-11-06T19:48:44Z- AHRS_M2 msg: 0.02 phi; -0.15 theta; 4.44 psi 2024-11-06T19:48:44Z- handleDepth()- Depth_Keller msg: 1730922524.46 epoch sec; seqNo:580; depth -0.09 2024-11-06T19:48:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922524.47 epoch sec; seqNo:580; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:44Z- waiting for 1730922526.45, time is 1730922524.47 2024-11-06T19:48:44Z- AHRS_M2 msg: 1730922524.86 epoch sec; seqNo:572 2024-11-06T19:48:44Z- AHRS_M2 msg: 0.10 phi; -0.21 theta; 4.47 psi 2024-11-06T19:48:44Z- handleDepth()- Depth_Keller msg: 1730922524.86 epoch sec; seqNo:581; depth -0.09 2024-11-06T19:48:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922524.92 epoch sec; seqNo:581; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:45Z- waiting for 1730922526.45, time is 1730922524.92 2024-11-06T19:48:45Z- AHRS_M2 msg: 1730922525.26 epoch sec; seqNo:573 2024-11-06T19:48:45Z- AHRS_M2 msg: 0.24 phi; -0.18 theta; 4.50 psi 2024-11-06T19:48:45Z- handleDepth()- Depth_Keller msg: 1730922525.27 epoch sec; seqNo:582; depth -0.06 2024-11-06T19:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922525.30 epoch sec; seqNo:582; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:45Z- waiting for 1730922526.45, time is 1730922525.30 2024-11-06T19:48:45Z- AHRS_M2 msg: 1730922525.67 epoch sec; seqNo:574 2024-11-06T19:48:45Z- AHRS_M2 msg: 0.31 phi; -0.13 theta; 4.46 psi 2024-11-06T19:48:45Z- handleDepth()- Depth_Keller msg: 1730922525.68 epoch sec; seqNo:583; depth -0.03 2024-11-06T19:48:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922525.69 epoch sec; seqNo:583; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:48:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:45Z- waiting for 1730922526.45, time is 1730922525.69 2024-11-06T19:48:46Z- AHRS_M2 msg: 1730922526.07 epoch sec; seqNo:575 2024-11-06T19:48:46Z- AHRS_M2 msg: 0.18 phi; -0.16 theta; 4.49 psi 2024-11-06T19:48:46Z- handleDepth()- Depth_Keller msg: 1730922526.10 epoch sec; seqNo:584; depth -0.04 2024-11-06T19:48:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922526.11 epoch sec; seqNo:584; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:48:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:46Z- waiting for 1730922526.45, time is 1730922526.11 2024-11-06T19:48:46Z- AHRS_M2 msg: 1730922526.48 epoch sec; seqNo:576 2024-11-06T19:48:46Z- AHRS_M2 msg: 0.11 phi; -0.13 theta; 4.51 psi 2024-11-06T19:48:46Z- handleDepth()- Depth_Keller msg: 1730922526.49 epoch sec; seqNo:585; depth -0.08 2024-11-06T19:48:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922526.50 epoch sec; seqNo:585; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922522.45 2024-11-06T19:48:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:46Z- waiting for 1730922526.45, time is 1730922526.50 2024-11-06T19:48:46Z- LcmTrn::updateTrn() >>>> pose time 1730922526.50, meas time 1730922522.90 <<<< 2024-11-06T19:48:46Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922526.50 2024-11-06T19:48:46Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:46Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.08) 2024-11-06T19:48:46Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:46Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:46Z- publishEstimatesDecoder() - at 1730922526.50 sec 2024-11-06T19:48:46Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:46Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:46Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:46Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:46Z- AHRS_M2 msg: 1730922526.88 epoch sec; seqNo:577 2024-11-06T19:48:46Z- AHRS_M2 msg: 0.16 phi; -0.13 theta; 4.48 psi 2024-11-06T19:48:46Z- handleDepth()- Depth_Keller msg: 1730922526.89 epoch sec; seqNo:586; depth -0.08 2024-11-06T19:48:46Z- handleDVL() - DVL msg epochMillisec: 1730922526.92 2024-11-06T19:48:46Z- handleDvl() - RDI_Pathfinder msg: 1730922526.92 sec; seqNo:125; #beams:4 2024-11-06T19:48:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:46Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922526.93 epoch sec; seqNo:586; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:47Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:47Z- waiting for 1730922530.50, time is 1730922526.93 2024-11-06T19:48:47Z- AHRS_M2 msg: 1730922527.29 epoch sec; seqNo:578 2024-11-06T19:48:47Z- AHRS_M2 msg: 0.25 phi; -0.17 theta; 4.49 psi 2024-11-06T19:48:47Z- handleDepth()- Depth_Keller msg: 1730922527.30 epoch sec; seqNo:587; depth -0.04 2024-11-06T19:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922527.32 epoch sec; seqNo:587; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:48:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:47Z- waiting for 1730922530.50, time is 1730922527.32 2024-11-06T19:48:47Z- AHRS_M2 msg: 1730922527.69 epoch sec; seqNo:579 2024-11-06T19:48:47Z- AHRS_M2 msg: 0.28 phi; -0.13 theta; 4.50 psi 2024-11-06T19:48:47Z- handleDepth()- Depth_Keller msg: 1730922527.70 epoch sec; seqNo:588; depth -0.07 2024-11-06T19:48:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922527.71 epoch sec; seqNo:588; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:47Z- waiting for 1730922530.50, time is 1730922527.71 2024-11-06T19:48:48Z- AHRS_M2 msg: 1730922528.09 epoch sec; seqNo:580 2024-11-06T19:48:48Z- AHRS_M2 msg: 0.22 phi; -0.11 theta; 4.46 psi 2024-11-06T19:48:48Z- handleDepth()- Depth_Keller msg: 1730922528.10 epoch sec; seqNo:589; depth -0.05 2024-11-06T19:48:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922528.11 epoch sec; seqNo:589; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:48:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:48Z- waiting for 1730922530.50, time is 1730922528.11 2024-11-06T19:48:48Z- AHRS_M2 msg: 1730922528.50 epoch sec; seqNo:581 2024-11-06T19:48:48Z- AHRS_M2 msg: 0.13 phi; -0.11 theta; 4.43 psi 2024-11-06T19:48:48Z- handleDepth()- Depth_Keller msg: 1730922528.50 epoch sec; seqNo:590; depth -0.07 2024-11-06T19:48:48Z- handleDVL() - DVL msg epochMillisec: 1730922528.51 2024-11-06T19:48:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:48:48Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:48:48Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:48:48Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:48:48Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:48:48Z- handleDvl() - RDI_Pathfinder msg: 1730922528.51 sec; seqNo:126; #beams:0 2024-11-06T19:48:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:48Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922528.51 epoch sec; seqNo:590; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:48Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:48Z- waiting for 1730922530.50, time is 1730922528.51 2024-11-06T19:48:48Z- AHRS_M2 msg: 1730922528.91 epoch sec; seqNo:582 2024-11-06T19:48:48Z- AHRS_M2 msg: 0.14 phi; -0.11 theta; 4.40 psi 2024-11-06T19:48:48Z- handleDepth()- Depth_Keller msg: 1730922528.91 epoch sec; seqNo:591; depth -0.10 2024-11-06T19:48:48Z- handleDVL() - DVL msg epochMillisec: 1730922528.93 2024-11-06T19:48:48Z- handleDvl() - RDI_Pathfinder msg: 1730922528.93 sec; seqNo:127; #beams:4 2024-11-06T19:48:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:48Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922528.94 epoch sec; seqNo:591; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:49Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:49Z- waiting for 1730922530.50, time is 1730922528.94 2024-11-06T19:48:49Z- AHRS_M2 msg: 1730922529.31 epoch sec; seqNo:583 2024-11-06T19:48:49Z- AHRS_M2 msg: 0.20 phi; -0.13 theta; 4.42 psi 2024-11-06T19:48:49Z- handleDepth()- Depth_Keller msg: 1730922529.31 epoch sec; seqNo:592; depth -0.08 2024-11-06T19:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922529.33 epoch sec; seqNo:592; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:49Z- waiting for 1730922530.50, time is 1730922529.33 2024-11-06T19:48:49Z- AHRS_M2 msg: 1730922529.71 epoch sec; seqNo:584 2024-11-06T19:48:49Z- AHRS_M2 msg: 0.27 phi; -0.11 theta; 4.48 psi 2024-11-06T19:48:49Z- handleDepth()- Depth_Keller msg: 1730922529.72 epoch sec; seqNo:593; depth -0.09 2024-11-06T19:48:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922529.74 epoch sec; seqNo:593; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:49Z- waiting for 1730922530.50, time is 1730922529.74 2024-11-06T19:48:50Z- AHRS_M2 msg: 1730922530.11 epoch sec; seqNo:585 2024-11-06T19:48:50Z- AHRS_M2 msg: 0.33 phi; -0.08 theta; 4.48 psi 2024-11-06T19:48:50Z- handleDepth()- Depth_Keller msg: 1730922530.12 epoch sec; seqNo:594; depth -0.10 2024-11-06T19:48:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922530.13 epoch sec; seqNo:594; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:50Z- waiting for 1730922530.50, time is 1730922530.13 2024-11-06T19:48:50Z- AHRS_M2 msg: 1730922530.52 epoch sec; seqNo:586 2024-11-06T19:48:50Z- AHRS_M2 msg: 0.35 phi; -0.09 theta; 4.45 psi 2024-11-06T19:48:50Z- handleDepth()- Depth_Keller msg: 1730922530.53 epoch sec; seqNo:595; depth -0.06 2024-11-06T19:48:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922530.55 epoch sec; seqNo:595; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:48:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922526.50 2024-11-06T19:48:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:50Z- waiting for 1730922530.50, time is 1730922530.55 2024-11-06T19:48:50Z- LcmTrn::updateTrn() >>>> pose time 1730922530.55, meas time 1730922528.93 <<<< 2024-11-06T19:48:50Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922530.55 2024-11-06T19:48:50Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:50Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.06) 2024-11-06T19:48:50Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:50Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:50Z- publishEstimatesDecoder() - at 1730922530.55 sec 2024-11-06T19:48:50Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:50Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:50Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:50Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:50Z- AHRS_M2 msg: 1730922530.93 epoch sec; seqNo:587 2024-11-06T19:48:50Z- AHRS_M2 msg: 0.27 phi; -0.05 theta; 4.46 psi 2024-11-06T19:48:50Z- handleDepth()- Depth_Keller msg: 1730922530.95 epoch sec; seqNo:596; depth -0.04 2024-11-06T19:48:51Z- handleDVL() - DVL msg epochMillisec: 1730922530.99 2024-11-06T19:48:51Z- handleDvl() - RDI_Pathfinder msg: 1730922530.99 sec; seqNo:128; #beams:4 2024-11-06T19:48:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922531.02 epoch sec; seqNo:596; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:48:51Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:51Z- waiting for 1730922534.55, time is 1730922531.02 2024-11-06T19:48:51Z- AHRS_M2 msg: 1730922531.33 epoch sec; seqNo:588 2024-11-06T19:48:51Z- AHRS_M2 msg: 0.13 phi; -0.01 theta; 4.43 psi 2024-11-06T19:48:51Z- handleDepth()- Depth_Keller msg: 1730922531.33 epoch sec; seqNo:597; depth -0.09 2024-11-06T19:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922531.36 epoch sec; seqNo:597; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:51Z- waiting for 1730922534.55, time is 1730922531.36 2024-11-06T19:48:51Z- AHRS_M2 msg: 1730922531.73 epoch sec; seqNo:589 2024-11-06T19:48:51Z- AHRS_M2 msg: 0.04 phi; -0.02 theta; 4.41 psi 2024-11-06T19:48:51Z- handleDepth()- Depth_Keller msg: 1730922531.74 epoch sec; seqNo:598; depth -0.11 2024-11-06T19:48:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922531.76 epoch sec; seqNo:598; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:51Z- waiting for 1730922534.55, time is 1730922531.76 2024-11-06T19:48:52Z- AHRS_M2 msg: 1730922532.14 epoch sec; seqNo:590 2024-11-06T19:48:52Z- AHRS_M2 msg: 0.07 phi; 0.02 theta; 4.40 psi 2024-11-06T19:48:52Z- handleDepth()- Depth_Keller msg: 1730922532.15 epoch sec; seqNo:599; depth -0.12 2024-11-06T19:48:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922532.17 epoch sec; seqNo:599; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:48:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:52Z- waiting for 1730922534.55, time is 1730922532.17 2024-11-06T19:48:52Z- AHRS_M2 msg: 1730922532.54 epoch sec; seqNo:591 2024-11-06T19:48:52Z- AHRS_M2 msg: 0.14 phi; 0.01 theta; 4.37 psi 2024-11-06T19:48:52Z- handleDepth()- Depth_Keller msg: 1730922532.56 epoch sec; seqNo:600; depth -0.11 2024-11-06T19:48:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922532.57 epoch sec; seqNo:600; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:52Z- waiting for 1730922534.55, time is 1730922532.57 2024-11-06T19:48:52Z- AHRS_M2 msg: 1730922532.94 epoch sec; seqNo:592 2024-11-06T19:48:52Z- AHRS_M2 msg: 0.25 phi; -0.04 theta; 4.38 psi 2024-11-06T19:48:52Z- handleDepth()- Depth_Keller msg: 1730922532.95 epoch sec; seqNo:601; depth -0.11 2024-11-06T19:48:53Z- handleDVL() - DVL msg epochMillisec: 1730922532.99 2024-11-06T19:48:53Z- handleDvl() - RDI_Pathfinder msg: 1730922532.99 sec; seqNo:129; #beams:4 2024-11-06T19:48:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922533.05 epoch sec; seqNo:601; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:53Z- waiting for 1730922534.55, time is 1730922533.05 2024-11-06T19:48:53Z- AHRS_M2 msg: 1730922533.35 epoch sec; seqNo:593 2024-11-06T19:48:53Z- AHRS_M2 msg: 0.39 phi; -0.03 theta; 4.40 psi 2024-11-06T19:48:53Z- handleDepth()- Depth_Keller msg: 1730922533.36 epoch sec; seqNo:602; depth -0.08 2024-11-06T19:48:53Z- handleDVL() - DVL msg epochMillisec: 1730922533.36 2024-11-06T19:48:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:48:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:48:53Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:48:53Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:48:53Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:48:53Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:48:53Z- handleDvl() - RDI_Pathfinder msg: 1730922533.36 sec; seqNo:130; #beams:0 2024-11-06T19:48:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:53Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922533.38 epoch sec; seqNo:602; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:53Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:53Z- waiting for 1730922534.55, time is 1730922533.38 2024-11-06T19:48:53Z- AHRS_M2 msg: 1730922533.75 epoch sec; seqNo:594 2024-11-06T19:48:53Z- AHRS_M2 msg: 0.39 phi; 0.02 theta; 4.40 psi 2024-11-06T19:48:53Z- handleDepth()- Depth_Keller msg: 1730922533.77 epoch sec; seqNo:603; depth -0.03 2024-11-06T19:48:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922533.78 epoch sec; seqNo:603; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:48:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:53Z- waiting for 1730922534.55, time is 1730922533.78 2024-11-06T19:48:54Z- AHRS_M2 msg: 1730922534.15 epoch sec; seqNo:595 2024-11-06T19:48:54Z- AHRS_M2 msg: 0.23 phi; 0.02 theta; 4.36 psi 2024-11-06T19:48:54Z- handleDepth()- Depth_Keller msg: 1730922534.16 epoch sec; seqNo:604; depth -0.04 2024-11-06T19:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922534.19 epoch sec; seqNo:604; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:48:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:54Z- waiting for 1730922534.55, time is 1730922534.19 2024-11-06T19:48:54Z- AHRS_M2 msg: 1730922534.56 epoch sec; seqNo:596 2024-11-06T19:48:54Z- AHRS_M2 msg: 0.03 phi; -0.05 theta; 4.33 psi 2024-11-06T19:48:54Z- handleDepth()- Depth_Keller msg: 1730922534.57 epoch sec; seqNo:605; depth -0.07 2024-11-06T19:48:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922534.58 epoch sec; seqNo:605; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922530.55 2024-11-06T19:48:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:54Z- waiting for 1730922534.55, time is 1730922534.58 2024-11-06T19:48:54Z- LcmTrn::updateTrn() >>>> pose time 1730922534.58, meas time 1730922533.36 <<<< 2024-11-06T19:48:54Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922534.58 2024-11-06T19:48:54Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:54Z- TerrainNav::motionUpdate() - currEstimate = (4066898, 591321.37, -0.07) 2024-11-06T19:48:54Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:54Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:54Z- publishEstimatesDecoder() - at 1730922534.58 sec 2024-11-06T19:48:54Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:54Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:54Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:54Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:54Z- AHRS_M2 msg: 1730922534.96 epoch sec; seqNo:597 2024-11-06T19:48:54Z- AHRS_M2 msg: -0.06 phi; -0.09 theta; 4.32 psi 2024-11-06T19:48:54Z- handleDepth()- Depth_Keller msg: 1730922534.97 epoch sec; seqNo:606; depth -0.11 2024-11-06T19:48:55Z- handleDVL() - DVL msg epochMillisec: 1730922535.01 2024-11-06T19:48:55Z- handleDvl() - RDI_Pathfinder msg: 1730922535.01 sec; seqNo:131; #beams:4 2024-11-06T19:48:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922535.05 epoch sec; seqNo:606; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:55Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:55Z- waiting for 1730922538.58, time is 1730922535.05 2024-11-06T19:48:55Z- AHRS_M2 msg: 1730922535.37 epoch sec; seqNo:598 2024-11-06T19:48:55Z- AHRS_M2 msg: 0.01 phi; -0.10 theta; 4.35 psi 2024-11-06T19:48:55Z- handleDepth()- Depth_Keller msg: 1730922535.37 epoch sec; seqNo:607; depth -0.11 2024-11-06T19:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922535.39 epoch sec; seqNo:607; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:55Z- waiting for 1730922538.58, time is 1730922535.39 2024-11-06T19:48:55Z- AHRS_M2 msg: 1730922535.77 epoch sec; seqNo:599 2024-11-06T19:48:55Z- AHRS_M2 msg: 0.21 phi; -0.09 theta; 4.37 psi 2024-11-06T19:48:55Z- handleDepth()- Depth_Keller msg: 1730922535.79 epoch sec; seqNo:608; depth -0.09 2024-11-06T19:48:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922535.80 epoch sec; seqNo:608; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:55Z- waiting for 1730922538.58, time is 1730922535.80 2024-11-06T19:48:56Z- AHRS_M2 msg: 1730922536.18 epoch sec; seqNo:600 2024-11-06T19:48:56Z- AHRS_M2 msg: 0.38 phi; -0.07 theta; 4.38 psi 2024-11-06T19:48:56Z- handleDepth()- Depth_Keller msg: 1730922536.19 epoch sec; seqNo:609; depth -0.09 2024-11-06T19:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922536.21 epoch sec; seqNo:609; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:56Z- waiting for 1730922538.58, time is 1730922536.21 2024-11-06T19:48:56Z- AHRS_M2 msg: 1730922536.59 epoch sec; seqNo:601 2024-11-06T19:48:56Z- AHRS_M2 msg: 0.39 phi; -0.06 theta; 4.37 psi 2024-11-06T19:48:56Z- handleDepth()- Depth_Keller msg: 1730922536.59 epoch sec; seqNo:610; depth -0.10 2024-11-06T19:48:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922536.64 epoch sec; seqNo:610; 4066898.49 north; 591321.37 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:56Z- waiting for 1730922538.58, time is 1730922536.64 2024-11-06T19:48:56Z- AHRS_M2 msg: 1730922536.98 epoch sec; seqNo:602 2024-11-06T19:48:56Z- AHRS_M2 msg: 0.32 phi; -0.03 theta; 4.35 psi 2024-11-06T19:48:56Z- handleDepth()- Depth_Keller msg: 1730922536.99 epoch sec; seqNo:611; depth -0.08 2024-11-06T19:48:57Z- handleDVL() - DVL msg epochMillisec: 1730922537.01 2024-11-06T19:48:57Z- handleDvl() - RDI_Pathfinder msg: 1730922537.01 sec; seqNo:132; #beams:4 2024-11-06T19:48:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922537.03 epoch sec; seqNo:611; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:57Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:57Z- waiting for 1730922538.58, time is 1730922537.03 2024-11-06T19:48:57Z- AHRS_M2 msg: 1730922537.39 epoch sec; seqNo:603 2024-11-06T19:48:57Z- AHRS_M2 msg: 0.22 phi; -0.02 theta; 4.34 psi 2024-11-06T19:48:57Z- handleDepth()- Depth_Keller msg: 1730922537.40 epoch sec; seqNo:612; depth -0.07 2024-11-06T19:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922537.43 epoch sec; seqNo:612; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:57Z- waiting for 1730922538.58, time is 1730922537.43 2024-11-06T19:48:57Z- AHRS_M2 msg: 1730922537.83 epoch sec; seqNo:604 2024-11-06T19:48:57Z- AHRS_M2 msg: 0.12 phi; -0.03 theta; 4.34 psi 2024-11-06T19:48:57Z- handleDepth()- Depth_Keller msg: 1730922537.83 epoch sec; seqNo:613; depth -0.10 2024-11-06T19:48:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922537.85 epoch sec; seqNo:613; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:48:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:57Z- waiting for 1730922538.58, time is 1730922537.85 2024-11-06T19:48:58Z- AHRS_M2 msg: 1730922538.23 epoch sec; seqNo:605 2024-11-06T19:48:58Z- AHRS_M2 msg: 0.16 phi; -0.06 theta; 4.39 psi 2024-11-06T19:48:58Z- handleDepth()- Depth_Keller msg: 1730922538.24 epoch sec; seqNo:614; depth -0.11 2024-11-06T19:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922538.25 