2020-11-23T21:52:04Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-11-23T21:52:04Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-11-23T21:52:04Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2020-11-23T21:52:04Z* dvl config: DVL_micro, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2020-11-23T21:52:04Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2020-11-23T21:52:04Z* depth config: Depth_Keller, depth, sea_water_pressure 2020-11-23T21:52:04Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2020-11-23T21:52:04Z* LCM timeout=5.00 sec 2020-11-23T21:52:04Z* TRN settings: 2020-11-23T21:52:04Z* period=3.00 sec 2020-11-23T21:52:04Z* coherence=2.00 sec 2020-11-23T21:52:04Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2020-11-23T21:52:04Z* maptype = 2 filtertype = 3 weighting = 0 2020-11-23T21:52:04Z* lowgrade_filter = 1 allow reinit = 1 2020-11-23T21:52:04Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-11-23T21:52:04Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2020-11-23T21:52:04Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-11-23T21:52:04Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2020-11-23T21:52:04Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2020-11-23T21:52:04Z* TerrainMapOctree::numTiles_ = 9. 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2020-11-23T21:52:04Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2020-11-23T21:52:05Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.787690 seconds. 2020-11-23T21:52:05Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.07 2020-11-23T21:52:05Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.07 OK 2020-11-23T21:52:05Z* parseSensorSpecs parsing sensor of type 1. 2020-11-23T21:52:05Z* Sensor 0 is of type 1. 2020-11-23T21:52:05Z* parseSensorSpecs parsing sensor of type 2. 2020-11-23T21:52:05Z* Sensor 1 is of type 2. 2020-11-23T21:52:05Z* parseSensorSpecs parsing sensor of type 5. 2020-11-23T21:52:05Z* Sensor 2 is of type 5. 2020-11-23T21:52:05Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55ad87b550] 2020-11-23T21:52:05Z- TNavConfig::setParticlesFile: value is now particles.cfg 2020-11-23T21:52:05Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2020-11-23T21:52:05Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-11-23T21:52:05Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2020-11-23T21:52:05Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.07 2020-11-23T21:52:05Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2020-11-23T21:52:05Z- parseSensorSpecs parsing sensor of type 1. 2020-11-23T21:52:05Z- Sensor 0 is of type 1. 2020-11-23T21:52:05Z- parseSensorSpecs parsing sensor of type 2. 2020-11-23T21:52:05Z- Sensor 1 is of type 2. 2020-11-23T21:52:05Z- parseSensorSpecs parsing sensor of type 5. 2020-11-23T21:52:05Z- Sensor 2 is of type 5. 2020-11-23T21:52:05Z- Random noise maker initialized with 1606168325 2020-11-23T21:52:05Z- setDistribToSave(0) 2020-11-23T21:52:05Z- setDistribToSave set to 0 2020-11-23T21:52:05Z- Vehicle name: mappingAUV Number of sensors: 3 2020-11-23T21:52:05Z- Sensor #1: 2020-11-23T21:52:05Z- Sensor name: rdiDVL 2020-11-23T21:52:05Z- Sensor type: 1 2020-11-23T21:52:05Z- Number of beams per measurement: 4 2020-11-23T21:52:05Z- Sensor #1 to vehicle transformation information: 2020-11-23T21:52:05Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-11-23T21:52:05Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-11-23T21:52:05Z- 2020-11-23T21:52:05Z- Sensor #2: 2020-11-23T21:52:05Z- Sensor name: resonSeabat8101 2020-11-23T21:52:05Z- Sensor type: 2 2020-11-23T21:52:05Z- Number of beams per measurement: 11 2020-11-23T21:52:05Z- Sensor #2 to vehicle transformation information: 2020-11-23T21:52:05Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-11-23T21:52:05Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-11-23T21:52:05Z- 2020-11-23T21:52:05Z- Sensor #3: 2020-11-23T21:52:05Z- Sensor name: imagenexdeltat 2020-11-23T21:52:05Z- Sensor type: 5 2020-11-23T21:52:05Z- Number of beams per measurement: 120 2020-11-23T21:52:05Z- Sensor #3 to vehicle transformation information: 2020-11-23T21:52:05Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2020-11-23T21:52:05Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2020-11-23T21:52:05Z- 2020-11-23T21:52:05Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2020-11-23T21:52:05Z- TerrainNav::TNavFilter initialized with type 3 2020-11-23T21:52:05Z- TerrainNav::initVariables finished. 2020-11-23T21:52:05Z- TerrainNav::Constructor finished. 2020-11-23T21:52:05Z- TNavBF::setModifiedWeighting umw: 4 2020-11-23T21:52:05Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2020-11-23T21:52:05Z- TNavBF::numFilters: 1 2020-11-23T21:52:05Z- TerrainNav::modified weighting set to 0 2020-11-23T21:52:05Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2020-11-23T21:52:05Z- LcmTrn::run() 2020-11-23T21:52:10Z- LcmTrn::cycle() - No messages handled... 2020-11-23T21:52:10Z- waiting for 3.00, time is 0.00 2020-11-23T21:52:10Z- sync is 0.00, coherence is 2.00