epoch sec; seqNo:614; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:48:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:58Z- waiting for 1730922538.58, time is 1730922538.25 2024-11-06T19:48:58Z- AHRS_M2 msg: 1730922538.63 epoch sec; seqNo:606 2024-11-06T19:48:58Z- AHRS_M2 msg: 0.29 phi; -0.05 theta; 4.40 psi 2024-11-06T19:48:58Z- handleDepth()- Depth_Keller msg: 1730922538.64 epoch sec; seqNo:615; depth -0.09 2024-11-06T19:48:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922538.67 epoch sec; seqNo:615; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:48:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922534.58 2024-11-06T19:48:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:58Z- waiting for 1730922538.58, time is 1730922538.67 2024-11-06T19:48:58Z- LcmTrn::updateTrn() >>>> pose time 1730922538.67, meas time 1730922537.01 <<<< 2024-11-06T19:48:58Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922538.67 2024-11-06T19:48:58Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:48:58Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.09) 2024-11-06T19:48:58Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:48:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:58Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:48:58Z- publishEstimatesDecoder() - at 1730922538.67 sec 2024-11-06T19:48:58Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:48:58Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:48:58Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:48:58Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:48:59Z- AHRS_M2 msg: 1730922539.03 epoch sec; seqNo:607 2024-11-06T19:48:59Z- AHRS_M2 msg: 0.34 phi; -0.05 theta; 4.36 psi 2024-11-06T19:48:59Z- handleDepth()- Depth_Keller msg: 1730922539.04 epoch sec; seqNo:616; depth -0.07 2024-11-06T19:48:59Z- handleDVL() - DVL msg epochMillisec: 1730922539.08 2024-11-06T19:48:59Z- handleDvl() - RDI_Pathfinder msg: 1730922539.08 sec; seqNo:133; #beams:4 2024-11-06T19:48:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:48:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922539.10 epoch sec; seqNo:616; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:48:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:48:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:48:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:59Z- waiting for 1730922542.67, time is 1730922539.10 2024-11-06T19:48:59Z- AHRS_M2 msg: 1730922539.44 epoch sec; seqNo:608 2024-11-06T19:48:59Z- AHRS_M2 msg: 0.29 phi; -0.02 theta; 4.39 psi 2024-11-06T19:48:59Z- handleDepth()- Depth_Keller msg: 1730922539.45 epoch sec; seqNo:617; depth -0.08 2024-11-06T19:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922539.49 epoch sec; seqNo:617; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:48:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:48:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:48:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:48:59Z- waiting for 1730922542.67, time is 1730922539.49 2024-11-06T19:48:59Z- AHRS_M2 msg: 1730922539.85 epoch sec; seqNo:609 2024-11-06T19:48:59Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 4.41 psi 2024-11-06T19:48:59Z- handleDepth()- Depth_Keller msg: 1730922539.85 epoch sec; seqNo:618; depth -0.09 2024-11-06T19:48:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922539.86 epoch sec; seqNo:618; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:00Z- waiting for 1730922542.67, time is 1730922539.86 2024-11-06T19:49:00Z- AHRS_M2 msg: 1730922540.25 epoch sec; seqNo:610 2024-11-06T19:49:00Z- AHRS_M2 msg: 0.24 phi; -0.02 theta; 4.41 psi 2024-11-06T19:49:00Z- handleDepth()- Depth_Keller msg: 1730922540.25 epoch sec; seqNo:619; depth -0.07 2024-11-06T19:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922540.28 epoch sec; seqNo:619; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:00Z- waiting for 1730922542.67, time is 1730922540.28 2024-11-06T19:49:00Z- AHRS_M2 msg: 1730922540.67 epoch sec; seqNo:611 2024-11-06T19:49:00Z- AHRS_M2 msg: 0.13 phi; -0.01 theta; 4.39 psi 2024-11-06T19:49:00Z- handleDepth()- Depth_Keller msg: 1730922540.68 epoch sec; seqNo:620; depth -0.06 2024-11-06T19:49:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922540.71 epoch sec; seqNo:620; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:00Z- waiting for 1730922542.67, time is 1730922540.71 2024-11-06T19:49:01Z- AHRS_M2 msg: 1730922541.06 epoch sec; seqNo:612 2024-11-06T19:49:01Z- AHRS_M2 msg: 0.13 phi; -0.07 theta; 4.40 psi 2024-11-06T19:49:01Z- handleDepth()- Depth_Keller msg: 1730922541.07 epoch sec; seqNo:621; depth -0.07 2024-11-06T19:49:01Z- handleDVL() - DVL msg epochMillisec: 1730922541.12 2024-11-06T19:49:01Z- handleDvl() - RDI_Pathfinder msg: 1730922541.12 sec; seqNo:134; #beams:4 2024-11-06T19:49:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922541.15 epoch sec; seqNo:621; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:01Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:01Z- waiting for 1730922542.67, time is 1730922541.15 2024-11-06T19:49:01Z- AHRS_M2 msg: 1730922541.46 epoch sec; seqNo:613 2024-11-06T19:49:01Z- AHRS_M2 msg: 0.18 phi; -0.05 theta; 4.37 psi 2024-11-06T19:49:01Z- handleDepth()- Depth_Keller msg: 1730922541.47 epoch sec; seqNo:622; depth -0.08 2024-11-06T19:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922541.50 epoch sec; seqNo:622; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:01Z- waiting for 1730922542.67, time is 1730922541.50 2024-11-06T19:49:01Z- AHRS_M2 msg: 1730922541.86 epoch sec; seqNo:614 2024-11-06T19:49:01Z- AHRS_M2 msg: 0.22 phi; -0.06 theta; 4.35 psi 2024-11-06T19:49:01Z- handleDepth()- Depth_Keller msg: 1730922541.87 epoch sec; seqNo:623; depth -0.07 2024-11-06T19:49:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922541.89 epoch sec; seqNo:623; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:02Z- waiting for 1730922542.67, time is 1730922541.89 2024-11-06T19:49:02Z- AHRS_M2 msg: 1730922542.27 epoch sec; seqNo:615 2024-11-06T19:49:02Z- AHRS_M2 msg: 0.22 phi; -0.10 theta; 4.36 psi 2024-11-06T19:49:02Z- handleDepth()- Depth_Keller msg: 1730922542.27 epoch sec; seqNo:624; depth -0.08 2024-11-06T19:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922542.29 epoch sec; seqNo:624; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:02Z- waiting for 1730922542.67, time is 1730922542.29 2024-11-06T19:49:02Z- AHRS_M2 msg: 1730922542.67 epoch sec; seqNo:616 2024-11-06T19:49:02Z- AHRS_M2 msg: 0.21 phi; -0.08 theta; 4.38 psi 2024-11-06T19:49:02Z- handleDepth()- Depth_Keller msg: 1730922542.69 epoch sec; seqNo:625; depth -0.10 2024-11-06T19:49:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922542.71 epoch sec; seqNo:625; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922538.67 2024-11-06T19:49:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:02Z- waiting for 1730922542.67, time is 1730922542.71 2024-11-06T19:49:02Z- LcmTrn::updateTrn() >>>> pose time 1730922542.71, meas time 1730922541.12 <<<< 2024-11-06T19:49:02Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922542.71 2024-11-06T19:49:02Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:02Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.10) 2024-11-06T19:49:02Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:02Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:02Z- publishEstimatesDecoder() - at 1730922542.71 sec 2024-11-06T19:49:02Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:02Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:02Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:02Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:03Z- AHRS_M2 msg: 1730922543.07 epoch sec; seqNo:617 2024-11-06T19:49:03Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 4.41 psi 2024-11-06T19:49:03Z- handleDepth()- Depth_Keller msg: 1730922543.09 epoch sec; seqNo:626; depth -0.11 2024-11-06T19:49:03Z- handleDVL() - DVL msg epochMillisec: 1730922543.13 2024-11-06T19:49:03Z- handleDvl() - RDI_Pathfinder msg: 1730922543.13 sec; seqNo:135; #beams:4 2024-11-06T19:49:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922543.17 epoch sec; seqNo:626; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:03Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:03Z- waiting for 1730922546.71, time is 1730922543.17 2024-11-06T19:49:03Z- AHRS_M2 msg: 1730922543.48 epoch sec; seqNo:618 2024-11-06T19:49:03Z- AHRS_M2 msg: 0.31 phi; -0.03 theta; 4.41 psi 2024-11-06T19:49:03Z- handleDepth()- Depth_Keller msg: 1730922543.48 epoch sec; seqNo:627; depth -0.10 2024-11-06T19:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922543.51 epoch sec; seqNo:627; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:03Z- waiting for 1730922546.71, time is 1730922543.51 2024-11-06T19:49:03Z- handleDepth()- Depth_Keller msg: 1730922543.90 epoch sec; seqNo:628; depth -0.08 2024-11-06T19:49:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922543.92 epoch sec; seqNo:628; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:04Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:49:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:04Z- waiting for 1730922546.71, time is 1730922543.92 2024-11-06T19:49:04Z- AHRS_M2 msg: 1730922544.29 epoch sec; seqNo:619 2024-11-06T19:49:04Z- AHRS_M2 msg: 0.27 phi; -0.04 theta; 4.44 psi 2024-11-06T19:49:04Z- handleDepth()- Depth_Keller msg: 1730922544.29 epoch sec; seqNo:629; depth -0.08 2024-11-06T19:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922544.32 epoch sec; seqNo:629; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:04Z- waiting for 1730922546.71, time is 1730922544.32 2024-11-06T19:49:04Z- AHRS_M2 msg: 1730922544.69 epoch sec; seqNo:620 2024-11-06T19:49:04Z- AHRS_M2 msg: 0.19 phi; -0.00 theta; 4.43 psi 2024-11-06T19:49:04Z- handleDepth()- Depth_Keller msg: 1730922544.70 epoch sec; seqNo:630; depth -0.09 2024-11-06T19:49:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922544.73 epoch sec; seqNo:630; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:04Z- waiting for 1730922546.71, time is 1730922544.73 2024-11-06T19:49:05Z- AHRS_M2 msg: 1730922545.09 epoch sec; seqNo:621 2024-11-06T19:49:05Z- AHRS_M2 msg: 0.14 phi; -0.02 theta; 4.43 psi 2024-11-06T19:49:05Z- handleDepth()- Depth_Keller msg: 1730922545.11 epoch sec; seqNo:631; depth -0.09 2024-11-06T19:49:05Z- handleDVL() - DVL msg epochMillisec: 1730922545.15 2024-11-06T19:49:05Z- handleDvl() - RDI_Pathfinder msg: 1730922545.15 sec; seqNo:136; #beams:4 2024-11-06T19:49:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922545.18 epoch sec; seqNo:631; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:05Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:05Z- waiting for 1730922546.71, time is 1730922545.18 2024-11-06T19:49:05Z- AHRS_M2 msg: 1730922545.50 epoch sec; seqNo:622 2024-11-06T19:49:05Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 4.45 psi 2024-11-06T19:49:05Z- handleDepth()- Depth_Keller msg: 1730922545.51 epoch sec; seqNo:632; depth -0.09 2024-11-06T19:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922545.55 epoch sec; seqNo:632; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:05Z- waiting for 1730922546.71, time is 1730922545.55 2024-11-06T19:49:05Z- AHRS_M2 msg: 1730922545.90 epoch sec; seqNo:623 2024-11-06T19:49:05Z- AHRS_M2 msg: 0.19 phi; 0.02 theta; 4.51 psi 2024-11-06T19:49:05Z- handleDepth()- Depth_Keller msg: 1730922545.91 epoch sec; seqNo:633; depth -0.07 2024-11-06T19:49:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922545.91 epoch sec; seqNo:633; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:06Z- waiting for 1730922546.71, time is 1730922545.91 2024-11-06T19:49:06Z- AHRS_M2 msg: 1730922546.31 epoch sec; seqNo:624 2024-11-06T19:49:06Z- AHRS_M2 msg: 0.31 phi; 0.07 theta; 4.51 psi 2024-11-06T19:49:06Z- handleDepth()- Depth_Keller msg: 1730922546.32 epoch sec; seqNo:634; depth -0.06 2024-11-06T19:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922546.33 epoch sec; seqNo:634; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:06Z- waiting for 1730922546.71, time is 1730922546.33 2024-11-06T19:49:06Z- AHRS_M2 msg: 1730922546.71 epoch sec; seqNo:625 2024-11-06T19:49:06Z- AHRS_M2 msg: 0.33 phi; 0.00 theta; 4.46 psi 2024-11-06T19:49:06Z- handleDepth()- Depth_Keller msg: 1730922546.72 epoch sec; seqNo:635; depth -0.04 2024-11-06T19:49:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922546.73 epoch sec; seqNo:635; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:49:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922542.71 2024-11-06T19:49:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:06Z- waiting for 1730922546.71, time is 1730922546.73 2024-11-06T19:49:06Z- LcmTrn::updateTrn() >>>> pose time 1730922546.73, meas time 1730922545.15 <<<< 2024-11-06T19:49:06Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922546.73 2024-11-06T19:49:06Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:06Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.04) 2024-11-06T19:49:06Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:06Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:06Z- publishEstimatesDecoder() - at 1730922546.73 sec 2024-11-06T19:49:06Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:06Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:06Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:06Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:07Z- AHRS_M2 msg: 1730922547.11 epoch sec; seqNo:626 2024-11-06T19:49:07Z- AHRS_M2 msg: 0.19 phi; -0.08 theta; 4.47 psi 2024-11-06T19:49:07Z- handleDepth()- Depth_Keller msg: 1730922547.12 epoch sec; seqNo:636; depth -0.05 2024-11-06T19:49:07Z- handleDVL() - DVL msg epochMillisec: 1730922547.15 2024-11-06T19:49:07Z- handleDvl() - RDI_Pathfinder msg: 1730922547.15 sec; seqNo:137; #beams:4 2024-11-06T19:49:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922547.16 epoch sec; seqNo:636; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:49:07Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:07Z- waiting for 1730922550.73, time is 1730922547.16 2024-11-06T19:49:07Z- AHRS_M2 msg: 1730922547.52 epoch sec; seqNo:627 2024-11-06T19:49:07Z- AHRS_M2 msg: 0.03 phi; -0.04 theta; 4.45 psi 2024-11-06T19:49:07Z- handleDepth()- Depth_Keller msg: 1730922547.52 epoch sec; seqNo:637; depth -0.09 2024-11-06T19:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922547.54 epoch sec; seqNo:637; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:07Z- waiting for 1730922550.73, time is 1730922547.54 2024-11-06T19:49:07Z- AHRS_M2 msg: 1730922547.92 epoch sec; seqNo:628 2024-11-06T19:49:07Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 4.42 psi 2024-11-06T19:49:07Z- handleDepth()- Depth_Keller msg: 1730922547.93 epoch sec; seqNo:638; depth -0.13 2024-11-06T19:49:07Z- handleDVL() - DVL msg epochMillisec: 1730922547.94 2024-11-06T19:49:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:49:07Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:49:07Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:49:07Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:49:07Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:49:07Z- handleDvl() - RDI_Pathfinder msg: 1730922547.94 sec; seqNo:138; #beams:0 2024-11-06T19:49:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922547.95 epoch sec; seqNo:638; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:49:08Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:08Z- waiting for 1730922550.73, time is 1730922547.95 2024-11-06T19:49:08Z- AHRS_M2 msg: 1730922548.33 epoch sec; seqNo:629 2024-11-06T19:49:08Z- AHRS_M2 msg: 0.11 phi; -0.09 theta; 4.49 psi 2024-11-06T19:49:08Z- handleDepth()- Depth_Keller msg: 1730922548.37 epoch sec; seqNo:639; depth -0.14 2024-11-06T19:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922548.39 epoch sec; seqNo:639; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:49:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:08Z- waiting for 1730922550.73, time is 1730922548.39 2024-11-06T19:49:08Z- AHRS_M2 msg: 1730922548.73 epoch sec; seqNo:630 2024-11-06T19:49:08Z- AHRS_M2 msg: 0.31 phi; -0.06 theta; 4.56 psi 2024-11-06T19:49:08Z- handleDepth()- Depth_Keller msg: 1730922548.75 epoch sec; seqNo:640; depth -0.12 2024-11-06T19:49:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922548.78 epoch sec; seqNo:640; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:49:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:08Z- waiting for 1730922550.73, time is 1730922548.78 2024-11-06T19:49:09Z- AHRS_M2 msg: 1730922549.13 epoch sec; seqNo:631 2024-11-06T19:49:09Z- AHRS_M2 msg: 0.44 phi; -0.00 theta; 4.55 psi 2024-11-06T19:49:09Z- handleDepth()- Depth_Keller msg: 1730922549.14 epoch sec; seqNo:641; depth -0.08 2024-11-06T19:49:09Z- handleDVL() - DVL msg epochMillisec: 1730922549.16 2024-11-06T19:49:09Z- handleDvl() - RDI_Pathfinder msg: 1730922549.16 sec; seqNo:139; #beams:4 2024-11-06T19:49:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922549.19 epoch sec; seqNo:641; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:09Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:09Z- waiting for 1730922550.73, time is 1730922549.19 2024-11-06T19:49:09Z- AHRS_M2 msg: 1730922549.54 epoch sec; seqNo:632 2024-11-06T19:49:09Z- AHRS_M2 msg: 0.40 phi; 0.01 theta; 4.56 psi 2024-11-06T19:49:09Z- handleDepth()- Depth_Keller msg: 1730922549.55 epoch sec; seqNo:642; depth -0.06 2024-11-06T19:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922549.57 epoch sec; seqNo:642; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:09Z- waiting for 1730922550.73, time is 1730922549.57 2024-11-06T19:49:09Z- AHRS_M2 msg: 1730922549.94 epoch sec; seqNo:633 2024-11-06T19:49:09Z- AHRS_M2 msg: 0.25 phi; 0.01 theta; 4.58 psi 2024-11-06T19:49:09Z- handleDepth()- Depth_Keller msg: 1730922549.96 epoch sec; seqNo:643; depth -0.06 2024-11-06T19:49:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922549.97 epoch sec; seqNo:643; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:10Z- waiting for 1730922550.73, time is 1730922549.97 2024-11-06T19:49:10Z- AHRS_M2 msg: 1730922550.35 epoch sec; seqNo:634 2024-11-06T19:49:10Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 4.60 psi 2024-11-06T19:49:10Z- handleDepth()- Depth_Keller msg: 1730922550.36 epoch sec; seqNo:644; depth -0.06 2024-11-06T19:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922550.37 epoch sec; seqNo:644; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:10Z- waiting for 1730922550.73, time is 1730922550.37 2024-11-06T19:49:10Z- AHRS_M2 msg: 1730922550.76 epoch sec; seqNo:635 2024-11-06T19:49:10Z- AHRS_M2 msg: 0.16 phi; -0.02 theta; 4.61 psi 2024-11-06T19:49:10Z- handleDepth()- Depth_Keller msg: 1730922550.76 epoch sec; seqNo:645; depth -0.04 2024-11-06T19:49:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922550.84 epoch sec; seqNo:645; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:49:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922546.73 2024-11-06T19:49:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:10Z- waiting for 1730922550.73, time is 1730922550.84 2024-11-06T19:49:10Z- LcmTrn::updateTrn() >>>> pose time 1730922550.84, meas time 1730922549.16 <<<< 2024-11-06T19:49:10Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922550.84 2024-11-06T19:49:10Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:10Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.04) 2024-11-06T19:49:10Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:10Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:10Z- publishEstimatesDecoder() - at 1730922550.84 sec 2024-11-06T19:49:10Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:10Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:10Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:10Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:11Z- AHRS_M2 msg: 1730922551.15 epoch sec; seqNo:636 2024-11-06T19:49:11Z- AHRS_M2 msg: 0.20 phi; 0.04 theta; 4.63 psi 2024-11-06T19:49:11Z- handleDepth()- Depth_Keller msg: 1730922551.17 epoch sec; seqNo:646; depth -0.04 2024-11-06T19:49:11Z- handleDVL() - DVL msg epochMillisec: 1730922551.20 2024-11-06T19:49:11Z- handleDvl() - RDI_Pathfinder msg: 1730922551.20 sec; seqNo:140; #beams:4 2024-11-06T19:49:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922551.25 epoch sec; seqNo:646; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:49:11Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:11Z- waiting for 1730922554.84, time is 1730922551.25 2024-11-06T19:49:11Z- AHRS_M2 msg: 1730922551.56 epoch sec; seqNo:637 2024-11-06T19:49:11Z- AHRS_M2 msg: 0.23 phi; 0.07 theta; 4.64 psi 2024-11-06T19:49:11Z- handleDepth()- Depth_Keller msg: 1730922551.57 epoch sec; seqNo:647; depth -0.04 2024-11-06T19:49:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922551.59 epoch sec; seqNo:647; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:49:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:11Z- waiting for 1730922554.84, time is 1730922551.59 2024-11-06T19:49:11Z- AHRS_M2 msg: 1730922551.96 epoch sec; seqNo:638 2024-11-06T19:49:11Z- AHRS_M2 msg: 0.22 phi; 0.03 theta; 4.61 psi 2024-11-06T19:49:11Z- handleDepth()- Depth_Keller msg: 1730922551.97 epoch sec; seqNo:648; depth -0.05 2024-11-06T19:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922552.00 epoch sec; seqNo:648; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:49:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:12Z- waiting for 1730922554.84, time is 1730922552.00 2024-11-06T19:49:12Z- AHRS_M2 msg: 1730922552.37 epoch sec; seqNo:639 2024-11-06T19:49:12Z- AHRS_M2 msg: 0.16 phi; 0.00 theta; 4.60 psi 2024-11-06T19:49:12Z- handleDepth()- Depth_Keller msg: 1730922552.37 epoch sec; seqNo:649; depth -0.11 2024-11-06T19:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922552.39 epoch sec; seqNo:649; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:12Z- waiting for 1730922554.84, time is 1730922552.39 2024-11-06T19:49:12Z- AHRS_M2 msg: 1730922552.79 epoch sec; seqNo:640 2024-11-06T19:49:12Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 4.58 psi 2024-11-06T19:49:12Z- handleDepth()- Depth_Keller msg: 1730922552.82 epoch sec; seqNo:650; depth -0.11 2024-11-06T19:49:12Z- handleDVL() - DVL msg epochMillisec: 1730922552.88 2024-11-06T19:49:12Z- handleDvl() - RDI_Pathfinder msg: 1730922552.88 sec; seqNo:141; #beams:4 2024-11-06T19:49:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:12Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922552.91 epoch sec; seqNo:650; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:12Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:12Z- waiting for 1730922554.84, time is 1730922552.91 2024-11-06T19:49:13Z- AHRS_M2 msg: 1730922553.17 epoch sec; seqNo:641 2024-11-06T19:49:13Z- AHRS_M2 msg: 0.13 phi; -0.09 theta; 4.62 psi 2024-11-06T19:49:13Z- handleDepth()- Depth_Keller msg: 1730922553.18 epoch sec; seqNo:651; depth -0.14 2024-11-06T19:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922553.21 epoch sec; seqNo:651; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:49:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:13Z- waiting for 1730922554.84, time is 1730922553.21 2024-11-06T19:49:13Z- AHRS_M2 msg: 1730922553.58 epoch sec; seqNo:642 2024-11-06T19:49:13Z- AHRS_M2 msg: 0.23 phi; -0.05 theta; 4.66 psi 2024-11-06T19:49:13Z- handleDepth()- Depth_Keller msg: 1730922553.59 epoch sec; seqNo:652; depth -0.15 2024-11-06T19:49:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922553.62 epoch sec; seqNo:652; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.15 depth; utmZone: 10 2024-11-06T19:49:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:13Z- waiting for 1730922554.84, time is 1730922553.62 2024-11-06T19:49:13Z- AHRS_M2 msg: 1730922553.98 epoch sec; seqNo:643 2024-11-06T19:49:13Z- AHRS_M2 msg: 0.36 phi; -0.01 theta; 4.65 psi 2024-11-06T19:49:14Z- handleDepth()- Depth_Keller msg: 1730922554.00 epoch sec; seqNo:653; depth -0.07 2024-11-06T19:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922554.03 epoch sec; seqNo:653; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:14Z- waiting for 1730922554.84, time is 1730922554.03 2024-11-06T19:49:14Z- AHRS_M2 msg: 1730922554.39 epoch sec; seqNo:644 2024-11-06T19:49:14Z- AHRS_M2 msg: 0.36 phi; 0.01 theta; 4.66 psi 2024-11-06T19:49:14Z- handleDepth()- Depth_Keller msg: 1730922554.39 epoch sec; seqNo:654; depth -0.05 2024-11-06T19:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922554.41 epoch sec; seqNo:654; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:49:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:14Z- waiting for 1730922554.84, time is 1730922554.41 2024-11-06T19:49:14Z- AHRS_M2 msg: 1730922554.86 epoch sec; seqNo:645 2024-11-06T19:49:14Z- AHRS_M2 msg: 0.21 phi; -0.01 theta; 4.68 psi 2024-11-06T19:49:14Z- handleDepth()- Depth_Keller msg: 1730922554.86 epoch sec; seqNo:655; depth -0.07 2024-11-06T19:49:14Z- handleDVL() - DVL msg epochMillisec: 1730922554.89 2024-11-06T19:49:14Z- handleDvl() - RDI_Pathfinder msg: 1730922554.89 sec; seqNo:142; #beams:4 2024-11-06T19:49:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:14Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922554.91 epoch sec; seqNo:655; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:15Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922550.84 2024-11-06T19:49:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:15Z- waiting for 1730922554.84, time is 1730922554.91 2024-11-06T19:49:15Z- LcmTrn::updateTrn() >>>> pose time 1730922554.91, meas time 1730922554.89 <<<< 2024-11-06T19:49:15Z- LcmTrn::updateTrn() equating pose 1730922554.89 and meas times 1730922554.89 2024-11-06T19:49:15Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922554.89 2024-11-06T19:49:15Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.07) 2024-11-06T19:49:15Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:15Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:15Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:15Z- publishEstimatesDecoder() - at 1730922554.89 sec 2024-11-06T19:49:15Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:15Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:15Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:15Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:15Z- AHRS_M2 msg: 1730922555.19 epoch sec; seqNo:646 2024-11-06T19:49:15Z- AHRS_M2 msg: 0.09 phi; 0.02 theta; 4.68 psi 2024-11-06T19:49:15Z- handleDepth()- Depth_Keller msg: 1730922555.20 epoch sec; seqNo:656; depth -0.07 2024-11-06T19:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922555.22 epoch sec; seqNo:656; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:15Z- waiting for 1730922558.89, time is 1730922555.22 2024-11-06T19:49:15Z- AHRS_M2 msg: 1730922555.60 epoch sec; seqNo:647 2024-11-06T19:49:15Z- AHRS_M2 msg: 0.13 phi; 0.06 theta; 4.68 psi 2024-11-06T19:49:15Z- handleDepth()- Depth_Keller msg: 1730922555.60 epoch sec; seqNo:657; depth -0.04 2024-11-06T19:49:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922555.61 epoch sec; seqNo:657; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:49:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:15Z- waiting for 1730922558.89, time is 1730922555.61 2024-11-06T19:49:16Z- AHRS_M2 msg: 1730922556.00 epoch sec; seqNo:648 2024-11-06T19:49:16Z- AHRS_M2 msg: 0.22 phi; 0.08 theta; 4.71 psi 2024-11-06T19:49:16Z- handleDepth()- Depth_Keller msg: 1730922556.01 epoch sec; seqNo:658; depth -0.07 2024-11-06T19:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922556.03 epoch sec; seqNo:658; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:16Z- waiting for 1730922558.89, time is 1730922556.03 2024-11-06T19:49:16Z- AHRS_M2 msg: 1730922556.41 epoch sec; seqNo:649 2024-11-06T19:49:16Z- AHRS_M2 msg: 0.28 phi; 0.04 theta; 4.68 psi 2024-11-06T19:49:16Z- handleDepth()- Depth_Keller msg: 1730922556.42 epoch sec; seqNo:659; depth -0.07 2024-11-06T19:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922556.43 epoch sec; seqNo:659; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:16Z- waiting for 1730922558.89, time is 1730922556.43 2024-11-06T19:49:16Z- AHRS_M2 msg: 1730922556.86 epoch sec; seqNo:650 2024-11-06T19:49:16Z- AHRS_M2 msg: 0.21 phi; -0.05 theta; 4.68 psi 2024-11-06T19:49:16Z- handleDepth()- Depth_Keller msg: 1730922556.86 epoch sec; seqNo:660; depth -0.09 2024-11-06T19:49:16Z- handleDVL() - DVL msg epochMillisec: 1730922556.89 2024-11-06T19:49:16Z- handleDvl() - RDI_Pathfinder msg: 1730922556.89 sec; seqNo:143; #beams:4 2024-11-06T19:49:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922556.92 epoch sec; seqNo:660; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:17Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:17Z- waiting for 1730922558.89, time is 1730922556.92 2024-11-06T19:49:17Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:49:17Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:49:17Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:49:17Z- AHRS_M2 msg: 1730922557.21 epoch sec; seqNo:651 2024-11-06T19:49:17Z- AHRS_M2 msg: 0.21 phi; -0.05 theta; 4.68 psi 2024-11-06T19:49:17Z- handleDepth()- Depth_Keller msg: 1730922557.25 epoch sec; seqNo:661; depth -0.13 2024-11-06T19:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922557.27 epoch sec; seqNo:661; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:49:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:17Z- waiting for 1730922558.89, time is 1730922557.27 2024-11-06T19:49:17Z- AHRS_M2 msg: 1730922557.62 epoch sec; seqNo:652 2024-11-06T19:49:17Z- AHRS_M2 msg: 0.23 phi; -0.07 theta; 4.67 psi 2024-11-06T19:49:17Z- handleDepth()- Depth_Keller msg: 1730922557.64 epoch sec; seqNo:662; depth -0.11 2024-11-06T19:49:17Z- handleDVL() - DVL msg epochMillisec: 1730922557.64 2024-11-06T19:49:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:49:17Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:49:17Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:49:17Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:49:17Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:49:17Z- handleDvl() - RDI_Pathfinder msg: 1730922557.64 sec; seqNo:144; #beams:0 2024-11-06T19:49:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:17Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922557.65 epoch sec; seqNo:662; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:17Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:17Z- waiting for 1730922558.89, time is 1730922557.65 2024-11-06T19:49:18Z- AHRS_M2 msg: 1730922558.02 epoch sec; seqNo:653 2024-11-06T19:49:18Z- AHRS_M2 msg: 0.26 phi; -0.09 theta; 4.69 psi 2024-11-06T19:49:18Z- handleDepth()- Depth_Keller msg: 1730922558.03 epoch sec; seqNo:663; depth -0.09 2024-11-06T19:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922558.06 epoch sec; seqNo:663; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:18Z- waiting for 1730922558.89, time is 1730922558.06 2024-11-06T19:49:18Z- AHRS_M2 msg: 1730922558.43 epoch sec; seqNo:654 2024-11-06T19:49:18Z- AHRS_M2 msg: 0.24 phi; 0.00 theta; 4.73 psi 2024-11-06T19:49:18Z- handleDepth()- Depth_Keller msg: 1730922558.44 epoch sec; seqNo:664; depth -0.09 2024-11-06T19:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922558.45 epoch sec; seqNo:664; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:18Z- waiting for 1730922558.89, time is 1730922558.45 2024-11-06T19:49:18Z- AHRS_M2 msg: 1730922558.85 epoch sec; seqNo:655 2024-11-06T19:49:18Z- AHRS_M2 msg: 0.23 phi; 0.02 theta; 4.73 psi 2024-11-06T19:49:18Z- handleDepth()- Depth_Keller msg: 1730922558.88 epoch sec; seqNo:665; depth -0.09 2024-11-06T19:49:18Z- handleDVL() - DVL msg epochMillisec: 1730922558.90 2024-11-06T19:49:18Z- handleDvl() - RDI_Pathfinder msg: 1730922558.90 sec; seqNo:145; #beams:4 2024-11-06T19:49:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922558.92 epoch sec; seqNo:665; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:19Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922554.89 2024-11-06T19:49:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:19Z- waiting for 1730922558.89, time is 1730922558.92 2024-11-06T19:49:19Z- LcmTrn::updateTrn() >>>> pose time 1730922558.92, meas time 1730922558.90 <<<< 2024-11-06T19:49:19Z- LcmTrn::updateTrn() equating pose 1730922558.90 and meas times 1730922558.90 2024-11-06T19:49:19Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922558.90 2024-11-06T19:49:19Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.09) 2024-11-06T19:49:19Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:19Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:19Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:19Z- publishEstimatesDecoder() - at 1730922558.90 sec 2024-11-06T19:49:19Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:19Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:19Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:19Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:19Z- AHRS_M2 msg: 1730922559.24 epoch sec; seqNo:656 2024-11-06T19:49:19Z- AHRS_M2 msg: 0.20 phi; 0.03 theta; 4.71 psi 2024-11-06T19:49:19Z- handleDepth()- Depth_Keller msg: 1730922559.24 epoch sec; seqNo:666; depth -0.07 2024-11-06T19:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922559.26 epoch sec; seqNo:666; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:19Z- waiting for 1730922562.90, time is 1730922559.26 2024-11-06T19:49:19Z- AHRS_M2 msg: 1730922559.64 epoch sec; seqNo:657 2024-11-06T19:49:19Z- AHRS_M2 msg: 0.14 phi; 0.03 theta; 4.69 psi 2024-11-06T19:49:19Z- handleDepth()- Depth_Keller msg: 1730922559.64 epoch sec; seqNo:667; depth -0.06 2024-11-06T19:49:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922559.65 epoch sec; seqNo:667; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:19Z- waiting for 1730922562.90, time is 1730922559.65 2024-11-06T19:49:20Z- AHRS_M2 msg: 1730922560.04 epoch sec; seqNo:658 2024-11-06T19:49:20Z- AHRS_M2 msg: 0.14 phi; 0.02 theta; 4.68 psi 2024-11-06T19:49:20Z- handleDepth()- Depth_Keller msg: 1730922560.06 epoch sec; seqNo:668; depth -0.08 2024-11-06T19:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922560.07 epoch sec; seqNo:668; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:20Z- waiting for 1730922562.90, time is 1730922560.07 2024-11-06T19:49:20Z- AHRS_M2 msg: 1730922560.45 epoch sec; seqNo:659 2024-11-06T19:49:20Z- AHRS_M2 msg: 0.17 phi; -0.01 theta; 4.69 psi 2024-11-06T19:49:20Z- handleDepth()- Depth_Keller msg: 1730922560.45 epoch sec; seqNo:669; depth -0.08 2024-11-06T19:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922560.48 epoch sec; seqNo:669; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:20Z- waiting for 1730922562.90, time is 1730922560.48 2024-11-06T19:49:20Z- AHRS_M2 msg: 1730922560.85 epoch sec; seqNo:660 2024-11-06T19:49:20Z- AHRS_M2 msg: 0.22 phi; -0.05 theta; 4.71 psi 2024-11-06T19:49:20Z- handleDepth()- Depth_Keller msg: 1730922560.86 epoch sec; seqNo:670; depth -0.10 2024-11-06T19:49:20Z- handleDVL() - DVL msg epochMillisec: 1730922560.90 2024-11-06T19:49:20Z- handleDvl() - RDI_Pathfinder msg: 1730922560.90 sec; seqNo:146; #beams:4 2024-11-06T19:49:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:20Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922560.92 epoch sec; seqNo:670; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:21Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:21Z- waiting for 1730922562.90, time is 1730922560.92 2024-11-06T19:49:21Z- AHRS_M2 msg: 1730922561.26 epoch sec; seqNo:661 2024-11-06T19:49:21Z- AHRS_M2 msg: 0.30 phi; -0.04 theta; 4.72 psi 2024-11-06T19:49:21Z- handleDepth()- Depth_Keller msg: 1730922561.26 epoch sec; seqNo:671; depth -0.08 2024-11-06T19:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922561.28 epoch sec; seqNo:671; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:21Z- waiting for 1730922562.90, time is 1730922561.28 2024-11-06T19:49:21Z- AHRS_M2 msg: 1730922561.66 epoch sec; seqNo:662 2024-11-06T19:49:21Z- AHRS_M2 msg: 0.28 phi; 0.03 theta; 4.73 psi 2024-11-06T19:49:21Z- handleDepth()- Depth_Keller msg: 1730922561.66 epoch sec; seqNo:672; depth -0.08 2024-11-06T19:49:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922561.69 epoch sec; seqNo:672; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:21Z- waiting for 1730922562.90, time is 1730922561.69 2024-11-06T19:49:22Z- AHRS_M2 msg: 1730922562.06 epoch sec; seqNo:663 2024-11-06T19:49:22Z- AHRS_M2 msg: 0.20 phi; 0.07 theta; 4.68 psi 2024-11-06T19:49:22Z- handleDepth()- Depth_Keller msg: 1730922562.07 epoch sec; seqNo:673; depth -0.09 2024-11-06T19:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922562.10 epoch sec; seqNo:673; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:22Z- waiting for 1730922562.90, time is 1730922562.10 2024-11-06T19:49:22Z- AHRS_M2 msg: 1730922562.46 epoch sec; seqNo:664 2024-11-06T19:49:22Z- AHRS_M2 msg: 0.13 phi; -0.01 theta; 4.67 psi 2024-11-06T19:49:22Z- handleDepth()- Depth_Keller msg: 1730922562.48 epoch sec; seqNo:674; depth -0.08 2024-11-06T19:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922562.49 epoch sec; seqNo:674; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:22Z- waiting for 1730922562.90, time is 1730922562.49 2024-11-06T19:49:22Z- AHRS_M2 msg: 1730922562.87 epoch sec; seqNo:665 2024-11-06T19:49:22Z- AHRS_M2 msg: 0.12 phi; -0.10 theta; 4.73 psi 2024-11-06T19:49:22Z- handleDepth()- Depth_Keller msg: 1730922562.88 epoch sec; seqNo:675; depth -0.09 2024-11-06T19:49:22Z- handleDVL() - DVL msg epochMillisec: 1730922562.92 2024-11-06T19:49:22Z- handleDvl() - RDI_Pathfinder msg: 1730922562.92 sec; seqNo:147; #beams:4 2024-11-06T19:49:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:22Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922562.95 epoch sec; seqNo:675; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:23Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922558.90 2024-11-06T19:49:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:23Z- waiting for 1730922562.90, time is 1730922562.95 2024-11-06T19:49:23Z- LcmTrn::updateTrn() >>>> pose time 1730922562.95, meas time 1730922562.92 <<<< 2024-11-06T19:49:23Z- LcmTrn::updateTrn() equating pose 1730922562.92 and meas times 1730922562.92 2024-11-06T19:49:23Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922562.92 2024-11-06T19:49:23Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.09) 2024-11-06T19:49:23Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:23Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:23Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:23Z- publishEstimatesDecoder() - at 1730922562.92 sec 2024-11-06T19:49:23Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:23Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:23Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:23Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:23Z- AHRS_M2 msg: 1730922563.28 epoch sec; seqNo:666 2024-11-06T19:49:23Z- AHRS_M2 msg: 0.16 phi; -0.06 theta; 4.77 psi 2024-11-06T19:49:23Z- handleDepth()- Depth_Keller msg: 1730922563.29 epoch sec; seqNo:676; depth -0.10 2024-11-06T19:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922563.31 epoch sec; seqNo:676; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:23Z- waiting for 1730922566.92, time is 1730922563.31 2024-11-06T19:49:23Z- AHRS_M2 msg: 1730922563.68 epoch sec; seqNo:667 2024-11-06T19:49:23Z- AHRS_M2 msg: 0.20 phi; -0.05 theta; 4.74 psi 2024-11-06T19:49:23Z- handleDepth()- Depth_Keller msg: 1730922563.68 epoch sec; seqNo:677; depth -0.10 2024-11-06T19:49:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922563.71 epoch sec; seqNo:677; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:23Z- waiting for 1730922566.92, time is 1730922563.71 2024-11-06T19:49:24Z- AHRS_M2 msg: 1730922564.08 epoch sec; seqNo:668 2024-11-06T19:49:24Z- AHRS_M2 msg: 0.27 phi; -0.06 theta; 4.74 psi 2024-11-06T19:49:24Z- handleDepth()- Depth_Keller msg: 1730922564.09 epoch sec; seqNo:678; depth -0.07 2024-11-06T19:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922564.13 epoch sec; seqNo:678; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:24Z- waiting for 1730922566.92, time is 1730922564.13 2024-11-06T19:49:24Z- AHRS_M2 msg: 1730922564.49 epoch sec; seqNo:669 2024-11-06T19:49:24Z- AHRS_M2 msg: 0.29 phi; -0.04 theta; 4.76 psi 2024-11-06T19:49:24Z- handleDepth()- Depth_Keller msg: 1730922564.50 epoch sec; seqNo:679; depth -0.09 2024-11-06T19:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922564.51 epoch sec; seqNo:679; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:24Z- waiting for 1730922566.92, time is 1730922564.51 2024-11-06T19:49:24Z- AHRS_M2 msg: 1730922564.89 epoch sec; seqNo:670 2024-11-06T19:49:24Z- AHRS_M2 msg: 0.28 phi; -0.05 theta; 4.77 psi 2024-11-06T19:49:24Z- handleDepth()- Depth_Keller msg: 1730922564.90 epoch sec; seqNo:680; depth -0.10 2024-11-06T19:49:24Z- handleDVL() - DVL msg epochMillisec: 1730922564.94 2024-11-06T19:49:24Z- handleDvl() - RDI_Pathfinder msg: 1730922564.94 sec; seqNo:148; #beams:4 2024-11-06T19:49:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:24Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922564.95 epoch sec; seqNo:680; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:25Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:25Z- waiting for 1730922566.92, time is 1730922564.95 2024-11-06T19:49:25Z- AHRS_M2 msg: 1730922565.29 epoch sec; seqNo:671 2024-11-06T19:49:25Z- AHRS_M2 msg: 0.30 phi; -0.06 theta; 4.78 psi 2024-11-06T19:49:25Z- handleDepth()- Depth_Keller msg: 1730922565.30 epoch sec; seqNo:681; depth -0.07 2024-11-06T19:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922565.31 epoch sec; seqNo:681; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:25Z- waiting for 1730922566.92, time is 1730922565.31 2024-11-06T19:49:25Z- AHRS_M2 msg: 1730922565.70 epoch sec; seqNo:672 2024-11-06T19:49:25Z- AHRS_M2 msg: 0.28 phi; 0.06 theta; 4.79 psi 2024-11-06T19:49:25Z- handleDepth()- Depth_Keller msg: 1730922565.70 epoch sec; seqNo:682; depth -0.05 2024-11-06T19:49:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922565.71 epoch sec; seqNo:682; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:49:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:25Z- waiting for 1730922566.92, time is 1730922565.71 2024-11-06T19:49:26Z- AHRS_M2 msg: 1730922566.10 epoch sec; seqNo:673 2024-11-06T19:49:26Z- AHRS_M2 msg: 0.18 phi; 0.15 theta; 4.74 psi 2024-11-06T19:49:26Z- handleDepth()- Depth_Keller msg: 1730922566.11 epoch sec; seqNo:683; depth -0.04 2024-11-06T19:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922566.12 epoch sec; seqNo:683; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:49:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:26Z- waiting for 1730922566.92, time is 1730922566.12 2024-11-06T19:49:26Z- AHRS_M2 msg: 1730922566.51 epoch sec; seqNo:674 2024-11-06T19:49:26Z- AHRS_M2 msg: 0.08 phi; 0.08 theta; 4.71 psi 2024-11-06T19:49:26Z- handleDepth()- Depth_Keller msg: 1730922566.52 epoch sec; seqNo:684; depth -0.08 2024-11-06T19:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922566.53 epoch sec; seqNo:684; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:26Z- waiting for 1730922566.92, time is 1730922566.53 2024-11-06T19:49:26Z- AHRS_M2 msg: 1730922566.91 epoch sec; seqNo:675 2024-11-06T19:49:26Z- AHRS_M2 msg: 0.09 phi; -0.07 theta; 4.73 psi 2024-11-06T19:49:26Z- handleDepth()- Depth_Keller msg: 1730922566.92 epoch sec; seqNo:685; depth -0.09 2024-11-06T19:49:26Z- handleDVL() - DVL msg epochMillisec: 1730922566.95 2024-11-06T19:49:26Z- handleDvl() - RDI_Pathfinder msg: 1730922566.95 sec; seqNo:149; #beams:4 2024-11-06T19:49:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:26Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922566.97 epoch sec; seqNo:685; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:27Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922562.92 2024-11-06T19:49:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:27Z- waiting for 1730922566.92, time is 1730922566.97 2024-11-06T19:49:27Z- LcmTrn::updateTrn() >>>> pose time 1730922566.97, meas time 1730922566.95 <<<< 2024-11-06T19:49:27Z- LcmTrn::updateTrn() equating pose 1730922566.95 and meas times 1730922566.95 2024-11-06T19:49:27Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922566.95 2024-11-06T19:49:27Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.09) 2024-11-06T19:49:27Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:27Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:27Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:27Z- publishEstimatesDecoder() - at 1730922566.95 sec 2024-11-06T19:49:27Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:27Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:27Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:27Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:27Z- AHRS_M2 msg: 1730922567.31 epoch sec; seqNo:676 2024-11-06T19:49:27Z- AHRS_M2 msg: 0.13 phi; -0.11 theta; 4.78 psi 2024-11-06T19:49:27Z- handleDepth()- Depth_Keller msg: 1730922567.33 epoch sec; seqNo:686; depth -0.09 2024-11-06T19:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922567.34 epoch sec; seqNo:686; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:27Z- waiting for 1730922570.95, time is 1730922567.34 2024-11-06T19:49:27Z- AHRS_M2 msg: 1730922567.72 epoch sec; seqNo:677 2024-11-06T19:49:27Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 4.78 psi 2024-11-06T19:49:27Z- handleDepth()- Depth_Keller msg: 1730922567.73 epoch sec; seqNo:687; depth -0.10 2024-11-06T19:49:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922567.74 epoch sec; seqNo:687; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:27Z- waiting for 1730922570.95, time is 1730922567.74 2024-11-06T19:49:28Z- AHRS_M2 msg: 1730922568.12 epoch sec; seqNo:678 2024-11-06T19:49:28Z- AHRS_M2 msg: 0.30 phi; -0.03 theta; 4.79 psi 2024-11-06T19:49:28Z- handleDepth()- Depth_Keller msg: 1730922568.13 epoch sec; seqNo:688; depth -0.09 2024-11-06T19:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922568.13 epoch sec; seqNo:688; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:28Z- waiting for 1730922570.95, time is 1730922568.13 2024-11-06T19:49:28Z- AHRS_M2 msg: 1730922568.53 epoch sec; seqNo:679 2024-11-06T19:49:28Z- AHRS_M2 msg: 0.33 phi; -0.00 theta; 4.84 psi 2024-11-06T19:49:28Z- handleDepth()- Depth_Keller msg: 1730922568.53 epoch sec; seqNo:689; depth -0.09 2024-11-06T19:49:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922568.54 epoch sec; seqNo:689; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:28Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:28Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:28Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:28Z- waiting for 1730922570.95, time is 1730922568.54 2024-11-06T19:49:28Z- AHRS_M2 msg: 1730922568.94 epoch sec; seqNo:680 2024-11-06T19:49:28Z- AHRS_M2 msg: 0.26 phi; 0.00 theta; 4.82 psi 2024-11-06T19:49:28Z- handleDepth()- Depth_Keller msg: 1730922568.95 epoch sec; seqNo:690; depth -0.09 2024-11-06T19:49:29Z- handleDVL() - DVL msg epochMillisec: 1730922568.97 2024-11-06T19:49:29Z- handleDvl() - RDI_Pathfinder msg: 1730922568.97 sec; seqNo:150; #beams:4 2024-11-06T19:49:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:29Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922569.01 epoch sec; seqNo:690; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:29Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:29Z- waiting for 1730922570.95, time is 1730922569.01 2024-11-06T19:49:29Z- AHRS_M2 msg: 1730922569.34 epoch sec; seqNo:681 2024-11-06T19:49:29Z- AHRS_M2 msg: 0.21 phi; -0.04 theta; 4.79 psi 2024-11-06T19:49:29Z- handleDepth()- Depth_Keller msg: 1730922569.35 epoch sec; seqNo:691; depth -0.08 2024-11-06T19:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922569.37 epoch sec; seqNo:691; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:29Z- waiting for 1730922570.95, time is 1730922569.37 2024-11-06T19:49:29Z- AHRS_M2 msg: 1730922569.74 epoch sec; seqNo:682 2024-11-06T19:49:29Z- AHRS_M2 msg: 0.19 phi; -0.06 theta; 4.83 psi 2024-11-06T19:49:29Z- handleDepth()- Depth_Keller msg: 1730922569.75 epoch sec; seqNo:692; depth -0.08 2024-11-06T19:49:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922569.78 epoch sec; seqNo:692; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:29Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:29Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:29Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:29Z- waiting for 1730922570.95, time is 1730922569.78 2024-11-06T19:49:30Z- AHRS_M2 msg: 1730922570.14 epoch sec; seqNo:683 2024-11-06T19:49:30Z- AHRS_M2 msg: 0.15 phi; -0.05 theta; 4.86 psi 2024-11-06T19:49:30Z- handleDepth()- Depth_Keller msg: 1730922570.15 epoch sec; seqNo:693; depth -0.12 2024-11-06T19:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922570.19 epoch sec; seqNo:693; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:49:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:30Z- waiting for 1730922570.95, time is 1730922570.19 2024-11-06T19:49:30Z- AHRS_M2 msg: 1730922570.55 epoch sec; seqNo:684 2024-11-06T19:49:30Z- AHRS_M2 msg: 0.16 phi; -0.02 theta; 4.85 psi 2024-11-06T19:49:30Z- handleDepth()- Depth_Keller msg: 1730922570.56 epoch sec; seqNo:694; depth -0.11 2024-11-06T19:49:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922570.57 epoch sec; seqNo:694; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:30Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:30Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:30Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:30Z- waiting for 1730922570.95, time is 1730922570.57 2024-11-06T19:49:30Z- AHRS_M2 msg: 1730922570.95 epoch sec; seqNo:685 2024-11-06T19:49:30Z- AHRS_M2 msg: 0.22 phi; -0.00 theta; 4.83 psi 2024-11-06T19:49:30Z- handleDepth()- Depth_Keller msg: 1730922570.96 epoch sec; seqNo:695; depth -0.09 2024-11-06T19:49:31Z- handleDVL() - DVL msg epochMillisec: 1730922571.00 2024-11-06T19:49:31Z- handleDvl() - RDI_Pathfinder msg: 1730922571.00 sec; seqNo:151; #beams:4 2024-11-06T19:49:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:31Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922571.05 epoch sec; seqNo:695; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:31Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922566.95 2024-11-06T19:49:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:31Z- waiting for 1730922570.95, time is 1730922571.05 2024-11-06T19:49:31Z- LcmTrn::updateTrn() >>>> pose time 1730922571.05, meas time 1730922571.00 <<<< 2024-11-06T19:49:31Z- LcmTrn::updateTrn() equating pose 1730922571.00 and meas times 1730922571.00 2024-11-06T19:49:31Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922571.00 2024-11-06T19:49:31Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.09) 2024-11-06T19:49:31Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:31Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:31Z- publishEstimatesDecoder() - at 1730922571.00 sec 2024-11-06T19:49:31Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:31Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:31Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:31Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:31Z- AHRS_M2 msg: 1730922571.35 epoch sec; seqNo:686 2024-11-06T19:49:31Z- AHRS_M2 msg: 0.24 phi; -0.02 theta; 4.87 psi 2024-11-06T19:49:31Z- handleDepth()- Depth_Keller msg: 1730922571.36 epoch sec; seqNo:696; depth -0.08 2024-11-06T19:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922571.39 epoch sec; seqNo:696; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:31Z- waiting for 1730922575.00, time is 1730922571.39 2024-11-06T19:49:31Z- AHRS_M2 msg: 1730922571.76 epoch sec; seqNo:687 2024-11-06T19:49:31Z- AHRS_M2 msg: 0.28 phi; -0.00 theta; 4.92 psi 2024-11-06T19:49:31Z- handleDepth()- Depth_Keller msg: 1730922571.77 epoch sec; seqNo:697; depth -0.08 2024-11-06T19:49:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922571.78 epoch sec; seqNo:697; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:31Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:31Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:31Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:31Z- waiting for 1730922575.00, time is 1730922571.78 2024-11-06T19:49:32Z- AHRS_M2 msg: 1730922572.17 epoch sec; seqNo:688 2024-11-06T19:49:32Z- AHRS_M2 msg: 0.27 phi; 0.04 theta; 4.89 psi 2024-11-06T19:49:32Z- handleDepth()- Depth_Keller msg: 1730922572.17 epoch sec; seqNo:698; depth -0.08 2024-11-06T19:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922572.19 epoch sec; seqNo:698; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:32Z- waiting for 1730922575.00, time is 1730922572.19 2024-11-06T19:49:32Z- AHRS_M2 msg: 1730922572.57 epoch sec; seqNo:689 2024-11-06T19:49:32Z- AHRS_M2 msg: 0.22 phi; 0.02 theta; 4.86 psi 2024-11-06T19:49:32Z- handleDepth()- Depth_Keller msg: 1730922572.58 epoch sec; seqNo:699; depth -0.08 2024-11-06T19:49:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922572.61 epoch sec; seqNo:699; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:32Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:32Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:32Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:32Z- waiting for 1730922575.00, time is 1730922572.61 2024-11-06T19:49:32Z- AHRS_M2 msg: 1730922572.97 epoch sec; seqNo:690 2024-11-06T19:49:32Z- AHRS_M2 msg: 0.18 phi; -0.04 theta; 4.89 psi 2024-11-06T19:49:32Z- handleDepth()- Depth_Keller msg: 1730922572.98 epoch sec; seqNo:700; depth -0.08 2024-11-06T19:49:33Z- handleDVL() - DVL msg epochMillisec: 1730922573.03 2024-11-06T19:49:33Z- handleDvl() - RDI_Pathfinder msg: 1730922573.03 sec; seqNo:152; #beams:4 2024-11-06T19:49:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:33Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922573.07 epoch sec; seqNo:700; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:33Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:33Z- waiting for 1730922575.00, time is 1730922573.07 2024-11-06T19:49:33Z- AHRS_M2 msg: 1730922573.38 epoch sec; seqNo:691 2024-11-06T19:49:33Z- AHRS_M2 msg: 0.17 phi; -0.02 theta; 4.91 psi 2024-11-06T19:49:33Z- handleDepth()- Depth_Keller msg: 1730922573.39 epoch sec; seqNo:701; depth -0.10 2024-11-06T19:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922573.43 epoch sec; seqNo:701; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:33Z- waiting for 1730922575.00, time is 1730922573.43 2024-11-06T19:49:33Z- AHRS_M2 msg: 1730922573.79 epoch sec; seqNo:692 2024-11-06T19:49:33Z- AHRS_M2 msg: 0.17 phi; 0.04 theta; 4.87 psi 2024-11-06T19:49:33Z- handleDepth()- Depth_Keller msg: 1730922573.79 epoch sec; seqNo:702; depth -0.10 2024-11-06T19:49:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922573.81 epoch sec; seqNo:702; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:33Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:33Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:33Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:33Z- waiting for 1730922575.00, time is 1730922573.81 2024-11-06T19:49:34Z- AHRS_M2 msg: 1730922574.19 epoch sec; seqNo:693 2024-11-06T19:49:34Z- AHRS_M2 msg: 0.15 phi; 0.04 theta; 4.83 psi 2024-11-06T19:49:34Z- handleDepth()- Depth_Keller msg: 1730922574.20 epoch sec; seqNo:703; depth -0.08 2024-11-06T19:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922574.22 epoch sec; seqNo:703; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:34Z- waiting for 1730922575.00, time is 1730922574.22 2024-11-06T19:49:34Z- AHRS_M2 msg: 1730922574.59 epoch sec; seqNo:694 2024-11-06T19:49:34Z- AHRS_M2 msg: 0.16 phi; 0.01 theta; 4.84 psi 2024-11-06T19:49:34Z- handleDepth()- Depth_Keller msg: 1730922574.60 epoch sec; seqNo:704; depth -0.09 2024-11-06T19:49:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922574.62 epoch sec; seqNo:704; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:34Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:34Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:34Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:34Z- waiting for 1730922575.00, time is 1730922574.62 2024-11-06T19:49:35Z- AHRS_M2 msg: 1730922574.99 epoch sec; seqNo:695 2024-11-06T19:49:35Z- AHRS_M2 msg: 0.22 phi; 0.01 theta; 4.86 psi 2024-11-06T19:49:35Z- handleDepth()- Depth_Keller msg: 1730922575.01 epoch sec; seqNo:705; depth -0.11 2024-11-06T19:49:35Z- handleDVL() - DVL msg epochMillisec: 1730922575.05 2024-11-06T19:49:35Z- handleDvl() - RDI_Pathfinder msg: 1730922575.05 sec; seqNo:153; #beams:4 2024-11-06T19:49:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:35Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922575.08 epoch sec; seqNo:705; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:35Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922571.00 2024-11-06T19:49:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:35Z- waiting for 1730922575.00, time is 1730922575.08 2024-11-06T19:49:35Z- LcmTrn::updateTrn() >>>> pose time 1730922575.08, meas time 1730922575.05 <<<< 2024-11-06T19:49:35Z- LcmTrn::updateTrn() equating pose 1730922575.05 and meas times 1730922575.05 2024-11-06T19:49:35Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922575.05 2024-11-06T19:49:35Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.11) 2024-11-06T19:49:35Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:35Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:35Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:35Z- publishEstimatesDecoder() - at 1730922575.05 sec 2024-11-06T19:49:35Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:35Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:35Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:35Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:35Z- AHRS_M2 msg: 1730922575.40 epoch sec; seqNo:696 2024-11-06T19:49:35Z- AHRS_M2 msg: 0.33 phi; -0.06 theta; 4.85 psi 2024-11-06T19:49:35Z- handleDepth()- Depth_Keller msg: 1730922575.41 epoch sec; seqNo:706; depth -0.10 2024-11-06T19:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922575.43 epoch sec; seqNo:706; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:35Z- waiting for 1730922579.05, time is 1730922575.43 2024-11-06T19:49:35Z- AHRS_M2 msg: 1730922575.81 epoch sec; seqNo:697 2024-11-06T19:49:35Z- AHRS_M2 msg: 0.32 phi; -0.09 theta; 4.87 psi 2024-11-06T19:49:35Z- handleDepth()- Depth_Keller msg: 1730922575.82 epoch sec; seqNo:707; depth -0.08 2024-11-06T19:49:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922575.83 epoch sec; seqNo:707; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:35Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:35Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:35Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:35Z- waiting for 1730922579.05, time is 1730922575.83 2024-11-06T19:49:36Z- AHRS_M2 msg: 1730922576.20 epoch sec; seqNo:698 2024-11-06T19:49:36Z- AHRS_M2 msg: 0.25 phi; -0.07 theta; 4.91 psi 2024-11-06T19:49:36Z- handleDepth()- Depth_Keller msg: 1730922576.22 epoch sec; seqNo:708; depth -0.11 2024-11-06T19:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922576.24 epoch sec; seqNo:708; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:36Z- waiting for 1730922579.05, time is 1730922576.24 2024-11-06T19:49:36Z- AHRS_M2 msg: 1730922576.61 epoch sec; seqNo:699 2024-11-06T19:49:36Z- AHRS_M2 msg: 0.22 phi; -0.03 theta; 4.92 psi 2024-11-06T19:49:36Z- handleDepth()- Depth_Keller msg: 1730922576.62 epoch sec; seqNo:709; depth -0.14 2024-11-06T19:49:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922576.63 epoch sec; seqNo:709; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:49:36Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:36Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:36Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:36Z- waiting for 1730922579.05, time is 1730922576.63 2024-11-06T19:49:37Z- AHRS_M2 msg: 1730922577.01 epoch sec; seqNo:700 2024-11-06T19:49:37Z- AHRS_M2 msg: 0.24 phi; 0.02 theta; 4.89 psi 2024-11-06T19:49:37Z- handleDepth()- Depth_Keller msg: 1730922577.03 epoch sec; seqNo:710; depth -0.10 2024-11-06T19:49:37Z- handleDVL() - DVL msg epochMillisec: 1730922577.06 2024-11-06T19:49:37Z- handleDvl() - RDI_Pathfinder msg: 1730922577.06 sec; seqNo:154; #beams:4 2024-11-06T19:49:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:37Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922577.07 epoch sec; seqNo:710; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:37Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:37Z- waiting for 1730922579.05, time is 1730922577.07 2024-11-06T19:49:37Z- AHRS_M2 msg: 1730922577.42 epoch sec; seqNo:701 2024-11-06T19:49:37Z- AHRS_M2 msg: 0.24 phi; -0.01 theta; 4.90 psi 2024-11-06T19:49:37Z- handleDepth()- Depth_Keller msg: 1730922577.43 epoch sec; seqNo:711; depth -0.04 2024-11-06T19:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922577.44 epoch sec; seqNo:711; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:49:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:37Z- waiting for 1730922579.05, time is 1730922577.44 2024-11-06T19:49:37Z- AHRS_M2 msg: 1730922577.83 epoch sec; seqNo:702 2024-11-06T19:49:37Z- AHRS_M2 msg: 0.22 phi; -0.01 theta; 4.93 psi 2024-11-06T19:49:37Z- handleDepth()- Depth_Keller msg: 1730922577.83 epoch sec; seqNo:712; depth -0.06 2024-11-06T19:49:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922577.84 epoch sec; seqNo:712; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:37Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:37Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:37Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:37Z- waiting for 1730922579.05, time is 1730922577.84 2024-11-06T19:49:38Z- AHRS_M2 msg: 1730922578.23 epoch sec; seqNo:703 2024-11-06T19:49:38Z- AHRS_M2 msg: 0.18 phi; -0.03 theta; 4.91 psi 2024-11-06T19:49:38Z- handleDepth()- Depth_Keller msg: 1730922578.24 epoch sec; seqNo:713; depth -0.06 2024-11-06T19:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922578.26 epoch sec; seqNo:713; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:38Z- waiting for 1730922579.05, time is 1730922578.26 2024-11-06T19:49:38Z- AHRS_M2 msg: 1730922578.63 epoch sec; seqNo:704 2024-11-06T19:49:38Z- AHRS_M2 msg: 0.16 phi; -0.08 theta; 4.89 psi 2024-11-06T19:49:38Z- handleDepth()- Depth_Keller msg: 1730922578.64 epoch sec; seqNo:714; depth -0.03 2024-11-06T19:49:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922578.66 epoch sec; seqNo:714; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:49:38Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:38Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:38Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:38Z- waiting for 1730922579.05, time is 1730922578.66 2024-11-06T19:49:39Z- AHRS_M2 msg: 1730922579.04 epoch sec; seqNo:705 2024-11-06T19:49:39Z- AHRS_M2 msg: 0.15 phi; -0.08 theta; 4.89 psi 2024-11-06T19:49:39Z- handleDepth()- Depth_Keller msg: 1730922579.06 epoch sec; seqNo:715; depth -0.05 2024-11-06T19:49:39Z- handleDVL() - DVL msg epochMillisec: 1730922579.11 2024-11-06T19:49:39Z- handleDvl() - RDI_Pathfinder msg: 1730922579.11 sec; seqNo:155; #beams:4 2024-11-06T19:49:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:39Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922579.18 epoch sec; seqNo:715; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:49:39Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922575.05 2024-11-06T19:49:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:39Z- waiting for 1730922579.05, time is 1730922579.18 2024-11-06T19:49:39Z- LcmTrn::updateTrn() >>>> pose time 1730922579.18, meas time 1730922579.11 <<<< 2024-11-06T19:49:39Z- LcmTrn::updateTrn() equating pose 1730922579.11 and meas times 1730922579.11 2024-11-06T19:49:39Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922579.11 2024-11-06T19:49:39Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.05) 2024-11-06T19:49:39Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:39Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:39Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:39Z- publishEstimatesDecoder() - at 1730922579.11 sec 2024-11-06T19:49:39Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:39Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:39Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:39Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:39Z- AHRS_M2 msg: 1730922579.44 epoch sec; seqNo:706 2024-11-06T19:49:39Z- AHRS_M2 msg: 0.18 phi; -0.06 theta; 4.90 psi 2024-11-06T19:49:39Z- handleDepth()- Depth_Keller msg: 1730922579.45 epoch sec; seqNo:716; depth -0.06 2024-11-06T19:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922579.47 epoch sec; seqNo:716; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:39Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:39Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:39Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:39Z- waiting for 1730922583.11, time is 1730922579.47 2024-11-06T19:49:39Z- AHRS_M2 msg: 1730922579.85 epoch sec; seqNo:707 2024-11-06T19:49:39Z- AHRS_M2 msg: 0.25 phi; -0.03 theta; 4.90 psi 2024-11-06T19:49:39Z- handleDepth()- Depth_Keller msg: 1730922579.86 epoch sec; seqNo:717; depth -0.09 2024-11-06T19:49:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922579.88 epoch sec; seqNo:717; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:40Z- waiting for 1730922583.11, time is 1730922579.88 2024-11-06T19:49:40Z- AHRS_M2 msg: 1730922580.25 epoch sec; seqNo:708 2024-11-06T19:49:40Z- AHRS_M2 msg: 0.26 phi; -0.03 theta; 4.85 psi 2024-11-06T19:49:40Z- handleDepth()- Depth_Keller msg: 1730922580.27 epoch sec; seqNo:718; depth -0.07 2024-11-06T19:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922580.30 epoch sec; seqNo:718; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:40Z- waiting for 1730922583.11, time is 1730922580.30 2024-11-06T19:49:40Z- AHRS_M2 msg: 1730922580.65 epoch sec; seqNo:709 2024-11-06T19:49:40Z- AHRS_M2 msg: 0.22 phi; -0.04 theta; 4.86 psi 2024-11-06T19:49:40Z- handleDepth()- Depth_Keller msg: 1730922580.66 epoch sec; seqNo:719; depth -0.09 2024-11-06T19:49:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922580.70 epoch sec; seqNo:719; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:40Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:40Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:40Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:40Z- waiting for 1730922583.11, time is 1730922580.70 2024-11-06T19:49:41Z- AHRS_M2 msg: 1730922581.06 epoch sec; seqNo:710 2024-11-06T19:49:41Z- AHRS_M2 msg: 0.19 phi; -0.07 theta; 4.89 psi 2024-11-06T19:49:41Z- handleDepth()- Depth_Keller msg: 1730922581.07 epoch sec; seqNo:720; depth -0.11 2024-11-06T19:49:41Z- handleDVL() - DVL msg epochMillisec: 1730922581.11 2024-11-06T19:49:41Z- handleDvl() - RDI_Pathfinder msg: 1730922581.11 sec; seqNo:156; #beams:4 2024-11-06T19:49:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922581.14 epoch sec; seqNo:720; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:41Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:41Z- waiting for 1730922583.11, time is 1730922581.14 2024-11-06T19:49:41Z- AHRS_M2 msg: 1730922581.46 epoch sec; seqNo:711 2024-11-06T19:49:41Z- AHRS_M2 msg: 0.18 phi; -0.10 theta; 4.87 psi 2024-11-06T19:49:41Z- handleDepth()- Depth_Keller msg: 1730922581.47 epoch sec; seqNo:721; depth -0.12 2024-11-06T19:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922581.49 epoch sec; seqNo:721; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:49:41Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:41Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:41Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:41Z- waiting for 1730922583.11, time is 1730922581.49 2024-11-06T19:49:41Z- AHRS_M2 msg: 1730922581.87 epoch sec; seqNo:712 2024-11-06T19:49:41Z- AHRS_M2 msg: 0.20 phi; -0.07 theta; 4.85 psi 2024-11-06T19:49:41Z- handleDepth()- Depth_Keller msg: 1730922581.87 epoch sec; seqNo:722; depth -0.10 2024-11-06T19:49:41Z- handleDVL() - DVL msg epochMillisec: 1730922581.88 2024-11-06T19:49:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:49:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:49:41Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:49:41Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:49:41Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:49:41Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:49:41Z- handleDvl() - RDI_Pathfinder msg: 1730922581.88 sec; seqNo:157; #beams:0 2024-11-06T19:49:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922581.90 epoch sec; seqNo:722; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:42Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:42Z- waiting for 1730922583.11, time is 1730922581.90 2024-11-06T19:49:42Z- AHRS_M2 msg: 1730922582.27 epoch sec; seqNo:713 2024-11-06T19:49:42Z- AHRS_M2 msg: 0.24 phi; -0.02 theta; 4.86 psi 2024-11-06T19:49:42Z- handleDepth()- Depth_Keller msg: 1730922582.28 epoch sec; seqNo:723; depth -0.07 2024-11-06T19:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922582.29 epoch sec; seqNo:723; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:42Z- waiting for 1730922583.11, time is 1730922582.29 2024-11-06T19:49:42Z- AHRS_M2 msg: 1730922582.68 epoch sec; seqNo:714 2024-11-06T19:49:42Z- AHRS_M2 msg: 0.28 phi; 0.03 theta; 4.86 psi 2024-11-06T19:49:42Z- handleDepth()- Depth_Keller msg: 1730922582.68 epoch sec; seqNo:724; depth -0.05 2024-11-06T19:49:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922582.70 epoch sec; seqNo:724; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:49:42Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:42Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:42Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:42Z- waiting for 1730922583.11, time is 1730922582.70 2024-11-06T19:49:43Z- AHRS_M2 msg: 1730922583.08 epoch sec; seqNo:715 2024-11-06T19:49:43Z- AHRS_M2 msg: 0.28 phi; 0.11 theta; 4.88 psi 2024-11-06T19:49:43Z- handleDepth()- Depth_Keller msg: 1730922583.09 epoch sec; seqNo:725; depth -0.06 2024-11-06T19:49:43Z- handleDVL() - DVL msg epochMillisec: 1730922583.13 2024-11-06T19:49:43Z- handleDvl() - RDI_Pathfinder msg: 1730922583.13 sec; seqNo:158; #beams:4 2024-11-06T19:49:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:43Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922583.17 epoch sec; seqNo:725; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:43Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922579.11 2024-11-06T19:49:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:43Z- waiting for 1730922583.11, time is 1730922583.17 2024-11-06T19:49:43Z- LcmTrn::updateTrn() >>>> pose time 1730922583.17, meas time 1730922583.13 <<<< 2024-11-06T19:49:43Z- LcmTrn::updateTrn() equating pose 1730922583.13 and meas times 1730922583.13 2024-11-06T19:49:43Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922583.13 2024-11-06T19:49:43Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.06) 2024-11-06T19:49:43Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:43Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:43Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:43Z- publishEstimatesDecoder() - at 1730922583.13 sec 2024-11-06T19:49:43Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:43Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:43Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:43Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:43Z- AHRS_M2 msg: 1730922583.48 epoch sec; seqNo:716 2024-11-06T19:49:43Z- AHRS_M2 msg: 0.22 phi; 0.13 theta; 4.88 psi 2024-11-06T19:49:43Z- handleDepth()- Depth_Keller msg: 1730922583.49 epoch sec; seqNo:726; depth -0.08 2024-11-06T19:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922583.51 epoch sec; seqNo:726; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:43Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:43Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:43Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:43Z- waiting for 1730922587.13, time is 1730922583.51 2024-11-06T19:49:43Z- AHRS_M2 msg: 1730922583.89 epoch sec; seqNo:717 2024-11-06T19:49:43Z- AHRS_M2 msg: 0.16 phi; 0.09 theta; 4.85 psi 2024-11-06T19:49:43Z- handleDepth()- Depth_Keller msg: 1730922583.89 epoch sec; seqNo:727; depth -0.09 2024-11-06T19:49:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922583.90 epoch sec; seqNo:727; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:44Z- waiting for 1730922587.13, time is 1730922583.90 2024-11-06T19:49:44Z- AHRS_M2 msg: 1730922584.29 epoch sec; seqNo:718 2024-11-06T19:49:44Z- AHRS_M2 msg: 0.05 phi; 0.02 theta; 4.78 psi 2024-11-06T19:49:44Z- handleDepth()- Depth_Keller msg: 1730922584.30 epoch sec; seqNo:728; depth -0.11 2024-11-06T19:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922584.32 epoch sec; seqNo:728; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:44Z- waiting for 1730922587.13, time is 1730922584.32 2024-11-06T19:49:44Z- AHRS_M2 msg: 1730922584.70 epoch sec; seqNo:719 2024-11-06T19:49:44Z- AHRS_M2 msg: 0.00 phi; -0.03 theta; 4.75 psi 2024-11-06T19:49:44Z- handleDepth()- Depth_Keller msg: 1730922584.71 epoch sec; seqNo:729; depth -0.13 2024-11-06T19:49:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922584.71 epoch sec; seqNo:729; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.13 depth; utmZone: 10 2024-11-06T19:49:44Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:44Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:44Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:44Z- waiting for 1730922587.13, time is 1730922584.71 2024-11-06T19:49:45Z- AHRS_M2 msg: 1730922585.10 epoch sec; seqNo:720 2024-11-06T19:49:45Z- AHRS_M2 msg: 0.11 phi; -0.03 theta; 4.77 psi 2024-11-06T19:49:45Z- handleDepth()- Depth_Keller msg: 1730922585.11 epoch sec; seqNo:730; depth -0.14 2024-11-06T19:49:45Z- handleDVL() - DVL msg epochMillisec: 1730922585.13 2024-11-06T19:49:45Z- handleDvl() - RDI_Pathfinder msg: 1730922585.13 sec; seqNo:159; #beams:4 2024-11-06T19:49:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:45Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922585.15 epoch sec; seqNo:730; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:49:45Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:45Z- waiting for 1730922587.13, time is 1730922585.15 2024-11-06T19:49:45Z- AHRS_M2 msg: 1730922585.50 epoch sec; seqNo:721 2024-11-06T19:49:45Z- AHRS_M2 msg: 0.27 phi; -0.08 theta; 4.80 psi 2024-11-06T19:49:45Z- handleDepth()- Depth_Keller msg: 1730922585.51 epoch sec; seqNo:731; depth -0.14 2024-11-06T19:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922585.53 epoch sec; seqNo:731; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:49:45Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:45Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:45Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:45Z- waiting for 1730922587.13, time is 1730922585.53 2024-11-06T19:49:45Z- AHRS_M2 msg: 1730922585.91 epoch sec; seqNo:722 2024-11-06T19:49:45Z- AHRS_M2 msg: 0.43 phi; -0.14 theta; 4.80 psi 2024-11-06T19:49:45Z- handleDepth()- Depth_Keller msg: 1730922585.91 epoch sec; seqNo:732; depth -0.11 2024-11-06T19:49:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922585.92 epoch sec; seqNo:732; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:46Z- waiting for 1730922587.13, time is 1730922585.92 2024-11-06T19:49:46Z- AHRS_M2 msg: 1730922586.31 epoch sec; seqNo:723 2024-11-06T19:49:46Z- AHRS_M2 msg: 0.47 phi; -0.17 theta; 4.84 psi 2024-11-06T19:49:46Z- handleDepth()- Depth_Keller msg: 1730922586.32 epoch sec; seqNo:733; depth -0.08 2024-11-06T19:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922586.33 epoch sec; seqNo:733; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:46Z- waiting for 1730922587.13, time is 1730922586.33 2024-11-06T19:49:46Z- AHRS_M2 msg: 1730922586.71 epoch sec; seqNo:724 2024-11-06T19:49:46Z- AHRS_M2 msg: 0.37 phi; -0.10 theta; 4.88 psi 2024-11-06T19:49:46Z- handleDepth()- Depth_Keller msg: 1730922586.72 epoch sec; seqNo:734; depth -0.07 2024-11-06T19:49:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922586.73 epoch sec; seqNo:734; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:46Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:46Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:46Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:46Z- waiting for 1730922587.13, time is 1730922586.73 2024-11-06T19:49:47Z- AHRS_M2 msg: 1730922587.12 epoch sec; seqNo:725 2024-11-06T19:49:47Z- AHRS_M2 msg: 0.23 phi; 0.01 theta; 4.87 psi 2024-11-06T19:49:47Z- handleDepth()- Depth_Keller msg: 1730922587.13 epoch sec; seqNo:735; depth -0.03 2024-11-06T19:49:47Z- handleDVL() - DVL msg epochMillisec: 1730922587.17 2024-11-06T19:49:47Z- handleDvl() - RDI_Pathfinder msg: 1730922587.17 sec; seqNo:160; #beams:4 2024-11-06T19:49:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:47Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922587.21 epoch sec; seqNo:735; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:49:47Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922583.13 2024-11-06T19:49:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:47Z- waiting for 1730922587.13, time is 1730922587.21 2024-11-06T19:49:47Z- LcmTrn::updateTrn() >>>> pose time 1730922587.21, meas time 1730922587.17 <<<< 2024-11-06T19:49:47Z- LcmTrn::updateTrn() equating pose 1730922587.17 and meas times 1730922587.17 2024-11-06T19:49:47Z- LcmTrn::updateTrn() motionUpdate first last update time: 1730922587.17 2024-11-06T19:49:47Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.03) 2024-11-06T19:49:47Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:47Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:47Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:47Z- publishEstimatesDecoder() - at 1730922587.17 sec 2024-11-06T19:49:47Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:47Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:47Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:47Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:47Z- AHRS_M2 msg: 1730922587.52 epoch sec; seqNo:726 2024-11-06T19:49:47Z- AHRS_M2 msg: 0.07 phi; 0.05 theta; 4.85 psi 2024-11-06T19:49:47Z- handleDepth()- Depth_Keller msg: 1730922587.53 epoch sec; seqNo:736; depth -0.05 2024-11-06T19:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922587.55 epoch sec; seqNo:736; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:49:47Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:47Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:47Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:47Z- waiting for 1730922591.17, time is 1730922587.55 2024-11-06T19:49:47Z- AHRS_M2 msg: 1730922587.93 epoch sec; seqNo:727 2024-11-06T19:49:47Z- AHRS_M2 msg: -0.03 phi; 0.02 theta; 4.81 psi 2024-11-06T19:49:47Z- handleDepth()- Depth_Keller msg: 1730922587.93 epoch sec; seqNo:737; depth -0.07 2024-11-06T19:49:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922587.98 epoch sec; seqNo:737; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:48Z- waiting for 1730922591.17, time is 1730922587.98 2024-11-06T19:49:48Z- AHRS_M2 msg: 1730922588.36 epoch sec; seqNo:728 2024-11-06T19:49:48Z- AHRS_M2 msg: 0.04 phi; -0.04 theta; 4.82 psi 2024-11-06T19:49:48Z- handleDepth()- Depth_Keller msg: 1730922588.38 epoch sec; seqNo:738; depth -0.07 2024-11-06T19:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922588.41 epoch sec; seqNo:738; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:48Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:48Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:48Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:48Z- waiting for 1730922591.17, time is 1730922588.41 2024-11-06T19:49:48Z- AHRS_M2 msg: 1730922588.77 epoch sec; seqNo:729 2024-11-06T19:49:48Z- AHRS_M2 msg: 0.20 phi; -0.09 theta; 4.85 psi 2024-11-06T19:49:48Z- handleDepth()- Depth_Keller msg: 1730922588.85 epoch sec; seqNo:739; depth -0.07 2024-11-06T19:49:48Z- handleDVL() - DVL msg epochMillisec: 1730922588.90 2024-11-06T19:49:48Z- handleDvl() - RDI_Pathfinder msg: 1730922588.90 sec; seqNo:161; #beams:4 2024-11-06T19:49:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:48Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922588.97 epoch sec; seqNo:739; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:49Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:49Z- waiting for 1730922591.17, time is 1730922588.97 2024-11-06T19:49:49Z- AHRS_M2 msg: 1730922589.17 epoch sec; seqNo:730 2024-11-06T19:49:49Z- AHRS_M2 msg: 0.34 phi; -0.08 theta; 4.86 psi 2024-11-06T19:49:49Z- handleDepth()- Depth_Keller msg: 1730922589.18 epoch sec; seqNo:740; depth -0.06 2024-11-06T19:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922589.26 epoch sec; seqNo:740; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:49:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:49Z- waiting for 1730922591.17, time is 1730922589.26 2024-11-06T19:49:49Z- AHRS_M2 msg: 1730922589.58 epoch sec; seqNo:731 2024-11-06T19:49:49Z- AHRS_M2 msg: 0.39 phi; -0.03 theta; 4.87 psi 2024-11-06T19:49:49Z- handleDepth()- Depth_Keller msg: 1730922589.59 epoch sec; seqNo:741; depth -0.09 2024-11-06T19:49:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922589.63 epoch sec; seqNo:741; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:49Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:49Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:49Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:49Z- waiting for 1730922591.17, time is 1730922589.63 2024-11-06T19:49:49Z- AHRS_M2 msg: 1730922589.98 epoch sec; seqNo:732 2024-11-06T19:49:49Z- AHRS_M2 msg: 0.31 phi; -0.02 theta; 4.86 psi 2024-11-06T19:49:50Z- handleDepth()- Depth_Keller msg: 1730922590.01 epoch sec; seqNo:742; depth -0.11 2024-11-06T19:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922590.04 epoch sec; seqNo:742; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:50Z- waiting for 1730922591.17, time is 1730922590.04 2024-11-06T19:49:50Z- AHRS_M2 msg: 1730922590.39 epoch sec; seqNo:733 2024-11-06T19:49:50Z- AHRS_M2 msg: 0.18 phi; -0.01 theta; 4.84 psi 2024-11-06T19:49:50Z- handleDepth()- Depth_Keller msg: 1730922590.41 epoch sec; seqNo:743; depth -0.10 2024-11-06T19:49:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922590.44 epoch sec; seqNo:743; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:50Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:50Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:50Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:50Z- waiting for 1730922591.17, time is 1730922590.44 2024-11-06T19:49:50Z- AHRS_M2 msg: 1730922590.87 epoch sec; seqNo:734 2024-11-06T19:49:50Z- AHRS_M2 msg: 0.14 phi; -0.01 theta; 4.89 psi 2024-11-06T19:49:50Z- handleDepth()- Depth_Keller msg: 1730922590.89 epoch sec; seqNo:744; depth -0.10 2024-11-06T19:49:51Z- handleDVL() - DVL msg epochMillisec: 1730922590.96 2024-11-06T19:49:51Z- handleDvl() - RDI_Pathfinder msg: 1730922590.96 sec; seqNo:162; #beams:4 2024-11-06T19:49:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:51Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:51Z- waiting for 1730922591.17, time is 1730922590.96 2024-11-06T19:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922591.06 epoch sec; seqNo:744; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:51Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:49:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:51Z- waiting for 1730922591.17, time is 1730922591.06 2024-11-06T19:49:51Z- AHRS_M2 msg: 1730922591.24 epoch sec; seqNo:735 2024-11-06T19:49:51Z- AHRS_M2 msg: 0.24 phi; -0.03 theta; 4.90 psi 2024-11-06T19:49:51Z- handleDepth()- Depth_Keller msg: 1730922591.25 epoch sec; seqNo:745; depth -0.10 2024-11-06T19:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922591.28 epoch sec; seqNo:745; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922587.17 2024-11-06T19:49:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:51Z- waiting for 1730922591.17, time is 1730922591.28 2024-11-06T19:49:51Z- LcmTrn::updateTrn() >>>> pose time 1730922591.28, meas time 1730922590.96 <<<< 2024-11-06T19:49:51Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922591.28 2024-11-06T19:49:51Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:51Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.10) 2024-11-06T19:49:51Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:51Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:51Z- publishEstimatesDecoder() - at 1730922591.28 sec 2024-11-06T19:49:51Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:51Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:51Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:51Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:51Z- AHRS_M2 msg: 1730922591.63 epoch sec; seqNo:736 2024-11-06T19:49:51Z- AHRS_M2 msg: 0.32 phi; -0.06 theta; 4.91 psi 2024-11-06T19:49:51Z- handleDepth()- Depth_Keller msg: 1730922591.65 epoch sec; seqNo:746; depth -0.08 2024-11-06T19:49:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922591.68 epoch sec; seqNo:746; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:51Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:51Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:51Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:51Z- waiting for 1730922595.28, time is 1730922591.68 2024-11-06T19:49:52Z- AHRS_M2 msg: 1730922592.02 epoch sec; seqNo:737 2024-11-06T19:49:52Z- AHRS_M2 msg: 0.29 phi; -0.06 theta; 4.91 psi 2024-11-06T19:49:52Z- handleDepth()- Depth_Keller msg: 1730922592.05 epoch sec; seqNo:747; depth -0.07 2024-11-06T19:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922592.08 epoch sec; seqNo:747; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:52Z- waiting for 1730922595.28, time is 1730922592.08 2024-11-06T19:49:52Z- AHRS_M2 msg: 1730922592.44 epoch sec; seqNo:738 2024-11-06T19:49:52Z- AHRS_M2 msg: 0.14 phi; -0.03 theta; 4.88 psi 2024-11-06T19:49:52Z- handleDepth()- Depth_Keller msg: 1730922592.46 epoch sec; seqNo:748; depth -0.08 2024-11-06T19:49:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922592.49 epoch sec; seqNo:748; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:49:52Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:52Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:52Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:52Z- waiting for 1730922595.28, time is 1730922592.49 2024-11-06T19:49:52Z- handleDepth()- Depth_Keller msg: 1730922592.90 epoch sec; seqNo:749; depth -0.11 2024-11-06T19:49:52Z- handleDVL() - DVL msg epochMillisec: 1730922592.96 2024-11-06T19:49:52Z- handleDvl() - RDI_Pathfinder msg: 1730922592.96 sec; seqNo:163; #beams:4 2024-11-06T19:49:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:52Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:53Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:49:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:53Z- waiting for 1730922595.28, time is 1730922592.96 2024-11-06T19:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922593.01 epoch sec; seqNo:749; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:53Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:49:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:53Z- waiting for 1730922595.28, time is 1730922593.01 2024-11-06T19:49:53Z- AHRS_M2 msg: 1730922593.27 epoch sec; seqNo:739 2024-11-06T19:49:53Z- AHRS_M2 msg: 0.09 phi; -0.02 theta; 4.88 psi 2024-11-06T19:49:53Z- handleDepth()- Depth_Keller msg: 1730922593.28 epoch sec; seqNo:750; depth -0.09 2024-11-06T19:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922593.32 epoch sec; seqNo:750; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:53Z- waiting for 1730922595.28, time is 1730922593.32 2024-11-06T19:49:53Z- AHRS_M2 msg: 1730922593.65 epoch sec; seqNo:740 2024-11-06T19:49:53Z- AHRS_M2 msg: 0.18 phi; -0.07 theta; 4.88 psi 2024-11-06T19:49:53Z- handleDepth()- Depth_Keller msg: 1730922593.68 epoch sec; seqNo:751; depth -0.09 2024-11-06T19:49:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922593.70 epoch sec; seqNo:751; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:53Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:53Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:53Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:53Z- waiting for 1730922595.28, time is 1730922593.70 2024-11-06T19:49:54Z- AHRS_M2 msg: 1730922594.06 epoch sec; seqNo:741 2024-11-06T19:49:54Z- AHRS_M2 msg: 0.26 phi; -0.05 theta; 4.87 psi 2024-11-06T19:49:54Z- handleDepth()- Depth_Keller msg: 1730922594.08 epoch sec; seqNo:752; depth -0.10 2024-11-06T19:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922594.13 epoch sec; seqNo:752; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:54Z- waiting for 1730922595.28, time is 1730922594.13 2024-11-06T19:49:54Z- AHRS_M2 msg: 1730922594.47 epoch sec; seqNo:742 2024-11-06T19:49:54Z- AHRS_M2 msg: 0.34 phi; -0.02 theta; 4.87 psi 2024-11-06T19:49:54Z- handleDepth()- Depth_Keller msg: 1730922594.49 epoch sec; seqNo:753; depth -0.09 2024-11-06T19:49:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922594.53 epoch sec; seqNo:753; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:54Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:54Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:54Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:54Z- waiting for 1730922595.28, time is 1730922594.53 2024-11-06T19:49:54Z- AHRS_M2 msg: 1730922594.93 epoch sec; seqNo:743 2024-11-06T19:49:54Z- AHRS_M2 msg: 0.30 phi; -0.03 theta; 4.87 psi 2024-11-06T19:49:54Z- handleDepth()- Depth_Keller msg: 1730922594.94 epoch sec; seqNo:754; depth -0.09 2024-11-06T19:49:55Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:49:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:55Z- waiting for 1730922595.28, time is 1730922594.93 2024-11-06T19:49:55Z- handleDVL() - DVL msg epochMillisec: 1730922595.02 2024-11-06T19:49:55Z- handleDvl() - RDI_Pathfinder msg: 1730922595.02 sec; seqNo:164; #beams:4 2024-11-06T19:49:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:55Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922595.16 epoch sec; seqNo:754; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:55Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:49:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:55Z- waiting for 1730922595.28, time is 1730922595.16 2024-11-06T19:49:55Z- handleDepth()- Depth_Keller msg: 1730922595.45 epoch sec; seqNo:755; depth -0.11 2024-11-06T19:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922595.52 epoch sec; seqNo:755; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:55Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:49:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922591.28 2024-11-06T19:49:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:55Z- waiting for 1730922595.28, time is 1730922595.52 2024-11-06T19:49:55Z- LcmTrn::updateTrn() >>>> pose time 1730922595.52, meas time 1730922595.02 <<<< 2024-11-06T19:49:55Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922595.52 2024-11-06T19:49:55Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:55Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.11) 2024-11-06T19:49:55Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:55Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:55Z- publishEstimatesDecoder() - at 1730922595.52 sec 2024-11-06T19:49:55Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:55Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:55Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:55Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:49:55Z- AHRS_M2 msg: 1730922595.74 epoch sec; seqNo:744 2024-11-06T19:49:55Z- AHRS_M2 msg: 0.15 phi; -0.10 theta; 4.89 psi 2024-11-06T19:49:55Z- handleDepth()- Depth_Keller msg: 1730922595.77 epoch sec; seqNo:756; depth -0.10 2024-11-06T19:49:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922595.79 epoch sec; seqNo:756; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:55Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:55Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:55Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:55Z- waiting for 1730922599.52, time is 1730922595.79 2024-11-06T19:49:56Z- AHRS_M2 msg: 1730922596.16 epoch sec; seqNo:745 2024-11-06T19:49:56Z- AHRS_M2 msg: 0.15 phi; -0.04 theta; 4.89 psi 2024-11-06T19:49:56Z- handleDepth()- Depth_Keller msg: 1730922596.18 epoch sec; seqNo:757; depth -0.11 2024-11-06T19:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922596.24 epoch sec; seqNo:757; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:56Z- waiting for 1730922599.52, time is 1730922596.24 2024-11-06T19:49:56Z- AHRS_M2 msg: 1730922596.57 epoch sec; seqNo:746 2024-11-06T19:49:56Z- AHRS_M2 msg: 0.17 phi; -0.02 theta; 4.87 psi 2024-11-06T19:49:56Z- handleDepth()- Depth_Keller msg: 1730922596.58 epoch sec; seqNo:758; depth -0.10 2024-11-06T19:49:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922596.62 epoch sec; seqNo:758; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:56Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:56Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:56Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:56Z- waiting for 1730922599.52, time is 1730922596.62 2024-11-06T19:49:56Z- AHRS_M2 msg: 1730922596.96 epoch sec; seqNo:747 2024-11-06T19:49:56Z- AHRS_M2 msg: 0.23 phi; -0.04 theta; 4.88 psi 2024-11-06T19:49:56Z- handleDepth()- Depth_Keller msg: 1730922596.98 epoch sec; seqNo:759; depth -0.10 2024-11-06T19:49:57Z- handleDVL() - DVL msg epochMillisec: 1730922597.05 2024-11-06T19:49:57Z- handleDvl() - RDI_Pathfinder msg: 1730922597.05 sec; seqNo:165; #beams:4 2024-11-06T19:49:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:57Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:57Z- waiting for 1730922599.52, time is 1730922597.05 2024-11-06T19:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922597.17 epoch sec; seqNo:759; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:57Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:49:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:57Z- waiting for 1730922599.52, time is 1730922597.17 2024-11-06T19:49:57Z- AHRS_M2 msg: 1730922597.37 epoch sec; seqNo:748 2024-11-06T19:49:57Z- AHRS_M2 msg: 0.29 phi; -0.01 theta; 4.93 psi 2024-11-06T19:49:57Z- handleDepth()- Depth_Keller msg: 1730922597.39 epoch sec; seqNo:760; depth -0.09 2024-11-06T19:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922597.44 epoch sec; seqNo:760; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:57Z- waiting for 1730922599.52, time is 1730922597.44 2024-11-06T19:49:57Z- AHRS_M2 msg: 1730922597.78 epoch sec; seqNo:749 2024-11-06T19:49:57Z- AHRS_M2 msg: 0.32 phi; 0.00 theta; 4.93 psi 2024-11-06T19:49:57Z- handleDepth()- Depth_Keller msg: 1730922597.79 epoch sec; seqNo:761; depth -0.09 2024-11-06T19:49:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922597.84 epoch sec; seqNo:761; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:57Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:57Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:57Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:57Z- waiting for 1730922599.52, time is 1730922597.84 2024-11-06T19:49:58Z- AHRS_M2 msg: 1730922598.19 epoch sec; seqNo:750 2024-11-06T19:49:58Z- AHRS_M2 msg: 0.28 phi; -0.08 theta; 4.90 psi 2024-11-06T19:49:58Z- handleDepth()- Depth_Keller msg: 1730922598.20 epoch sec; seqNo:762; depth -0.11 2024-11-06T19:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922598.23 epoch sec; seqNo:762; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:49:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:58Z- waiting for 1730922599.52, time is 1730922598.23 2024-11-06T19:49:58Z- AHRS_M2 msg: 1730922598.60 epoch sec; seqNo:751 2024-11-06T19:49:58Z- AHRS_M2 msg: 0.21 phi; -0.13 theta; 4.93 psi 2024-11-06T19:49:58Z- handleDepth()- Depth_Keller msg: 1730922598.61 epoch sec; seqNo:763; depth -0.10 2024-11-06T19:49:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922598.62 epoch sec; seqNo:763; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:49:58Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:58Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:58Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:58Z- waiting for 1730922599.52, time is 1730922598.62 2024-11-06T19:49:59Z- AHRS_M2 msg: 1730922598.99 epoch sec; seqNo:752 2024-11-06T19:49:59Z- AHRS_M2 msg: 0.20 phi; -0.12 theta; 4.98 psi 2024-11-06T19:49:59Z- handleDepth()- Depth_Keller msg: 1730922599.00 epoch sec; seqNo:764; depth -0.09 2024-11-06T19:49:59Z- handleDVL() - DVL msg epochMillisec: 1730922599.04 2024-11-06T19:49:59Z- handleDvl() - RDI_Pathfinder msg: 1730922599.04 sec; seqNo:166; #beams:4 2024-11-06T19:49:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:49:59Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922599.09 epoch sec; seqNo:764; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:49:59Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:49:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:59Z- waiting for 1730922599.52, time is 1730922599.09 2024-11-06T19:49:59Z- AHRS_M2 msg: 1730922599.40 epoch sec; seqNo:753 2024-11-06T19:49:59Z- AHRS_M2 msg: 0.23 phi; -0.07 theta; 5.01 psi 2024-11-06T19:49:59Z- handleDepth()- Depth_Keller msg: 1730922599.40 epoch sec; seqNo:765; depth -0.07 2024-11-06T19:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922599.42 epoch sec; seqNo:765; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:59Z- waiting for 1730922599.52, time is 1730922599.42 2024-11-06T19:49:59Z- AHRS_M2 msg: 1730922599.80 epoch sec; seqNo:754 2024-11-06T19:49:59Z- AHRS_M2 msg: 0.21 phi; -0.02 theta; 5.01 psi 2024-11-06T19:49:59Z- handleDepth()- Depth_Keller msg: 1730922599.81 epoch sec; seqNo:766; depth -0.07 2024-11-06T19:49:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922599.83 epoch sec; seqNo:766; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:49:59Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:49:59Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922595.52 2024-11-06T19:49:59Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:49:59Z- waiting for 1730922599.52, time is 1730922599.83 2024-11-06T19:49:59Z- LcmTrn::updateTrn() >>>> pose time 1730922599.83, meas time 1730922599.04 <<<< 2024-11-06T19:49:59Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922599.83 2024-11-06T19:49:59Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:49:59Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.07) 2024-11-06T19:49:59Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:49:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:59Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:49:59Z- publishEstimatesDecoder() - at 1730922599.83 sec 2024-11-06T19:49:59Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:49:59Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:49:59Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:49:59Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:50:00Z- handleDepth()- Depth_Keller msg: 1730922600.23 epoch sec; seqNo:767; depth -0.06 2024-11-06T19:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922600.25 epoch sec; seqNo:767; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:00Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:50:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:00Z- waiting for 1730922603.83, time is 1730922600.25 2024-11-06T19:50:00Z- AHRS_M2 msg: 1730922600.61 epoch sec; seqNo:755 2024-11-06T19:50:00Z- AHRS_M2 msg: 0.19 phi; -0.05 theta; 5.03 psi 2024-11-06T19:50:00Z- handleDepth()- Depth_Keller msg: 1730922600.63 epoch sec; seqNo:768; depth -0.06 2024-11-06T19:50:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922600.64 epoch sec; seqNo:768; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:00Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:00Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:00Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:00Z- waiting for 1730922603.83, time is 1730922600.64 2024-11-06T19:50:01Z- AHRS_M2 msg: 1730922601.01 epoch sec; seqNo:756 2024-11-06T19:50:01Z- AHRS_M2 msg: 0.18 phi; -0.07 theta; 5.02 psi 2024-11-06T19:50:01Z- handleDepth()- Depth_Keller msg: 1730922601.04 epoch sec; seqNo:769; depth -0.05 2024-11-06T19:50:01Z- handleDVL() - DVL msg epochMillisec: 1730922601.06 2024-11-06T19:50:01Z- handleDvl() - RDI_Pathfinder msg: 1730922601.06 sec; seqNo:167; #beams:4 2024-11-06T19:50:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:01Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922601.11 epoch sec; seqNo:769; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:50:01Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:01Z- waiting for 1730922603.83, time is 1730922601.11 2024-11-06T19:50:01Z- AHRS_M2 msg: 1730922601.42 epoch sec; seqNo:757 2024-11-06T19:50:01Z- AHRS_M2 msg: 0.22 phi; -0.13 theta; 5.03 psi 2024-11-06T19:50:01Z- handleDepth()- Depth_Keller msg: 1730922601.42 epoch sec; seqNo:770; depth -0.07 2024-11-06T19:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922601.44 epoch sec; seqNo:770; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:50:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:01Z- waiting for 1730922603.83, time is 1730922601.44 2024-11-06T19:50:01Z- AHRS_M2 msg: 1730922601.82 epoch sec; seqNo:758 2024-11-06T19:50:01Z- AHRS_M2 msg: 0.24 phi; -0.15 theta; 5.06 psi 2024-11-06T19:50:01Z- handleDepth()- Depth_Keller msg: 1730922601.83 epoch sec; seqNo:771; depth -0.08 2024-11-06T19:50:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922601.85 epoch sec; seqNo:771; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:50:01Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:01Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:01Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:01Z- waiting for 1730922603.83, time is 1730922601.85 2024-11-06T19:50:02Z- AHRS_M2 msg: 1730922602.23 epoch sec; seqNo:759 2024-11-06T19:50:02Z- AHRS_M2 msg: 0.22 phi; -0.13 theta; 5.07 psi 2024-11-06T19:50:02Z- handleDepth()- Depth_Keller msg: 1730922602.26 epoch sec; seqNo:772; depth -0.06 2024-11-06T19:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922602.28 epoch sec; seqNo:772; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:02Z- waiting for 1730922603.83, time is 1730922602.28 2024-11-06T19:50:02Z- AHRS_M2 msg: 1730922602.63 epoch sec; seqNo:760 2024-11-06T19:50:02Z- AHRS_M2 msg: 0.23 phi; -0.14 theta; 5.07 psi 2024-11-06T19:50:02Z- handleDepth()- Depth_Keller msg: 1730922602.65 epoch sec; seqNo:773; depth -0.06 2024-11-06T19:50:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922602.68 epoch sec; seqNo:773; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:02Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:02Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:02Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:02Z- waiting for 1730922603.83, time is 1730922602.68 2024-11-06T19:50:03Z- AHRS_M2 msg: 1730922603.04 epoch sec; seqNo:761 2024-11-06T19:50:03Z- AHRS_M2 msg: 0.18 phi; -0.13 theta; 5.08 psi 2024-11-06T19:50:03Z- handleDepth()- Depth_Keller msg: 1730922603.05 epoch sec; seqNo:774; depth -0.07 2024-11-06T19:50:03Z- handleDVL() - DVL msg epochMillisec: 1730922603.07 2024-11-06T19:50:03Z- handleDvl() - RDI_Pathfinder msg: 1730922603.07 sec; seqNo:168; #beams:4 2024-11-06T19:50:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:03Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922603.10 epoch sec; seqNo:774; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:50:03Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:03Z- waiting for 1730922603.83, time is 1730922603.10 2024-11-06T19:50:03Z- AHRS_M2 msg: 1730922603.44 epoch sec; seqNo:762 2024-11-06T19:50:03Z- AHRS_M2 msg: 0.16 phi; -0.06 theta; 5.07 psi 2024-11-06T19:50:03Z- handleDepth()- Depth_Keller msg: 1730922603.45 epoch sec; seqNo:775; depth -0.10 2024-11-06T19:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922603.47 epoch sec; seqNo:775; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:03Z- waiting for 1730922603.83, time is 1730922603.47 2024-11-06T19:50:03Z- AHRS_M2 msg: 1730922603.84 epoch sec; seqNo:763 2024-11-06T19:50:03Z- AHRS_M2 msg: 0.14 phi; -0.03 theta; 5.06 psi 2024-11-06T19:50:03Z- handleDepth()- Depth_Keller msg: 1730922603.85 epoch sec; seqNo:776; depth -0.11 2024-11-06T19:50:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922603.88 epoch sec; seqNo:776; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:50:03Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:03Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922599.83 2024-11-06T19:50:03Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:04Z- waiting for 1730922603.83, time is 1730922603.88 2024-11-06T19:50:04Z- LcmTrn::updateTrn() >>>> pose time 1730922603.88, meas time 1730922603.07 <<<< 2024-11-06T19:50:04Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922603.88 2024-11-06T19:50:04Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:50:04Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.11) 2024-11-06T19:50:04Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:50:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:04Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:04Z- publishEstimatesDecoder() - at 1730922603.88 sec 2024-11-06T19:50:04Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:50:04Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:50:04Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:50:04Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:50:04Z- AHRS_M2 msg: 1730922604.25 epoch sec; seqNo:764 2024-11-06T19:50:04Z- AHRS_M2 msg: 0.16 phi; -0.10 theta; 5.06 psi 2024-11-06T19:50:04Z- handleDepth()- Depth_Keller msg: 1730922604.26 epoch sec; seqNo:777; depth -0.08 2024-11-06T19:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922604.27 epoch sec; seqNo:777; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:50:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:04Z- waiting for 1730922607.88, time is 1730922604.27 2024-11-06T19:50:04Z- AHRS_M2 msg: 1730922604.65 epoch sec; seqNo:765 2024-11-06T19:50:04Z- AHRS_M2 msg: 0.22 phi; -0.10 theta; 5.09 psi 2024-11-06T19:50:04Z- handleDepth()- Depth_Keller msg: 1730922604.66 epoch sec; seqNo:778; depth -0.06 2024-11-06T19:50:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922604.68 epoch sec; seqNo:778; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:04Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:04Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:04Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:04Z- waiting for 1730922607.88, time is 1730922604.68 2024-11-06T19:50:05Z- AHRS_M2 msg: 1730922605.06 epoch sec; seqNo:766 2024-11-06T19:50:05Z- AHRS_M2 msg: 0.30 phi; -0.06 theta; 5.09 psi 2024-11-06T19:50:05Z- handleDepth()- Depth_Keller msg: 1730922605.06 epoch sec; seqNo:779; depth -0.06 2024-11-06T19:50:05Z- handleDVL() - DVL msg epochMillisec: 1730922605.11 2024-11-06T19:50:05Z- handleDvl() - RDI_Pathfinder msg: 1730922605.11 sec; seqNo:169; #beams:4 2024-11-06T19:50:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:05Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922605.14 epoch sec; seqNo:779; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:05Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:05Z- waiting for 1730922607.88, time is 1730922605.14 2024-11-06T19:50:05Z- AHRS_M2 msg: 1730922605.46 epoch sec; seqNo:767 2024-11-06T19:50:05Z- AHRS_M2 msg: 0.28 phi; -0.04 theta; 5.12 psi 2024-11-06T19:50:05Z- handleDepth()- Depth_Keller msg: 1730922605.47 epoch sec; seqNo:780; depth -0.04 2024-11-06T19:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922605.49 epoch sec; seqNo:780; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:50:05Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:05Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:05Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:05Z- waiting for 1730922607.88, time is 1730922605.49 2024-11-06T19:50:05Z- AHRS_M2 msg: 1730922605.86 epoch sec; seqNo:768 2024-11-06T19:50:05Z- AHRS_M2 msg: 0.23 phi; -0.03 theta; 5.16 psi 2024-11-06T19:50:05Z- handleDepth()- Depth_Keller msg: 1730922605.87 epoch sec; seqNo:781; depth -0.07 2024-11-06T19:50:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922605.88 epoch sec; seqNo:781; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:50:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:06Z- waiting for 1730922607.88, time is 1730922605.88 2024-11-06T19:50:06Z- AHRS_M2 msg: 1730922606.27 epoch sec; seqNo:769 2024-11-06T19:50:06Z- AHRS_M2 msg: 0.19 phi; -0.02 theta; 5.16 psi 2024-11-06T19:50:06Z- handleDepth()- Depth_Keller msg: 1730922606.27 epoch sec; seqNo:782; depth -0.08 2024-11-06T19:50:06Z- handleDVL() - DVL msg epochMillisec: 1730922606.28 2024-11-06T19:50:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:50:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:50:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2024-11-06T19:50:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2024-11-06T19:50:06Z- handleDVL() - Beam1Range item not found in dvl msg 2024-11-06T19:50:06Z- handleDVL() - Beam2Range item not found in dvl msg 2024-11-06T19:50:06Z- handleDVL() - Beam3Range item not found in dvl msg 2024-11-06T19:50:06Z- handleDVL() - Beam4Range item not found in dvl msg 2024-11-06T19:50:06Z- handleDvl() - RDI_Pathfinder msg: 1730922606.28 sec; seqNo:170; #beams:0 2024-11-06T19:50:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:06Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922606.30 epoch sec; seqNo:782; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:50:06Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:06Z- waiting for 1730922607.88, time is 1730922606.30 2024-11-06T19:50:06Z- AHRS_M2 msg: 1730922606.67 epoch sec; seqNo:770 2024-11-06T19:50:06Z- AHRS_M2 msg: 0.14 phi; -0.02 theta; 5.15 psi 2024-11-06T19:50:06Z- handleDepth()- Depth_Keller msg: 1730922606.68 epoch sec; seqNo:783; depth -0.10 2024-11-06T19:50:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922606.70 epoch sec; seqNo:783; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:06Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:06Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:06Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:06Z- waiting for 1730922607.88, time is 1730922606.70 2024-11-06T19:50:07Z- AHRS_M2 msg: 1730922607.07 epoch sec; seqNo:771 2024-11-06T19:50:07Z- AHRS_M2 msg: 0.15 phi; 0.02 theta; 5.15 psi 2024-11-06T19:50:07Z- handleDepth()- Depth_Keller msg: 1730922607.08 epoch sec; seqNo:784; depth -0.12 2024-11-06T19:50:07Z- handleDVL() - DVL msg epochMillisec: 1730922607.13 2024-11-06T19:50:07Z- handleDvl() - RDI_Pathfinder msg: 1730922607.13 sec; seqNo:171; #beams:4 2024-11-06T19:50:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:07Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922607.15 epoch sec; seqNo:784; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:50:07Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:07Z- waiting for 1730922607.88, time is 1730922607.15 2024-11-06T19:50:07Z- AHRS_M2 msg: 1730922607.48 epoch sec; seqNo:772 2024-11-06T19:50:07Z- AHRS_M2 msg: 0.24 phi; 0.03 theta; 5.13 psi 2024-11-06T19:50:07Z- handleDepth()- Depth_Keller msg: 1730922607.49 epoch sec; seqNo:785; depth -0.11 2024-11-06T19:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922607.51 epoch sec; seqNo:785; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:50:07Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:07Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:07Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:07Z- waiting for 1730922607.88, time is 1730922607.51 2024-11-06T19:50:07Z- AHRS_M2 msg: 1730922607.88 epoch sec; seqNo:773 2024-11-06T19:50:07Z- AHRS_M2 msg: 0.31 phi; -0.04 theta; 5.18 psi 2024-11-06T19:50:07Z- handleDepth()- Depth_Keller msg: 1730922607.89 epoch sec; seqNo:786; depth -0.07 2024-11-06T19:50:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922607.92 epoch sec; seqNo:786; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:50:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922603.88 2024-11-06T19:50:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:08Z- waiting for 1730922607.88, time is 1730922607.92 2024-11-06T19:50:08Z- LcmTrn::updateTrn() >>>> pose time 1730922607.92, meas time 1730922607.13 <<<< 2024-11-06T19:50:08Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922607.92 2024-11-06T19:50:08Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:50:08Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.07) 2024-11-06T19:50:08Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:50:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:08Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:08Z- publishEstimatesDecoder() - at 1730922607.92 sec 2024-11-06T19:50:08Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:50:08Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:50:08Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:50:08Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:50:08Z- AHRS_M2 msg: 1730922608.29 epoch sec; seqNo:774 2024-11-06T19:50:08Z- AHRS_M2 msg: 0.33 phi; -0.03 theta; 5.25 psi 2024-11-06T19:50:08Z- handleDepth()- Depth_Keller msg: 1730922608.29 epoch sec; seqNo:787; depth -0.05 2024-11-06T19:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922608.30 epoch sec; seqNo:787; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:50:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:08Z- waiting for 1730922611.92, time is 1730922608.30 2024-11-06T19:50:08Z- AHRS_M2 msg: 1730922608.69 epoch sec; seqNo:775 2024-11-06T19:50:08Z- AHRS_M2 msg: 0.29 phi; 0.04 theta; 5.22 psi 2024-11-06T19:50:08Z- handleDepth()- Depth_Keller msg: 1730922608.70 epoch sec; seqNo:788; depth -0.03 2024-11-06T19:50:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922608.71 epoch sec; seqNo:788; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:50:08Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:08Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:08Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:08Z- waiting for 1730922611.92, time is 1730922608.71 2024-11-06T19:50:09Z- AHRS_M2 msg: 1730922609.09 epoch sec; seqNo:776 2024-11-06T19:50:09Z- AHRS_M2 msg: 0.18 phi; 0.04 theta; 5.19 psi 2024-11-06T19:50:09Z- handleDepth()- Depth_Keller msg: 1730922609.11 epoch sec; seqNo:789; depth -0.06 2024-11-06T19:50:09Z- handleDVL() - DVL msg epochMillisec: 1730922609.13 2024-11-06T19:50:09Z- handleDvl() - RDI_Pathfinder msg: 1730922609.13 sec; seqNo:172; #beams:4 2024-11-06T19:50:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:09Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922609.14 epoch sec; seqNo:789; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:09Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:09Z- waiting for 1730922611.92, time is 1730922609.14 2024-11-06T19:50:09Z- AHRS_M2 msg: 1730922609.50 epoch sec; seqNo:777 2024-11-06T19:50:09Z- AHRS_M2 msg: 0.10 phi; -0.07 theta; 5.20 psi 2024-11-06T19:50:09Z- handleDepth()- Depth_Keller msg: 1730922609.51 epoch sec; seqNo:790; depth -0.10 2024-11-06T19:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922609.54 epoch sec; seqNo:790; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:09Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:09Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:09Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:09Z- waiting for 1730922611.92, time is 1730922609.54 2024-11-06T19:50:09Z- AHRS_M2 msg: 1730922609.90 epoch sec; seqNo:778 2024-11-06T19:50:09Z- AHRS_M2 msg: 0.10 phi; -0.13 theta; 5.24 psi 2024-11-06T19:50:09Z- handleDepth()- Depth_Keller msg: 1730922609.91 epoch sec; seqNo:791; depth -0.11 2024-11-06T19:50:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922609.92 epoch sec; seqNo:791; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:50:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:10Z- waiting for 1730922611.92, time is 1730922609.92 2024-11-06T19:50:10Z- AHRS_M2 msg: 1730922610.31 epoch sec; seqNo:779 2024-11-06T19:50:10Z- AHRS_M2 msg: 0.18 phi; -0.06 theta; 5.25 psi 2024-11-06T19:50:10Z- handleDepth()- Depth_Keller msg: 1730922610.31 epoch sec; seqNo:792; depth -0.12 2024-11-06T19:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922610.32 epoch sec; seqNo:792; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:50:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:10Z- waiting for 1730922611.92, time is 1730922610.32 2024-11-06T19:50:10Z- AHRS_M2 msg: 1730922610.71 epoch sec; seqNo:780 2024-11-06T19:50:10Z- AHRS_M2 msg: 0.28 phi; 0.01 theta; 5.24 psi 2024-11-06T19:50:10Z- handleDepth()- Depth_Keller msg: 1730922610.72 epoch sec; seqNo:793; depth -0.10 2024-11-06T19:50:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922610.74 epoch sec; seqNo:793; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:10Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:10Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:10Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:10Z- waiting for 1730922611.92, time is 1730922610.74 2024-11-06T19:50:11Z- AHRS_M2 msg: 1730922611.11 epoch sec; seqNo:781 2024-11-06T19:50:11Z- AHRS_M2 msg: 0.33 phi; 0.01 theta; 5.25 psi 2024-11-06T19:50:11Z- handleDepth()- Depth_Keller msg: 1730922611.12 epoch sec; seqNo:794; depth -0.05 2024-11-06T19:50:11Z- handleDVL() - DVL msg epochMillisec: 1730922611.15 2024-11-06T19:50:11Z- handleDvl() - RDI_Pathfinder msg: 1730922611.15 sec; seqNo:173; #beams:4 2024-11-06T19:50:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922611.16 epoch sec; seqNo:794; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:50:11Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:11Z- waiting for 1730922611.92, time is 1730922611.16 2024-11-06T19:50:11Z- AHRS_M2 msg: 1730922611.52 epoch sec; seqNo:782 2024-11-06T19:50:11Z- AHRS_M2 msg: 0.30 phi; 0.03 theta; 5.27 psi 2024-11-06T19:50:11Z- handleDepth()- Depth_Keller msg: 1730922611.53 epoch sec; seqNo:795; depth -0.02 2024-11-06T19:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922611.54 epoch sec; seqNo:795; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:50:11Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:11Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:11Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:11Z- waiting for 1730922611.92, time is 1730922611.54 2024-11-06T19:50:11Z- AHRS_M2 msg: 1730922611.92 epoch sec; seqNo:783 2024-11-06T19:50:11Z- AHRS_M2 msg: 0.20 phi; 0.05 theta; 5.27 psi 2024-11-06T19:50:11Z- handleDepth()- Depth_Keller msg: 1730922611.93 epoch sec; seqNo:796; depth -0.03 2024-11-06T19:50:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922611.94 epoch sec; seqNo:796; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:50:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922607.92 2024-11-06T19:50:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:12Z- waiting for 1730922611.92, time is 1730922611.94 2024-11-06T19:50:12Z- LcmTrn::updateTrn() >>>> pose time 1730922611.94, meas time 1730922611.15 <<<< 2024-11-06T19:50:12Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922611.94 2024-11-06T19:50:12Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:50:12Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.03) 2024-11-06T19:50:12Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:50:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:12Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:12Z- publishEstimatesDecoder() - at 1730922611.94 sec 2024-11-06T19:50:12Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:50:12Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:50:12Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:50:12Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:50:12Z- AHRS_M2 msg: 1730922612.33 epoch sec; seqNo:784 2024-11-06T19:50:12Z- AHRS_M2 msg: 0.15 phi; 0.03 theta; 5.25 psi 2024-11-06T19:50:12Z- handleDepth()- Depth_Keller msg: 1730922612.33 epoch sec; seqNo:797; depth -0.02 2024-11-06T19:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922612.34 epoch sec; seqNo:797; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:50:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:12Z- waiting for 1730922615.94, time is 1730922612.34 2024-11-06T19:50:12Z- AHRS_M2 msg: 1730922612.73 epoch sec; seqNo:785 2024-11-06T19:50:12Z- AHRS_M2 msg: 0.14 phi; 0.00 theta; 5.25 psi 2024-11-06T19:50:12Z- handleDepth()- Depth_Keller msg: 1730922612.73 epoch sec; seqNo:798; depth 0.01 2024-11-06T19:50:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922612.76 epoch sec; seqNo:798; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; 0.01 depth; utmZone: 10 2024-11-06T19:50:12Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:12Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:12Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:12Z- waiting for 1730922615.94, time is 1730922612.76 2024-11-06T19:50:13Z- AHRS_M2 msg: 1730922613.13 epoch sec; seqNo:786 2024-11-06T19:50:13Z- AHRS_M2 msg: 0.14 phi; -0.03 theta; 5.25 psi 2024-11-06T19:50:13Z- handleDepth()- Depth_Keller msg: 1730922613.14 epoch sec; seqNo:799; depth 0.01 2024-11-06T19:50:13Z- handleDVL() - DVL msg epochMillisec: 1730922613.18 2024-11-06T19:50:13Z- handleDvl() - RDI_Pathfinder msg: 1730922613.18 sec; seqNo:174; #beams:4 2024-11-06T19:50:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:13Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922613.20 epoch sec; seqNo:799; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; 0.01 depth; utmZone: 10 2024-11-06T19:50:13Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:13Z- waiting for 1730922615.94, time is 1730922613.20 2024-11-06T19:50:13Z- AHRS_M2 msg: 1730922613.54 epoch sec; seqNo:787 2024-11-06T19:50:13Z- AHRS_M2 msg: 0.15 phi; -0.01 theta; 5.27 psi 2024-11-06T19:50:13Z- handleDepth()- Depth_Keller msg: 1730922613.55 epoch sec; seqNo:800; depth -0.02 2024-11-06T19:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922613.56 epoch sec; seqNo:800; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:50:13Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:13Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:13Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:13Z- waiting for 1730922615.94, time is 1730922613.56 2024-11-06T19:50:13Z- AHRS_M2 msg: 1730922613.94 epoch sec; seqNo:788 2024-11-06T19:50:13Z- AHRS_M2 msg: 0.23 phi; 0.04 theta; 5.26 psi 2024-11-06T19:50:13Z- handleDepth()- Depth_Keller msg: 1730922613.95 epoch sec; seqNo:801; depth 0.01 2024-11-06T19:50:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922613.98 epoch sec; seqNo:801; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; 0.01 depth; utmZone: 10 2024-11-06T19:50:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:14Z- waiting for 1730922615.94, time is 1730922613.98 2024-11-06T19:50:14Z- AHRS_M2 msg: 1730922614.35 epoch sec; seqNo:789 2024-11-06T19:50:14Z- AHRS_M2 msg: 0.28 phi; 0.07 theta; 5.28 psi 2024-11-06T19:50:14Z- handleDepth()- Depth_Keller msg: 1730922614.35 epoch sec; seqNo:802; depth 0.02 2024-11-06T19:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922614.37 epoch sec; seqNo:802; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; 0.02 depth; utmZone: 10 2024-11-06T19:50:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:14Z- waiting for 1730922615.94, time is 1730922614.37 2024-11-06T19:50:14Z- AHRS_M2 msg: 1730922614.76 epoch sec; seqNo:790 2024-11-06T19:50:14Z- AHRS_M2 msg: 0.23 phi; 0.00 theta; 5.30 psi 2024-11-06T19:50:14Z- handleDepth()- Depth_Keller msg: 1730922614.77 epoch sec; seqNo:803; depth -0.03 2024-11-06T19:50:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922614.84 epoch sec; seqNo:803; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.03 depth; utmZone: 10 2024-11-06T19:50:14Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:14Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:14Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:14Z- waiting for 1730922615.94, time is 1730922614.84 2024-11-06T19:50:15Z- handleDepth()- Depth_Keller msg: 1730922615.18 epoch sec; seqNo:804; depth -0.06 2024-11-06T19:50:15Z- handleDVL() - DVL msg epochMillisec: 1730922615.22 2024-11-06T19:50:15Z- handleDvl() - RDI_Pathfinder msg: 1730922615.22 sec; seqNo:175; #beams:4 2024-11-06T19:50:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922615.26 epoch sec; seqNo:804; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:15Z- waiting for 1730922615.94, time is 1730922615.26 2024-11-06T19:50:15Z- handleAhrs() - platform_orientation item not found in ahrs msg 2024-11-06T19:50:15Z- handleAhrs() - platform_pitch_angle item not found in ahrs msg 2024-11-06T19:50:15Z- handleAhrs() - platform_roll_angle item not found in ahrs msg 2024-11-06T19:50:15Z- AHRS_M2 msg: 1730922615.55 epoch sec; seqNo:791 2024-11-06T19:50:15Z- AHRS_M2 msg: 0.23 phi; 0.00 theta; 5.30 psi 2024-11-06T19:50:15Z- handleDepth()- Depth_Keller msg: 1730922615.58 epoch sec; seqNo:805; depth -0.05 2024-11-06T19:50:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922615.61 epoch sec; seqNo:805; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:50:15Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:15Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:15Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:15Z- waiting for 1730922615.94, time is 1730922615.61 2024-11-06T19:50:15Z- AHRS_M2 msg: 1730922615.96 epoch sec; seqNo:792 2024-11-06T19:50:15Z- AHRS_M2 msg: 0.18 phi; -0.11 theta; 5.32 psi 2024-11-06T19:50:15Z- handleDepth()- Depth_Keller msg: 1730922615.98 epoch sec; seqNo:806; depth -0.06 2024-11-06T19:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922615.99 epoch sec; seqNo:806; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922611.94 2024-11-06T19:50:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:16Z- waiting for 1730922615.94, time is 1730922615.99 2024-11-06T19:50:16Z- LcmTrn::updateTrn() >>>> pose time 1730922615.99, meas time 1730922615.22 <<<< 2024-11-06T19:50:16Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922615.99 2024-11-06T19:50:16Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:50:16Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.06) 2024-11-06T19:50:16Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:50:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:16Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:16Z- publishEstimatesDecoder() - at 1730922615.99 sec 2024-11-06T19:50:16Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:50:16Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:50:16Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:50:16Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:50:16Z- AHRS_M2 msg: 1730922616.37 epoch sec; seqNo:793 2024-11-06T19:50:16Z- AHRS_M2 msg: 0.25 phi; -0.09 theta; 5.32 psi 2024-11-06T19:50:16Z- handleDepth()- Depth_Keller msg: 1730922616.37 epoch sec; seqNo:807; depth -0.08 2024-11-06T19:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922616.39 epoch sec; seqNo:807; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.08 depth; utmZone: 10 2024-11-06T19:50:16Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:16Z- waiting for 1730922619.99, time is 1730922616.39 2024-11-06T19:50:16Z- AHRS_M2 msg: 1730922616.79 epoch sec; seqNo:794 2024-11-06T19:50:16Z- AHRS_M2 msg: 0.26 phi; -0.10 theta; 5.31 psi 2024-11-06T19:50:16Z- handleDepth()- Depth_Keller msg: 1730922616.84 epoch sec; seqNo:808; depth -0.10 2024-11-06T19:50:16Z- handleDVL() - DVL msg epochMillisec: 1730922616.90 2024-11-06T19:50:16Z- handleDvl() - RDI_Pathfinder msg: 1730922616.90 sec; seqNo:176; #beams:4 2024-11-06T19:50:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:16Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922616.93 epoch sec; seqNo:808; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:16Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:16Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:16Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:16Z- waiting for 1730922619.99, time is 1730922616.93 2024-11-06T19:50:17Z- AHRS_M2 msg: 1730922617.17 epoch sec; seqNo:795 2024-11-06T19:50:17Z- AHRS_M2 msg: 0.18 phi; -0.08 theta; 5.30 psi 2024-11-06T19:50:17Z- handleDepth()- Depth_Keller msg: 1730922617.18 epoch sec; seqNo:809; depth -0.11 2024-11-06T19:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922617.20 epoch sec; seqNo:809; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:50:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:17Z- waiting for 1730922619.99, time is 1730922617.20 2024-11-06T19:50:17Z- AHRS_M2 msg: 1730922617.58 epoch sec; seqNo:796 2024-11-06T19:50:17Z- AHRS_M2 msg: 0.14 phi; -0.02 theta; 5.30 psi 2024-11-06T19:50:17Z- handleDepth()- Depth_Keller msg: 1730922617.59 epoch sec; seqNo:810; depth -0.11 2024-11-06T19:50:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922617.60 epoch sec; seqNo:810; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:50:17Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:17Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:17Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:17Z- waiting for 1730922619.99, time is 1730922617.60 2024-11-06T19:50:17Z- AHRS_M2 msg: 1730922617.99 epoch sec; seqNo:797 2024-11-06T19:50:17Z- AHRS_M2 msg: 0.21 phi; 0.02 theta; 5.34 psi 2024-11-06T19:50:18Z- handleDepth()- Depth_Keller msg: 1730922618.00 epoch sec; seqNo:811; depth -0.11 2024-11-06T19:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922618.01 epoch sec; seqNo:811; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.11 depth; utmZone: 10 2024-11-06T19:50:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:18Z- waiting for 1730922619.99, time is 1730922618.01 2024-11-06T19:50:18Z- AHRS_M2 msg: 1730922618.39 epoch sec; seqNo:798 2024-11-06T19:50:18Z- AHRS_M2 msg: 0.32 phi; 0.00 theta; 5.37 psi 2024-11-06T19:50:18Z- handleDepth()- Depth_Keller msg: 1730922618.40 epoch sec; seqNo:812; depth -0.04 2024-11-06T19:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922618.41 epoch sec; seqNo:812; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.04 depth; utmZone: 10 2024-11-06T19:50:18Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:18Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:18Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:18Z- waiting for 1730922619.99, time is 1730922618.41 2024-11-06T19:50:18Z- AHRS_M2 msg: 1730922618.84 epoch sec; seqNo:799 2024-11-06T19:50:18Z- AHRS_M2 msg: 0.24 phi; 0.02 theta; 5.37 psi 2024-11-06T19:50:18Z- handleDepth()- Depth_Keller msg: 1730922618.85 epoch sec; seqNo:813; depth -0.02 2024-11-06T19:50:18Z- handleDVL() - DVL msg epochMillisec: 1730922618.87 2024-11-06T19:50:18Z- handleDvl() - RDI_Pathfinder msg: 1730922618.87 sec; seqNo:177; #beams:4 2024-11-06T19:50:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:18Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922618.90 epoch sec; seqNo:813; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:50:19Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:19Z- waiting for 1730922619.99, time is 1730922618.90 2024-11-06T19:50:19Z- handleDepth()- Depth_Keller msg: 1730922619.21 epoch sec; seqNo:814; depth -0.05 2024-11-06T19:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922619.23 epoch sec; seqNo:814; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:50:19Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:50:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:19Z- waiting for 1730922619.99, time is 1730922619.23 2024-11-06T19:50:19Z- AHRS_M2 msg: 1730922619.60 epoch sec; seqNo:800 2024-11-06T19:50:19Z- AHRS_M2 msg: 0.12 phi; -0.03 theta; 5.36 psi 2024-11-06T19:50:19Z- handleDepth()- Depth_Keller msg: 1730922619.61 epoch sec; seqNo:815; depth -0.06 2024-11-06T19:50:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922619.62 epoch sec; seqNo:815; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:19Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:19Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:19Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:19Z- waiting for 1730922619.99, time is 1730922619.62 2024-11-06T19:50:20Z- AHRS_M2 msg: 1730922620.01 epoch sec; seqNo:801 2024-11-06T19:50:20Z- AHRS_M2 msg: 0.12 phi; -0.05 theta; 5.38 psi 2024-11-06T19:50:20Z- handleDepth()- Depth_Keller msg: 1730922620.02 epoch sec; seqNo:816; depth -0.06 2024-11-06T19:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922620.03 epoch sec; seqNo:816; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922615.99 2024-11-06T19:50:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:20Z- waiting for 1730922619.99, time is 1730922620.03 2024-11-06T19:50:20Z- LcmTrn::updateTrn() >>>> pose time 1730922620.03, meas time 1730922618.87 <<<< 2024-11-06T19:50:20Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922620.03 2024-11-06T19:50:20Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:50:20Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.06) 2024-11-06T19:50:20Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:50:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:20Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:20Z- publishEstimatesDecoder() - at 1730922620.03 sec 2024-11-06T19:50:20Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:50:20Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:50:20Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:50:20Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:50:20Z- AHRS_M2 msg: 1730922620.41 epoch sec; seqNo:802 2024-11-06T19:50:20Z- AHRS_M2 msg: 0.22 phi; 0.00 theta; 5.38 psi 2024-11-06T19:50:20Z- handleDepth()- Depth_Keller msg: 1730922620.41 epoch sec; seqNo:817; depth -0.05 2024-11-06T19:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922620.43 epoch sec; seqNo:817; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.05 depth; utmZone: 10 2024-11-06T19:50:20Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:20Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:20Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:20Z- waiting for 1730922624.03, time is 1730922620.43 2024-11-06T19:50:20Z- AHRS_M2 msg: 1730922620.85 epoch sec; seqNo:803 2024-11-06T19:50:20Z- AHRS_M2 msg: 0.32 phi; 0.09 theta; 5.40 psi 2024-11-06T19:50:20Z- handleDepth()- Depth_Keller msg: 1730922620.86 epoch sec; seqNo:818; depth -0.02 2024-11-06T19:50:20Z- handleDVL() - DVL msg epochMillisec: 1730922620.88 2024-11-06T19:50:20Z- handleDvl() - RDI_Pathfinder msg: 1730922620.88 sec; seqNo:178; #beams:4 2024-11-06T19:50:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:20Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922620.91 epoch sec; seqNo:818; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.02 depth; utmZone: 10 2024-11-06T19:50:21Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:21Z- waiting for 1730922624.03, time is 1730922620.91 2024-11-06T19:50:21Z- AHRS_M2 msg: 1730922621.22 epoch sec; seqNo:804 2024-11-06T19:50:21Z- AHRS_M2 msg: 0.27 phi; 0.12 theta; 5.37 psi 2024-11-06T19:50:21Z- handleDepth()- Depth_Keller msg: 1730922621.22 epoch sec; seqNo:819; depth -0.07 2024-11-06T19:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922621.24 epoch sec; seqNo:819; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:50:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:21Z- waiting for 1730922624.03, time is 1730922621.24 2024-11-06T19:50:21Z- AHRS_M2 msg: 1730922621.62 epoch sec; seqNo:805 2024-11-06T19:50:21Z- AHRS_M2 msg: 0.16 phi; 0.02 theta; 5.35 psi 2024-11-06T19:50:21Z- handleDepth()- Depth_Keller msg: 1730922621.62 epoch sec; seqNo:820; depth -0.12 2024-11-06T19:50:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922621.63 epoch sec; seqNo:820; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:50:21Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:21Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:21Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:21Z- waiting for 1730922624.03, time is 1730922621.63 2024-11-06T19:50:22Z- AHRS_M2 msg: 1730922622.02 epoch sec; seqNo:806 2024-11-06T19:50:22Z- AHRS_M2 msg: 0.11 phi; -0.08 theta; 5.38 psi 2024-11-06T19:50:22Z- handleDepth()- Depth_Keller msg: 1730922622.03 epoch sec; seqNo:821; depth -0.09 2024-11-06T19:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922622.05 epoch sec; seqNo:821; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:50:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:22Z- waiting for 1730922624.03, time is 1730922622.05 2024-11-06T19:50:22Z- AHRS_M2 msg: 1730922622.43 epoch sec; seqNo:807 2024-11-06T19:50:22Z- AHRS_M2 msg: 0.14 phi; -0.09 theta; 5.43 psi 2024-11-06T19:50:22Z- handleDepth()- Depth_Keller msg: 1730922622.43 epoch sec; seqNo:822; depth -0.12 2024-11-06T19:50:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922622.44 epoch sec; seqNo:822; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.12 depth; utmZone: 10 2024-11-06T19:50:22Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:22Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:22Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:22Z- waiting for 1730922624.03, time is 1730922622.44 2024-11-06T19:50:22Z- AHRS_M2 msg: 1730922622.85 epoch sec; seqNo:808 2024-11-06T19:50:22Z- AHRS_M2 msg: 0.26 phi; -0.05 theta; 5.43 psi 2024-11-06T19:50:22Z- handleDepth()- Depth_Keller msg: 1730922622.85 epoch sec; seqNo:823; depth -0.14 2024-11-06T19:50:22Z- handleDVL() - DVL msg epochMillisec: 1730922622.92 2024-11-06T19:50:22Z- handleDvl() - RDI_Pathfinder msg: 1730922622.92 sec; seqNo:179; #beams:4 2024-11-06T19:50:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:22Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:23Z- waiting for 1730922624.03, time is 1730922622.92 2024-11-06T19:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922623.01 epoch sec; seqNo:823; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.14 depth; utmZone: 10 2024-11-06T19:50:23Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:50:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:23Z- waiting for 1730922624.03, time is 1730922623.01 2024-11-06T19:50:23Z- AHRS_M2 msg: 1730922623.24 epoch sec; seqNo:809 2024-11-06T19:50:23Z- AHRS_M2 msg: 0.36 phi; -0.00 theta; 5.46 psi 2024-11-06T19:50:23Z- handleDepth()- Depth_Keller msg: 1730922623.25 epoch sec; seqNo:824; depth -0.10 2024-11-06T19:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922623.28 epoch sec; seqNo:824; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:23Z- waiting for 1730922624.03, time is 1730922623.28 2024-11-06T19:50:23Z- AHRS_M2 msg: 1730922623.64 epoch sec; seqNo:810 2024-11-06T19:50:23Z- AHRS_M2 msg: 0.32 phi; 0.02 theta; 5.49 psi 2024-11-06T19:50:23Z- handleDepth()- Depth_Keller msg: 1730922623.65 epoch sec; seqNo:825; depth -0.06 2024-11-06T19:50:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922623.66 epoch sec; seqNo:825; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:23Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:23Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:23Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:23Z- waiting for 1730922624.03, time is 1730922623.66 2024-11-06T19:50:24Z- AHRS_M2 msg: 1730922624.04 epoch sec; seqNo:811 2024-11-06T19:50:24Z- AHRS_M2 msg: 0.19 phi; 0.04 theta; 5.46 psi 2024-11-06T19:50:24Z- handleDepth()- Depth_Keller msg: 1730922624.05 epoch sec; seqNo:826; depth -0.07 2024-11-06T19:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922624.08 epoch sec; seqNo:826; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:50:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922620.03 2024-11-06T19:50:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:24Z- waiting for 1730922624.03, time is 1730922624.08 2024-11-06T19:50:24Z- LcmTrn::updateTrn() >>>> pose time 1730922624.08, meas time 1730922622.92 <<<< 2024-11-06T19:50:24Z- LcmTrn::updateTrn() measUpdate first last update time: 1730922624.08 2024-11-06T19:50:24Z- LcmTrn::updateTrn() measUpdate skipped due to invalid DVL 2024-11-06T19:50:24Z- TerrainNav::motionUpdate() - currEstimate = (4066976, 591282.73, -0.07) 2024-11-06T19:50:24Z- TerrainNav::Filter not initialized - vehicle is currently on the surface 2024-11-06T19:50:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:24Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2024-11-06T19:50:24Z- publishEstimatesDecoder() - at 1730922624.08 sec 2024-11-06T19:50:24Z- LcmTrn::publishEstimatesDecoder() - reinits:0 filterstate:0 2024-11-06T19:50:24Z- LcmTrn::publishEstimatesDecoder() - MLE : 0.00 0.00 0.00 2024-11-06T19:50:24Z- LcmTrn::publishEstimatesDecoder() - MMSE : 0.00 0.00 0.00 lat/lon: 0.00 -127.49 2024-11-06T19:50:24Z- LcmTrn::publishEstimatesDecoder() - COVAR: 0.00 0.00 0.00 0.00 2024-11-06T19:50:24Z- AHRS_M2 msg: 1730922624.45 epoch sec; seqNo:812 2024-11-06T19:50:24Z- AHRS_M2 msg: 0.06 phi; 0.03 theta; 5.47 psi 2024-11-06T19:50:24Z- handleDepth()- Depth_Keller msg: 1730922624.46 epoch sec; seqNo:827; depth -0.09 2024-11-06T19:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922624.47 epoch sec; seqNo:827; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:50:24Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:24Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:24Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:24Z- waiting for 1730922628.08, time is 1730922624.47 2024-11-06T19:50:24Z- AHRS_M2 msg: 1730922624.86 epoch sec; seqNo:813 2024-11-06T19:50:24Z- AHRS_M2 msg: 0.12 phi; 0.02 theta; 5.51 psi 2024-11-06T19:50:24Z- handleDepth()- Depth_Keller msg: 1730922624.86 epoch sec; seqNo:828; depth -0.10 2024-11-06T19:50:24Z- handleDVL() - DVL msg epochMillisec: 1730922624.94 2024-11-06T19:50:24Z- handleDvl() - RDI_Pathfinder msg: 1730922624.94 sec; seqNo:180; #beams:4 2024-11-06T19:50:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:24Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922624.98 epoch sec; seqNo:828; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:25Z- 4 msgs in 200 ms and 5 handle calls 2024-11-06T19:50:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:25Z- waiting for 1730922628.08, time is 1730922624.98 2024-11-06T19:50:25Z- AHRS_M2 msg: 1730922625.26 epoch sec; seqNo:814 2024-11-06T19:50:25Z- AHRS_M2 msg: 0.27 phi; 0.01 theta; 5.54 psi 2024-11-06T19:50:25Z- handleDepth()- Depth_Keller msg: 1730922625.28 epoch sec; seqNo:829; depth -0.06 2024-11-06T19:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922625.31 epoch sec; seqNo:829; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.06 depth; utmZone: 10 2024-11-06T19:50:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:25Z- waiting for 1730922628.08, time is 1730922625.31 2024-11-06T19:50:25Z- AHRS_M2 msg: 1730922625.66 epoch sec; seqNo:815 2024-11-06T19:50:25Z- AHRS_M2 msg: 0.33 phi; 0.03 theta; 5.56 psi 2024-11-06T19:50:25Z- handleDepth()- Depth_Keller msg: 1730922625.67 epoch sec; seqNo:830; depth -0.07 2024-11-06T19:50:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922625.68 epoch sec; seqNo:830; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.07 depth; utmZone: 10 2024-11-06T19:50:25Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:25Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:25Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:25Z- waiting for 1730922628.08, time is 1730922625.68 2024-11-06T19:50:26Z- AHRS_M2 msg: 1730922626.07 epoch sec; seqNo:816 2024-11-06T19:50:26Z- AHRS_M2 msg: 0.30 phi; 0.02 theta; 5.54 psi 2024-11-06T19:50:26Z- handleDepth()- Depth_Keller msg: 1730922626.08 epoch sec; seqNo:831; depth -0.09 2024-11-06T19:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922626.09 epoch sec; seqNo:831; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:50:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:26Z- waiting for 1730922628.08, time is 1730922626.09 2024-11-06T19:50:26Z- AHRS_M2 msg: 1730922626.47 epoch sec; seqNo:817 2024-11-06T19:50:26Z- AHRS_M2 msg: 0.25 phi; -0.00 theta; 5.52 psi 2024-11-06T19:50:26Z- handleDepth()- Depth_Keller msg: 1730922626.48 epoch sec; seqNo:832; depth -0.10 2024-11-06T19:50:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922626.50 epoch sec; seqNo:832; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:26Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:26Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:26Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:26Z- waiting for 1730922628.08, time is 1730922626.50 2024-11-06T19:50:26Z- AHRS_M2 msg: 1730922626.88 epoch sec; seqNo:818 2024-11-06T19:50:26Z- AHRS_M2 msg: 0.22 phi; -0.01 theta; 5.52 psi 2024-11-06T19:50:26Z- handleDepth()- Depth_Keller msg: 1730922626.90 epoch sec; seqNo:833; depth -0.10 2024-11-06T19:50:27Z- 1 msgs in 200 ms and 2 handle calls 2024-11-06T19:50:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:27Z- waiting for 1730922628.08, time is 1730922626.88 2024-11-06T19:50:27Z- handleDVL() - DVL msg epochMillisec: 1730922626.95 2024-11-06T19:50:27Z- handleDvl() - RDI_Pathfinder msg: 1730922626.95 sec; seqNo:181; #beams:4 2024-11-06T19:50:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2024-11-06T19:50:27Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2024-11-06T19:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922626.97 epoch sec; seqNo:833; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.10 depth; utmZone: 10 2024-11-06T19:50:27Z- 2 msgs in 200 ms and 3 handle calls 2024-11-06T19:50:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:27Z- waiting for 1730922628.08, time is 1730922626.97 2024-11-06T19:50:27Z- AHRS_M2 msg: 1730922627.28 epoch sec; seqNo:819 2024-11-06T19:50:27Z- AHRS_M2 msg: 0.20 phi; -0.01 theta; 5.51 psi 2024-11-06T19:50:27Z- handleDepth()- Depth_Keller msg: 1730922627.29 epoch sec; seqNo:834; depth -0.09 2024-11-06T19:50:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1730922627.32 epoch sec; seqNo:834; 4066975.75 north; 591282.73 east; 36.74 lat; -121.98 lon; -0.09 depth; utmZone: 10 2024-11-06T19:50:27Z- 3 msgs in 200 ms and 4 handle calls 2024-11-06T19:50:27Z- LcmTrn::cycle() - lastUpdateTimestamp 1730922624.08 2024-11-06T19:50:27Z- LcmTrn::updateTrn() - updating TRN... 2024-11-06T19:50:27Z- waiting for 1730922628.08, time is 1730922627.32